+ python -m lidar_slam --no-model /working/c25c745b-27eb-4d15-8486-e0e515b02da3 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/c25c745b-27eb-4d15-8486-e0e515b02da3 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 0.017105681 Adjusted end_distance from 9.223372036854776e+18 to 417.627105681 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.017105681 meters Centerline goodness : 0.227341 Centerline is valid? [0, False] SLAMing on 0.047105680999999996 meters Centerline goodness : 0.524131 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.03 [[ 0.99463469 -0.08087535 -0.06450585 0.00664494] [ 0.07903192 0.99640112 -0.03063914 0.00929445] [ 0.06675165 0.02537673 0.99744686 -0.02987482] [ 0. 0. 0. 1. ]] SLAMing on 0.077105681 meters Centerline goodness : 0.838863 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.05 [[ 0.99596331 -0.06009541 -0.06667549 0.03001444] [ 0.05644562 0.99687097 -0.05533683 0.00146101] [ 0.06979235 0.05134992 0.99623903 -0.05488553] [ 0. 0. 0. 1. ]] SLAMing on 0.10710568099999998 meters Centerline goodness : 0.838594 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-0.06 [[ 0.99434997 -0.07429036 -0.07582271 0.07482116] [ 0.07297224 0.99713316 -0.02001291 0.00266758] [ 0.0770921 0.01436688 0.99692046 -0.05829005] [ 0. 0. 0. 1. ]] SLAMing on 0.13710568099999998 meters Centerline goodness : 0.229432 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:-0.04 [[ 0.97988023 -0.1832434 -0.07909863 0.1565781 ] [ 0.18459424 0.98276338 0.01005496 0.02457613] [ 0.07589273 -0.02445381 0.99681608 -0.03691719] [ 0. 0. 0. 1. ]] SLAMing on 0.16710568099999998 meters Centerline goodness : 0.322687 Centerline is valid? [False, False] Translation: X:0.25, Y:0.05, Z:-0.03 [[ 0.97572394 -0.2108547 -0.05918686 0.24767411] [ 0.2151641 0.97333115 0.07956682 0.05300908] [ 0.04083138 -0.09037014 0.99507087 -0.02954891] [ 0. 0. 0. 1. ]] SLAMing on 0.19710568099999998 meters Centerline goodness : 0.935799 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.04 [[ 0.99200361 -0.11709693 -0.0470866 0.16910488] [ 0.11770619 0.9929943 0.01037197 0.0104199 ] [ 0.0455422 -0.01583142 0.99883696 -0.03625924] [ 0. 0. 0. 1. ]] SLAMing on 0.22710568099999998 meters Centerline goodness : 0.185346 Centerline is valid? [False, False] Translation: X:0.20, Y:0.01, Z:-0.02 [[ 0.99365572 -0.10534586 -0.03937708 0.20418014] [ 0.10579722 0.99434183 0.00955409 0.00742206] [ 0.0381478 -0.01365946 0.99917875 -0.02397868] [ 0. 0. 0. 1. ]] SLAMing on 0.257105681 meters Centerline goodness : 0.173382 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:-0.03 [[ 0.99319901 -0.10042668 -0.0589084 0.24372897] [ 0.10046695 0.99493777 -0.00228522 -0.02158375] [ 0.05883969 -0.00364867 0.99826078 -0.02829672] [ 0. 0. 0. 1. ]] SLAMing on 0.28710568099999995 meters Centerline goodness : 0.160370 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.05, Z:-0.01 [[ 0.99442101 -0.07562693 -0.07353521 0.29624259] [ 0.07627119 0.99706912 0.00598888 -0.04810383] [ 0.07286677 -0.01156409 0.99727464 -0.00637952] [ 0. 0. 0. 1. ]] SLAMing on 0.3171056809999999 meters Centerline goodness : 0.276252 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.08, Z:-0.01 [[ 0.9945615 -0.0838298 -0.06180602 0.31849021] [ 0.08510237 0.99620509 0.01824845 -0.07902423] [ 0.06004171 -0.02340905 0.99792134 -0.00503734] [ 0. 0. 0. 1. ]] SLAMing on 0.34710568099999994 meters Centerline goodness : 0.182412 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.14, Z:0.00 [[ 9.89230471e-01 -1.34111595e-01 -5.86272514e-02 3.06665170e-01] [ 1.37839176e-01 9.88320992e-01 6.49767501e-02 -1.42154098e-01] [ 4.92284077e-02 -7.23581131e-02 9.96163073e-01 7.59638915e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3771056809999999 meters Centerline goodness : 0.180382 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.10, Z:0.05 [[ 0.99535639 -0.08222837 -0.05004158 0.30772383] [ 0.07729452 0.99260365 -0.09361383 -0.10021465] [ 0.05736917 0.08931118 0.99435019 0.04980738] [ 0. 0. 0. 1. ]] SLAMing on 0.40710568099999994 meters Centerline goodness : 0.186318 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.07, Z:0.05 [[ 0.99034777 -0.12234623 -0.06513601 0.31003588] [ 0.11829911 0.99099354 -0.06274658 -0.06918802] [ 0.07222617 0.0544354 0.99590169 0.05029157] [ 0. 0. 0. 1. ]] SLAMing on 0.4371056809999999 meters Centerline goodness : 0.149428 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.08, Z:0.03 [[ 0.98971388 -0.1167512 -0.08267768 0.33271663] [ 0.1126228 0.99222512 -0.05296624 -0.07565854] [ 0.08821874 0.04311003 0.99516781 0.0335815 ] [ 0. 0. 0. 1. ]] SLAMing on 0.46710568099999994 meters Centerline goodness : 0.514372 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.08, Z:0.02 [[ 0.99070209 -0.09969911 -0.0925714 0.35841173] [ 0.09471955 0.99388676 -0.05672134 -0.08273816] [ 0.09766056 0.04742563 0.99408914 0.02428094] [ 0. 0. 0. 1. ]] SLAMing on 0.4971056809999999 meters Centerline goodness : 0.948643 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:0.02 [[ 0.99235471 -0.081248 -0.09290257 0.38510129] [ 0.07822234 0.99629422 -0.03576439 -0.11490814] [ 0.09546408 0.02822391 0.99503267 0.02242701] [ 0. 0. 0. 1. ]] SLAMing on 0.5271056809999999 meters Centerline goodness : 0.947608 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:0.01 [[ 0.99099574 -0.07993168 -0.10741681 0.40458871] [ 0.07839474 0.99675143 -0.01846233 -0.14289424] [ 0.10854358 0.00987517 0.99404264 0.0149441 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5571056809999999 meters Centerline goodness : 0.950283 Centerline is valid? [False, True] Translation: X:0.45, Y:-0.18, Z:0.01 [[ 0.98726408 -0.09749107 -0.12571844 0.45211814] [ 0.09867253 0.99511485 0.00318994 -0.1795626 ] [ 0.1247933 -0.01555427 0.99206083 0.00758333] [ 0. 0. 0. 1. ]] SLAMing on 0.5871056809999999 meters Centerline goodness : 0.955316 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.21, Z:0.02 [[ 0.98829356 -0.0950795 -0.11931355 0.47714868] [ 0.09377306 0.99545637 -0.01652947 -0.20689084] [ 0.12034305 0.00514757 0.99271902 0.02183898] [ 0. 0. 0. 1. ]] SLAMing on 0.6171056809999999 meters Centerline goodness : 0.963071 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.20, Z:0.04 [[ 0.99167381 -0.06797497 -0.10937305 0.50595852] [ 0.06482917 0.99738093 -0.03206959 -0.20189428] [ 0.11126652 0.02471201 0.99348331 0.03982015] [ 0. 0. 0. 1. ]] SLAMing on 0.6471056809999999 meters Centerline goodness : 0.965339 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.17, Z:0.04 [[ 0.99338879 -0.05811491 -0.09900182 0.53301644] [ 0.0575399 0.99830568 -0.00865594 -0.17324198] [ 0.09933712 0.00290216 0.9950496 0.04454121] [ 0. 0. 0. 1. ]] SLAMing on 0.6771056809999999 meters Centerline goodness : 0.968457 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.14, Z:0.03 [[ 0.99253134 -0.08828455 -0.08418658 0.55958971] [ 0.09104724 0.99540792 0.02955461 -0.13781444] [ 0.08119077 -0.03699883 0.99601162 0.03162343] [ 0. 0. 0. 1. ]] SLAMing on 0.7071056809999999 meters Centerline goodness : 0.962753 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.06, Z:0.03 [[ 0.99838398 -0.04877135 -0.02916808 0.58709257] [ 0.05032006 0.99721999 0.05495625 -0.06151929] [ 0.0264067 -0.05633518 0.99806264 0.0319722 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7371056809999998 meters Centerline goodness : 0.265219 Centerline is valid? [True, False] Translation: X:0.62, Y:0.03, Z:0.03 [[ 0.99526994 -0.08624607 -0.04471423 0.61818429] [ 0.08778456 0.99557047 0.03366474 0.02943229] [ 0.04161271 -0.03743072 0.99843243 0.03226753] [ 0. 0. 0. 1. ]] SLAMing on 0.7671056809999999 meters Centerline goodness : 0.930376 Centerline is valid? [False, False] Translation: X:0.64, Y:0.08, Z:0.03 [[ 0.99582239 -0.0685998 -0.06026477 0.63782898] [ 0.07151756 0.99629954 0.04767028 0.07956461] [ 0.05677159 -0.05178113 0.99704348 0.03278941] [ 0. 0. 0. 1. ]] SLAMing on 0.7971056809999999 meters Centerline goodness : 0.129446 Centerline is valid? [False, False] Translation: X:0.68, Y:0.21, Z:0.01 [[ 0.99440014 -0.08677393 -0.06032127 0.6750555 ] [ 0.08826399 0.99584324 0.02248791 0.21293642] [ 0.05811917 -0.02768618 0.99792567 0.00780542] [ 0. 0. 0. 1. ]] SLAMing on 0.8271056809999998 meters Centerline goodness : 0.163191 Centerline is valid? [False, False] Translation: X:0.62, Y:0.13, Z:0.07 [[ 0.99605177 -0.08126857 -0.03572534 0.62066881] [ 0.07885384 0.99479901 -0.06447474 0.13081515] [ 0.04077931 0.06140309 0.99727965 0.07323725] [ 0. 0. 0. 1. ]] SLAMing on 0.8571056809999998 meters Centerline goodness : 0.994960 Centerline is valid? [False, True] Translation: X:0.61, Y:0.12, Z:0.11 [[ 0.99878549 -0.04822398 -0.01009903 0.60588538] [ 0.04634739 0.98913514 -0.13951197 0.12417502] [ 0.01671713 0.13887447 0.99016888 0.1148827 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8871056809999999 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:0.65, Y:0.08, Z:0.06 [[ 0.99953237 0.02019244 -0.02296318 0.64620902] [-0.02023937 0.99979352 -0.00181319 0.07617912] [ 0.02292182 0.00227711 0.99973467 0.05602081] [ 0. 0. 0. 1. ]] SLAMing on 0.9171056809999999 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:0.67, Y:0.14, Z:0.06 [[ 9.93755259e-01 -1.08448618e-01 -2.62560777e-02 6.70659368e-01] [ 1.08431984e-01 9.94101735e-01 -2.06065337e-03 1.36153864e-01] [ 2.63246874e-02 -7.99213468e-04 9.99653126e-01 5.51813513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9471056809999998 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:0.70, Y:0.14, Z:0.06 [[ 9.93769250e-01 -1.08320617e-01 -2.62549391e-02 7.04014081e-01] [ 1.08303556e-01 9.94115704e-01 -2.07511902e-03 1.38640009e-01] [ 2.63252254e-02 -7.81313801e-04 9.99653126e-01 5.80580023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9771056809999998 meters Centerline goodness : 0.991425 Centerline is valid? [True, True] Translation: X:0.74, Y:0.17, Z:0.02 [[ 0.98126878 -0.17970521 -0.06940909 0.73636969] [ 0.17976323 0.98369475 -0.0054608 0.17372793] [ 0.06925869 -0.00711869 0.99757333 0.02381847] [ 0. 0. 0. 1. ]] SLAMing on 1.0071056809999999 meters Centerline goodness : 0.995957 Centerline is valid? [True, True] Translation: X:0.77, Y:0.14, Z:0.05 [[ 0.99919926 -0.0176775 -0.03589354 0.76998743] [ 0.01758735 0.99984134 -0.00282576 0.13523248] [ 0.0359378 0.00219223 0.99935162 0.05244616] [ 0. 0. 0. 1. ]] SLAMing on 1.037105681 meters Centerline goodness : 0.996495 Centerline is valid? [True, True] Translation: X:0.81, Y:0.07, Z:0.05 [[ 0.99741318 -0.05476764 -0.04655599 0.80662803] [ 0.05465751 0.99849854 -0.00363616 0.07183098] [ 0.04668523 0.00108212 0.99890906 0.0513916 ] [ 0. 0. 0. 1. ]] SLAMing on 1.067105681 meters Centerline goodness : 0.997673 Centerline is valid? [True, True] Translation: X:0.84, Y:0.09, Z:0.07 [[ 9.96248157e-01 -8.08306964e-02 -3.09193682e-02 8.37718615e-01] [ 8.07941950e-02 9.96727843e-01 -2.43011933e-03 8.52995479e-02] [ 3.10146234e-02 -7.71035581e-05 9.99518928e-01 6.78012430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.097105681 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:0.87, Y:0.12, Z:0.06 [[ 0.99860697 -0.03403787 -0.04031807 0.8681989 ] [ 0.03393894 0.99941899 -0.00313592 0.12029071] [ 0.04040139 0.0017632 0.99918197 0.06161891] [ 0. 0. 0. 1. ]] SLAMing on 1.127105681 meters Centerline goodness : 0.997498 Centerline is valid? [True, True] Translation: X:0.90, Y:0.14, Z:0.06 [[ 0.99871759 -0.01064294 -0.04949647 0.89776546] [ 0.01046566 0.99993786 -0.00383944 0.14006732] [ 0.04953425 0.0033165 0.99876692 0.063347 ] [ 0. 0. 0. 1. ]] SLAMing on 1.157105681 meters Centerline goodness : 0.997912 Centerline is valid? [True, True] Translation: X:0.93, Y:0.13, Z:0.05 [[ 0.99747077 -0.03313825 -0.06288015 0.9288501 ] [ 0.03289713 0.9994469 -0.0048664 0.1338338 ] [ 0.06300664 0.00278551 0.99800922 0.05021735] [ 0. 0. 0. 1. ]] SLAMing on 1.187105681 meters Centerline goodness : 0.998051 Centerline is valid? [True, True] Translation: X:0.96, Y:0.14, Z:0.06 [[ 0.9971181 -0.0484012 -0.05841931 0.95886223] [ 0.04821862 0.99882653 -0.0045317 0.13520723] [ 0.05857009 0.00170175 0.99828185 0.06073978] [ 0. 0. 0. 1. ]] SLAMing on 1.2171056809999998 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:0.99, Y:0.13, Z:0.07 [[ 0.99790126 -0.04350942 -0.04795831 0.99108287] [ 0.04338104 0.99905169 -0.00371485 0.13087476] [ 0.04807446 0.00162657 0.99884243 0.07247704] [ 0. 0. 0. 1. ]] SLAMing on 1.2471056809999999 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:1.02, Y:0.12, Z:0.07 [[ 0.99772231 -0.03695466 -0.05643186 1.02421497] [ 0.03676686 0.99931435 -0.00436294 0.12468512] [ 0.0565544 0.00227819 0.99839692 0.06755803] [ 0. 0. 0. 1. ]] SLAMing on 1.2771056809999999 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:1.06, Y:0.11, Z:0.08 [[ 9.95608053e-01 -8.25458921e-02 -4.41676357e-02 1.05699543e+00] [ 8.24753956e-02 9.96587236e-01 -3.41911679e-03 1.10670839e-01] [ 4.42991361e-02 -2.38643020e-04 9.99018283e-01 7.50433526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.307105681 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:1.09, Y:0.11, Z:0.09 [[ 9.95950504e-01 -8.09461954e-02 -3.91191494e-02 1.08957515e+00] [ 8.08900244e-02 9.96718460e-01 -3.01915257e-03 1.12578053e-01] [ 3.92351673e-02 -1.57422435e-04 9.99229992e-01 8.59186906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.337105681 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:1.12, Y:0.12, Z:0.09 [[ 0.99826604 -0.04156069 -0.04168479 1.12164222] [ 0.04146343 0.99913491 -0.00319547 0.124089 ] [ 0.04178153 0.00146153 0.9991257 0.08673257] [ 0. 0. 0. 1. ]] SLAMing on 1.367105681 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:1.16, Y:0.12, Z:0.09 [[ 0.99740907 -0.04925581 -0.05243097 1.15570849] [ 0.04911306 0.99878518 -0.00400832 0.11677476] [ 0.05256471 0.00142289 0.99861651 0.0855811 ] [ 0. 0. 0. 1. ]] SLAMing on 1.397105681 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:1.19, Y:0.12, Z:0.08 [[ 9.96650030e-01 -5.66821166e-02 -5.89563830e-02 1.18882371e+00] [ 5.65150333e-02 9.98391612e-01 -4.49892063e-03 1.19580497e-01] [ 5.91165666e-02 1.15192743e-03 9.98250422e-01 8.05222631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4271056809999998 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:1.22, Y:0.13, Z:0.08 [[ 9.94829751e-01 -8.21372724e-02 -5.97263349e-02 1.22183183e+00] [ 8.20119689e-02 9.96620956e-01 -4.55042719e-03 1.25541118e-01] [ 5.98982767e-02 -3.71373970e-04 9.98204417e-01 8.22077312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4571056809999998 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:1.25, Y:0.14, Z:0.10 [[ 9.96273541e-01 -7.48853590e-02 -4.27927012e-02 1.25283757e+00] [ 7.48141345e-02 9.97192148e-01 -3.26572885e-03 1.42348537e-01] [ 4.29171009e-02 5.20603458e-05 9.99078635e-01 9.92380450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4871056809999998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:1.28, Y:0.17, Z:0.11 [[ 0.99912059 -0.02684647 -0.03220723 1.28306868] [ 0.02678157 0.99963832 -0.00244473 0.16764515] [ 0.03226121 0.00158002 0.99947822 0.10716474] [ 0. 0. 0. 1. ]] SLAMing on 1.5171056809999999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:1.32, Y:0.17, Z:0.09 [[ 0.99773673 -0.03434575 -0.05780819 1.31828149] [ 0.03414983 0.99940715 -0.00437395 0.16527759] [ 0.05792415 0.00238991 0.99831813 0.09180312] [ 0. 0. 0. 1. ]] SLAMing on 1.547105681 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:1.35, Y:0.17, Z:0.11 [[ 9.95783463e-01 -7.74256022e-02 -4.91992931e-02 1.34997652e+00] [ 7.73362906e-02 9.96998127e-01 -3.71918051e-03 1.70496141e-01] [ 4.93395629e-02 -1.01392377e-04 9.98782057e-01 1.05446243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.577105681 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:1.39, Y:0.14, Z:0.11 [[ 9.96757980e-01 -6.55888212e-02 -4.66008050e-02 1.38538934e+00] [ 6.54960419e-02 9.97846632e-01 -3.51671905e-03 1.43003047e-01] [ 4.67311138e-02 4.53149494e-04 9.98907402e-01 1.08784759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.607105681 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:1.42, Y:0.14, Z:0.09 [[ 0.99673595 -0.03325468 -0.07356333 1.42004392] [ 0.03293626 0.99944211 -0.00553773 0.13718107] [ 0.07370645 0.00309676 0.99727517 0.09121879] [ 0. 0. 0. 1. ]] SLAMing on 1.6371056809999998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:1.45, Y:0.16, Z:0.11 [[ 0.9932463 -0.1015517 -0.05611633 1.44979811] [ 0.10147466 0.99482914 -0.00422806 0.16171006] [ 0.05625552 -0.00149488 0.99841528 0.10675366] [ 0. 0. 0. 1. ]] SLAMing on 1.6671056809999998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:1.48, Y:0.18, Z:0.11 [[ 9.96325824e-01 -6.58646913e-02 -5.47420743e-02 1.48114450e+00] [ 6.57386252e-02 9.97828444e-01 -4.10237413e-03 1.77557071e-01] [ 5.48934004e-02 4.88632578e-04 9.98492101e-01 1.07072629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6971056809999998 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:1.51, Y:0.19, Z:0.11 [[ 9.97357729e-01 -4.81673879e-02 -5.43825560e-02 1.51254218e+00] [ 4.80179901e-02 9.98838255e-01 -4.05122798e-03 1.94309423e-01] [ 5.45145145e-02 1.42918250e-03 9.98511955e-01 1.10696619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7271056809999998 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:1.55, Y:0.19, Z:0.10 [[ 9.95299874e-01 -7.70557048e-02 -5.86564521e-02 1.54577447e+00] [ 7.69322723e-02 9.97026775e-01 -4.36303083e-03 1.88731850e-01] [ 5.88182497e-02 -1.70050109e-04 9.98268694e-01 1.04779880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7571056809999999 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:1.58, Y:0.19, Z:0.12 [[ 0.99481912 -0.08682176 -0.05288565 1.5811492 ] [ 0.08500962 0.99574374 -0.03560561 0.18553718] [ 0.0557519 0.03092536 0.9979656 0.11921294] [ 0. 0. 0. 1. ]] SLAMing on 1.787105681 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:1.61, Y:0.18, Z:0.11 [[ 0.99203382 -0.11148175 -0.05865758 1.60971694] [ 0.11329477 0.99315148 0.0285381 0.17774315] [ 0.05507438 -0.03495635 0.99787016 0.10659769] [ 0. 0. 0. 1. ]] SLAMing on 1.817105681 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:1.64, Y:0.19, Z:0.13 [[ 9.93932262e-01 -9.67172153e-02 -5.23873932e-02 1.64053788e+00] [ 9.66468929e-02 9.95311170e-01 -3.87993766e-03 1.92963262e-01] [ 5.25170144e-02 -1.20668356e-03 9.98619300e-01 1.25327570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8471056809999997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:1.67, Y:0.22, Z:0.13 [[ 9.97194194e-01 -5.52901173e-02 -5.04652680e-02 1.67265086e+00] [ 5.51725615e-02 9.98469902e-01 -3.72057956e-03 2.16017000e-01] [ 5.05937625e-02 9.25842228e-04 9.98718886e-01 1.26257862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8771056809999997 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:1.71, Y:0.22, Z:0.13 [[ 9.95889263e-01 -6.84951031e-02 -5.92705438e-02 1.70658260e+00] [ 6.83578123e-02 9.97651415e-01 -4.34322457e-03 2.15876386e-01] [ 5.94288315e-02 2.73766011e-04 9.98232508e-01 1.25183421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9071056809999998 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:1.74, Y:0.19, Z:0.13 [[ 9.95613187e-01 -7.26871379e-02 -5.89148639e-02 1.74097838e+00] [ 7.25600425e-02 9.97354791e-01 -4.29654020e-03 1.94297744e-01] [ 5.90713250e-02 2.82706014e-06 9.98253765e-01 1.32420139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9371056809999998 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:1.78, Y:0.17, Z:0.13 [[ 9.96716411e-01 -4.92513122e-02 -6.42705514e-02 1.77526407e+00] [ 4.90532893e-02 9.98785309e-01 -4.65638730e-03 1.74001268e-01] [ 6.44218157e-02 1.48841569e-03 9.97921647e-01 1.29719951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9671056809999998 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:1.81, Y:0.15, Z:0.13 [[ 9.95015368e-01 -8.19689533e-02 -5.67935572e-02 1.81028747e+00] [ 8.18674617e-02 9.96634729e-01 -4.11530868e-03 1.53377123e-01] [ 5.69397590e-02 -5.54748985e-04 9.98377462e-01 1.33721701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9971056809999999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:1.84, Y:0.16, Z:0.13 [[ 9.96107604e-01 -6.51185256e-02 -5.94072368e-02 1.84206753e+00] [ 6.49790730e-02 9.97877456e-01 -4.27826483e-03 1.59013064e-01] [ 5.95597366e-02 4.01384949e-04 9.98224662e-01 1.34280695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0271056809999997 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:1.87, Y:0.18, Z:0.14 [[ 0.9973458 -0.04021437 -0.06069733 1.87333802] [ 0.04002432 0.99918926 -0.00434426 0.17742439] [ 0.06082283 0.00190336 0.99814676 0.13590769] [ 0. 0. 0. 1. ]] SLAMing on 2.0571056809999995 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:1.90, Y:0.19, Z:0.14 [[ 0.99799421 -0.02260886 -0.05913031 1.90368906] [ 0.02239821 0.99974021 -0.00422288 0.1920994 ] [ 0.05921043 0.00289 0.99824134 0.14482077] [ 0. 0. 0. 1. ]] SLAMing on 2.0871056809999997 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:1.93, Y:0.19, Z:0.13 [[ 0.99738798 -0.00232986 -0.07219266 1.93430626] [ 0.00196357 0.99998484 -0.0051443 0.19211112] [ 0.07220355 0.00498911 0.99737744 0.1326345 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1171056809999995 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:1.96, Y:0.17, Z:0.14 [[ 0.99747837 -0.02098892 -0.06779658 1.96260698] [ 0.02070853 0.99977386 -0.00483596 0.16885506] [ 0.06788275 0.0034198 0.99768744 0.13506923] [ 0. 0. 0. 1. ]] SLAMing on 2.1471056809999998 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:1.99, Y:0.15, Z:0.14 [[ 0.99672257 -0.02795062 -0.07591364 1.99173051] [ 0.02761756 0.99960379 -0.0054338 0.15233987] [ 0.07603544 0.00331944 0.99709959 0.1360553 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1771056809999996 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:2.02, Y:0.15, Z:0.14 [[ 0.99721694 -0.01510726 -0.07300791 2.02052718] [ 0.01476296 0.99987722 -0.00525334 0.146226 ] [ 0.07307831 0.00416091 0.99731753 0.14130658] [ 0. 0. 0. 1. ]] SLAMing on 2.2071056809999994 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:2.05, Y:0.15, Z:0.13 [[ 0.99658651 -0.02796274 -0.0776751 2.04943417] [ 0.02760946 0.999603 -0.00561849 0.14704604] [ 0.07780137 0.00345474 0.99696289 0.13138829] [ 0. 0. 0. 1. ]] SLAMing on 2.2371056809999996 meters Centerline goodness : 0.998199 Centerline is valid? [True, True] Translation: X:2.08, Y:0.14, Z:0.15 [[ 9.95758783e-01 -6.06739139e-02 -6.91601201e-02 2.07816591e+00] [ 6.04719426e-02 9.98157313e-01 -5.01217868e-03 1.36404821e-01] [ 6.93367882e-02 8.08674126e-04 9.97592981e-01 1.47129342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2671056809999994 meters Centerline goodness : 0.998008 Centerline is valid? [True, True] Translation: X:2.11, Y:0.14, Z:0.15 [[ 9.96715213e-01 -4.58851635e-02 -6.67333158e-02 2.10965389e+00] [ 4.56633535e-02 9.98945130e-01 -4.84617723e-03 1.41044598e-01] [ 6.68852885e-02 1.78299158e-03 9.97759079e-01 1.48705665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2971056809999997 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:2.14, Y:0.15, Z:0.15 [[ 9.96220820e-01 -5.40459086e-02 -6.79935062e-02 2.14145433e+00] [ 5.38350540e-02 9.98537667e-01 -4.93096874e-03 1.49276442e-01] [ 6.81605757e-02 1.25189965e-03 9.97673578e-01 1.49565811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3271056809999995 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:2.17, Y:0.16, Z:0.16 [[ 9.95581381e-01 -6.78055546e-02 -6.49624592e-02 2.17220079e+00] [ 6.76425322e-02 9.97698512e-01 -4.70818565e-03 1.57303772e-01] [ 6.51321900e-02 2.93156729e-04 9.97876602e-01 1.55537357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3571056809999997 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:2.20, Y:0.17, Z:0.16 [[ 9.94774992e-01 -7.19529845e-02 -7.24257069e-02 2.20436685e+00] [ 7.17627809e-02 9.97408025e-01 -5.22831516e-03 1.71258740e-01] [ 7.26141741e-02 3.52704583e-06 9.97360106e-01 1.56918059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3871056809999995 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:2.24, Y:0.19, Z:0.16 [[ 9.95645082e-01 -5.94103813e-02 -7.18420307e-02 2.23636782e+00] [ 5.91913317e-02 9.98233237e-01 -5.17606271e-03 1.90420944e-01] [ 7.20226147e-02 9.01095909e-04 9.97402592e-01 1.61417456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4171056809999993 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:2.27, Y:0.21, Z:0.17 [[ 9.96617157e-01 -4.92872452e-02 -6.57648077e-02 2.26718389e+00] [ 4.90822870e-02 9.98783540e-01 -4.72958010e-03 2.09553344e-01] [ 6.59179154e-02 1.48569351e-03 9.97823943e-01 1.68837873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4471056809999996 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:2.30, Y:0.22, Z:0.17 [[ 0.99733835 -0.03161008 -0.0657041 2.29793415] [ 0.03136766 0.99949678 -0.00471807 0.22451244] [ 0.06582017 0.00264453 0.997828 0.17344364] [ 0. 0. 0. 1. ]] SLAMing on 2.4771056809999994 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:2.33, Y:0.23, Z:0.17 [[ 0.99727928 -0.01596753 -0.07196576 2.32916911] [ 0.01563745 0.99986448 -0.00514774 0.22668883] [ 0.0720382 0.00400838 0.99739382 0.17332296] [ 0. 0. 0. 1. ]] SLAMing on 2.5071056809999996 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:2.36, Y:0.22, Z:0.17 [[ 0.99643858 -0.01137444 -0.08355107 2.35851209] [ 0.01091376 0.99992263 -0.00596845 0.21898158] [ 0.0836125 0.00503534 0.99648562 0.16881241] [ 0. 0. 0. 1. ]] SLAMing on 2.5371056809999994 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:2.39, Y:0.21, Z:0.17 [[ 0.99636801 -0.02032021 -0.08269149 2.38725449] [ 0.01989693 0.99978439 -0.00593975 0.21184796] [ 0.08279436 0.00427287 0.99655749 0.17210723] [ 0. 0. 0. 1. ]] SLAMing on 2.5671056809999997 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:2.42, Y:0.20, Z:0.18 [[ 9.96080960e-01 -4.11968647e-02 -7.82658296e-02 2.41629583e+00] [ 4.08811210e-02 9.99148139e-01 -5.63291128e-03 2.02510018e-01] [ 7.84312163e-02 2.41124082e-03 9.96916611e-01 1.76999269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5971056809999995 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:2.45, Y:0.19, Z:0.18 [[ 9.95237494e-01 -6.27965816e-02 -7.45581709e-02 2.44903153e+00] [ 6.25698325e-02 9.98026112e-01 -5.37546585e-03 1.93310498e-01] [ 7.47485623e-02 6.84772899e-04 9.97202178e-01 1.82368872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6271056809999993 meters Centerline goodness : 0.998442 Centerline is valid? [True, True] Translation: X:2.48, Y:0.19, Z:0.19 [[ 9.94618236e-01 -7.34264339e-02 -7.30966717e-02 2.48235709e+00] [ 7.32377653e-02 9.97300629e-01 -5.26168594e-03 1.89140023e-01] [ 7.32857035e-02 -1.20068099e-04 9.97310980e-01 1.85915347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6571056809999996 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:2.51, Y:0.18, Z:0.20 [[ 9.93282464e-01 -9.13901341e-02 -7.09773942e-02 2.51433413e+00] [ 9.12584771e-02 9.95814168e-01 -5.10226469e-03 1.84664790e-01] [ 7.11465914e-02 -1.40929886e-03 9.97464875e-01 1.95249022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6871056809999994 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:2.55, Y:0.18, Z:0.20 [[ 0.99148354 -0.10789828 -0.07292698 2.54746523] [ 0.10780573 0.9941583 -0.00521566 0.1829011 ] [ 0.07306372 -0.00269071 0.99732364 0.19805262] [ 0. 0. 0. 1. ]] SLAMing on 2.7171056809999996 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:2.58, Y:0.19, Z:0.20 [[ 0.99125983 -0.11084625 -0.07153355 2.58052327] [ 0.11076674 0.9938334 -0.00508964 0.1866178 ] [ 0.0716566 -0.00287838 0.99742521 0.19980101] [ 0. 0. 0. 1. ]] SLAMing on 2.7471056809999994 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:2.61, Y:0.20, Z:0.20 [[ 9.91787779e-01 -1.03788018e-01 -7.47331834e-02 2.61275803e+00] [ 1.03683375e-01 9.94596291e-01 -5.28914123e-03 2.00946449e-01] [ 7.48782966e-02 -2.50288301e-03 9.97189539e-01 2.02748105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7771056809999997 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:2.64, Y:0.22, Z:0.21 [[ 9.92433492e-01 -9.65663245e-02 -7.58334226e-02 2.64494600e+00] [ 9.64396213e-02 9.95324514e-01 -5.33959658e-03 2.15858745e-01] [ 7.59944897e-02 -2.01415207e-03 9.97106203e-01 2.05901961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8071056809999995 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:2.68, Y:0.24, Z:0.21 [[ 9.93154894e-01 -8.73720782e-02 -7.75208188e-02 2.67661306e+00] [ 8.72139095e-02 9.96174808e-01 -5.43005471e-03 2.36306603e-01] [ 7.76987220e-02 -1.36800827e-03 9.96975946e-01 2.05849633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8371056809999993 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:2.71, Y:0.24, Z:0.21 [[ 9.93168503e-01 -8.72154308e-02 -7.75228539e-02 2.70999406e+00] [ 8.70590655e-02 9.96188511e-01 -5.40083801e-03 2.38508479e-01] [ 7.76984129e-02 -1.38512502e-03 9.96975947e-01 2.08722140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8671056809999995 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:2.74, Y:0.26, Z:0.22 [[ 9.93714952e-01 -8.40468377e-02 -7.39372987e-02 2.74006379e+00] [ 8.38965103e-02 9.96461205e-01 -5.14214753e-03 2.55829474e-01] [ 7.41078310e-02 -1.09325246e-03 9.97249635e-01 2.16244921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8971056809999993 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:2.77, Y:0.27, Z:0.22 [[ 9.94061194e-01 -8.09155690e-02 -7.27668484e-02 2.77150577e+00] [ 8.07633187e-02 9.96720580e-01 -5.03707204e-03 2.65259991e-01] [ 7.29357929e-02 -8.69734321e-04 9.97336259e-01 2.21799977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9271056809999996 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:2.80, Y:0.28, Z:0.23 [[ 9.94821418e-01 -6.97637117e-02 -7.39146192e-02 2.80389630e+00] [ 6.95776670e-02 9.97563541e-01 -5.09211714e-03 2.75400265e-01] [ 7.40897743e-02 -7.70595649e-05 9.97251573e-01 2.25973115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9571056809999994 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:2.84, Y:0.28, Z:0.23 [[ 9.95015976e-01 -6.09292473e-02 -7.89356293e-02 2.83670498e+00] [ 6.06917278e-02 9.98141914e-01 -5.40689478e-03 2.82481669e-01] [ 7.91183981e-02 5.89206955e-04 9.96865052e-01 2.26319308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9871056809999996 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:2.87, Y:0.29, Z:0.23 [[ 9.94839247e-01 -6.22293852e-02 -8.01397257e-02 2.86970176e+00] [ 6.19896274e-02 9.98061757e-01 -5.47862208e-03 2.85934505e-01] [ 8.03253267e-02 4.82516527e-04 9.96768584e-01 2.27364334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0171056809999994 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:2.90, Y:0.28, Z:0.23 [[ 9.93589915e-01 -7.89275125e-02 -8.09291559e-02 2.90186543e+00] [ 7.87390266e-02 9.96879965e-01 -5.52276995e-03 2.83546565e-01] [ 8.11125526e-02 -8.84914432e-04 9.96704555e-01 2.26890329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0471056809999992 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:2.94, Y:0.28, Z:0.23 [[ 9.92278505e-01 -9.28611785e-02 -8.22202536e-02 2.93552546e+00] [ 9.27165318e-02 9.95676888e-01 -5.58387504e-03 2.81825757e-01] [ 8.23833314e-02 -2.08241758e-03 9.96598540e-01 2.28512062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0771056809999995 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:2.97, Y:0.28, Z:0.23 [[ 0.99058145 -0.10901975 -0.0828437 2.9683217 ] [ 0.10893156 0.99403349 -0.00559722 0.27694117] [ 0.08295962 -0.0034798 0.99654683 0.23176109] [ 0. 0. 0. 1. ]] SLAMing on 3.1071056809999993 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:3.00, Y:0.28, Z:0.24 [[ 0.9900843 -0.11289297 -0.08359573 3.00093052] [ 0.11281842 0.99359967 -0.00563032 0.27768339] [ 0.08369632 -0.00385665 0.99648384 0.23629734] [ 0. 0. 0. 1. ]] SLAMing on 3.1371056809999995 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:3.04, Y:0.28, Z:0.24 [[ 0.99047359 -0.11479768 -0.07604969 3.03517385] [ 0.11290362 0.9931894 -0.02876789 0.28093348] [ 0.07883423 0.01990755 0.99668895 0.24308748] [ 0. 0. 0. 1. ]] SLAMing on 3.1671056809999993 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:3.07, Y:0.28, Z:0.23 [[ 0.98944236 -0.11525192 -0.0878681 3.06569087] [ 0.11732921 0.9929144 0.01883725 0.28030329] [ 0.08507447 -0.02894786 0.99595399 0.23115438] [ 0. 0. 0. 1. ]] SLAMing on 3.1971056809999996 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:3.10, Y:0.29, Z:0.25 [[ 0.98921383 -0.1230546 -0.0794579 3.10031505] [ 0.12110747 0.99221877 -0.02889458 0.2895819 ] [ 0.08239523 0.01895998 0.99641936 0.24808466] [ 0. 0. 0. 1. ]] SLAMing on 3.2271056809999994 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:3.13, Y:0.29, Z:0.23 [[ 0.98761102 -0.12818435 -0.09051653 3.13045663] [ 0.1304003 0.99127969 0.01898255 0.28840993] [ 0.08729393 -0.03055076 0.99571403 0.23242598] [ 0. 0. 0. 1. ]] SLAMing on 3.257105680999999 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:3.16, Y:0.30, Z:0.24 [[ 0.98666335 -0.13565542 -0.08996136 3.16114714] [ 0.13567033 0.990736 -0.00597777 0.29503266] [ 0.08993887 -0.00630704 0.99592732 0.24496726] [ 0. 0. 0. 1. ]] SLAMing on 3.2871056809999994 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:3.20, Y:0.30, Z:0.25 [[ 0.98644241 -0.14013176 -0.08540764 3.19519904] [ 0.13853697 0.99005783 -0.0243515 0.30051207] [ 0.08797092 0.01218924 0.99604846 0.2545499 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3171056809999993 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:3.23, Y:0.31, Z:0.26 [[ 9.87672955e-01 -1.35064405e-01 -7.91185170e-02 3.22843067e+00] [ 1.34721713e-01 9.90836210e-01 -9.67802265e-03 3.06688968e-01] [ 7.97006479e-02 -1.10026090e-03 9.96818236e-01 2.55632353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3471056809999995 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:3.26, Y:0.31, Z:0.26 [[ 9.88755944e-01 -1.27957573e-01 -7.73856724e-02 3.26055661e+00] [ 1.28357251e-01 9.91727976e-01 1.92412842e-04 3.11985378e-01] [ 7.67209156e-02 -1.01232615e-02 9.97001214e-01 2.56678772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3771056809999993 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:3.29, Y:0.32, Z:0.26 [[ 0.99046405 -0.11107474 -0.08150685 3.28797376] [ 0.11267415 0.99351452 0.01527877 0.32312383] [ 0.07928115 -0.02431679 0.99655566 0.25693182] [ 0. 0. 0. 1. ]] SLAMing on 3.4071056809999996 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:3.32, Y:0.34, Z:0.28 [[ 9.93594308e-01 -8.64480730e-02 -7.27810495e-02 3.31833916e+00] [ 8.63279059e-02 9.96255209e-01 -4.80107396e-03 3.41923801e-01] [ 7.29235433e-02 -1.51271583e-03 9.97336387e-01 2.75606049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4371056809999994 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:3.35, Y:0.36, Z:0.28 [[ 9.95891108e-01 -5.59405266e-02 -7.12148701e-02 3.34984627e+00] [ 5.57492301e-02 9.98433869e-01 -4.67253315e-03 3.56541681e-01] [ 7.13647223e-02 6.83160034e-04 9.97450054e-01 2.77225097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.467105680999999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:3.38, Y:0.37, Z:0.28 [[ 9.96563894e-01 -3.44945652e-02 -7.53029175e-02 3.38154934e+00] [ 3.42216889e-02 9.99402198e-01 -4.91142702e-03 3.70851857e-01] [ 7.54273189e-02 2.31755783e-03 9.97148609e-01 2.77755129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4971056809999994 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:3.41, Y:0.38, Z:0.28 [[ 9.96775468e-01 -2.72287902e-02 -7.54801984e-02 3.41274697e+00] [ 2.69344820e-02 9.99625120e-01 -4.91455729e-03 3.82406783e-01] [ 7.55857198e-02 2.86569009e-03 9.97135190e-01 2.81055007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.527105680999999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:3.45, Y:0.39, Z:0.28 [[ 9.96821094e-01 -3.09722988e-02 -7.34058805e-02 3.44519669e+00] [ 3.07045536e-02 9.99517106e-01 -4.77340160e-03 3.85310849e-01] [ 7.35182765e-02 2.50433262e-03 9.97290726e-01 2.82261750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5571056809999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:3.48, Y:0.38, Z:0.28 [[ 9.96276743e-01 -4.13108666e-02 -7.56707609e-02 3.47808279e+00] [ 4.10565532e-02 9.99144740e-01 -4.91399853e-03 3.84349217e-01] [ 7.58090442e-02 1.78892183e-03 9.97120749e-01 2.82582685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5871056809999993 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:3.51, Y:0.38, Z:0.29 [[ 9.95657109e-01 -5.26169327e-02 -7.68009106e-02 3.51162463e+00] [ 5.23889772e-02 9.98614331e-01 -4.98126274e-03 3.81289667e-01] [ 7.69565887e-02 9.36108509e-04 9.97034005e-01 2.85826339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6171056809999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.54, Y:0.37, Z:0.29 [[ 9.94907132e-01 -6.64031381e-02 -7.58315395e-02 3.54404920e+00] [ 6.62214104e-02 9.97792867e-01 -4.91120150e-03 3.74757543e-01] [ 7.59902884e-02 -1.35482109e-04 9.97108549e-01 2.90815331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6471056809999993 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:3.58, Y:0.37, Z:0.29 [[ 9.93793138e-01 -7.85570231e-02 -7.87654364e-02 3.57766827e+00] [ 7.84010179e-02 9.96908980e-01 -5.07593516e-03 3.66321858e-01] [ 7.89207213e-02 -1.13086086e-03 9.96880254e-01 2.90869491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.677105680999999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:3.61, Y:0.36, Z:0.29 [[ 9.93048216e-01 -8.85671891e-02 -7.75312463e-02 3.61021798e+00] [ 8.84485869e-02 9.96068349e-01 -4.96912448e-03 3.58163835e-01] [ 7.76665218e-02 -1.92294897e-03 9.96977539e-01 2.94182779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7071056809999994 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:3.64, Y:0.35, Z:0.30 [[ 9.93416192e-01 -8.83443619e-02 -7.29352002e-02 3.64253867e+00] [ 8.82405691e-02 9.96088337e-01 -4.65040804e-03 3.48712968e-01] [ 7.30607397e-02 -1.81605294e-03 9.97325840e-01 2.99271443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.737105680999999 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:3.68, Y:0.35, Z:0.30 [[ 9.94509367e-01 -7.47961651e-02 -7.31891577e-02 3.67551348e+00] [ 7.46559858e-02 9.97198493e-01 -4.65295594e-03 3.45217980e-01] [ 7.33321410e-02 -8.36600454e-04 9.97307223e-01 3.01935196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7671056809999994 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:3.71, Y:0.34, Z:0.31 [[ 9.95839239e-01 -5.82020413e-02 -7.01194184e-02 3.70779606e+00] [ 5.80341570e-02 9.98304765e-01 -4.43078927e-03 3.43927086e-01] [ 7.02584305e-02 3.43032477e-04 9.97528764e-01 3.10434149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7971056809999992 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:3.74, Y:0.34, Z:0.31 [[ 9.96569276e-01 -4.47791766e-02 -6.96024696e-02 3.73983831e+00] [ 4.45817046e-02 9.98996101e-01 -4.38872034e-03 3.39518703e-01] [ 6.97291190e-02 1.27066711e-03 9.97565153e-01 3.12501142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8271056809999995 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:3.77, Y:0.34, Z:0.31 [[ 9.96622937e-01 -4.22851216e-02 -7.03895644e-02 3.77307713e+00] [ 4.20774566e-02 9.99104526e-01 -4.43102694e-03 3.36667493e-01] [ 7.05138988e-02 1.45424924e-03 9.97509737e-01 3.14056925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8571056809999993 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:3.81, Y:0.33, Z:0.32 [[ 9.96320915e-01 -4.49966297e-02 -7.29379017e-02 3.80526752e+00] [ 4.47815050e-02 9.98986293e-01 -4.58288883e-03 3.28222556e-01] [ 7.30701787e-02 1.29975898e-03 9.97325955e-01 3.16069798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.887105680999999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:3.84, Y:0.32, Z:0.32 [[ 9.95836937e-01 -5.39668143e-02 -7.34600459e-02 3.83865822e+00] [ 5.37741342e-02 9.98542531e-01 -4.59964665e-03 3.18956055e-01] [ 7.36012084e-02 6.30247671e-04 9.97287554e-01 3.19039490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9171056809999993 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:3.87, Y:0.31, Z:0.32 [[ 9.95252012e-01 -6.30732323e-02 -7.41296201e-02 3.87299348e+00] [ 6.29029397e-02 9.98008900e-01 -4.63202062e-03 3.07484544e-01] [ 7.42741771e-02 -5.29431812e-05 9.97237857e-01 3.17293216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.947105680999999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:3.91, Y:0.30, Z:0.32 [[ 9.94587037e-01 -7.14615947e-02 -7.54312086e-02 3.90640622e+00] [ 7.13103084e-02 9.97443104e-01 -4.70052691e-03 2.97382909e-01] [ 7.55742459e-02 -7.03939617e-04 9.97139929e-01 3.17746651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9771056809999994 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:3.94, Y:0.29, Z:0.32 [[ 9.93468679e-01 -8.50029000e-02 -7.61215514e-02 3.93921128e+00] [ 8.48893135e-02 9.96379149e-01 -4.73247055e-03 2.89875738e-01] [ 7.62482003e-02 -1.76034498e-03 9.97087315e-01 3.22234817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.007105681 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:3.97, Y:0.28, Z:0.32 [[ 9.92091769e-01 -9.80163789e-02 -7.84009664e-02 3.97185892e+00] [ 9.79370893e-02 9.95180716e-01 -4.86511877e-03 2.80277608e-01] [ 7.84999912e-02 -2.85171816e-03 9.96910036e-01 3.23362199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.037105681 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:4.01, Y:0.27, Z:0.32 [[ 9.91004298e-01 -1.07565861e-01 -7.96245410e-02 4.00536020e+00] [ 1.07516900e-01 9.94191111e-01 -4.91447331e-03 2.71303783e-01] [ 7.96906404e-02 -3.69071962e-03 9.96812811e-01 3.24127034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.067105681 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:4.04, Y:0.27, Z:0.33 [[ 0.99045614 -0.11036539 -0.08255972 4.0387896 ] [ 0.11032421 0.9938827 -0.00507467 0.268086 ] [ 0.08261474 -0.0040821 0.9965732 0.32786392] [ 0. 0. 0. 1. ]] SLAMing on 4.0971056809999995 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:4.07, Y:0.27, Z:0.33 [[ 9.91011076e-01 -1.04538711e-01 -8.34787717e-02 4.07064401e+00] [ 1.04478649e-01 9.94514055e-01 -5.09972143e-03 2.71139519e-01] [ 8.35539300e-02 -3.66786890e-03 9.96496507e-01 3.31343187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.127105681 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:4.10, Y:0.28, Z:0.33 [[ 9.92450755e-01 -9.19637728e-02 -8.11428626e-02 4.10193334e+00] [ 9.18674183e-02 9.95759053e-01 -4.92798402e-03 2.78490818e-01] [ 8.12519361e-02 -2.56360385e-03 9.96690298e-01 3.34757456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.157105681 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:4.13, Y:0.29, Z:0.34 [[ 9.94092714e-01 -7.68369341e-02 -7.66535218e-02 4.13426593e+00] [ 7.67079883e-02 9.97042854e-01 -4.62945242e-03 2.88546961e-01] [ 7.67825591e-02 -1.27783253e-03 9.97047043e-01 3.38361178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.187105680999999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:4.17, Y:0.30, Z:0.34 [[ 9.95488193e-01 -6.07636586e-02 -7.28768519e-02 4.16679913e+00] [ 6.06047007e-02 9.98152181e-01 -4.39253900e-03 3.00594340e-01] [ 7.30090954e-02 -4.39590884e-05 9.97331274e-01 3.42800696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.217105681 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:4.20, Y:0.32, Z:0.35 [[ 9.96279643e-01 -4.77244676e-02 -7.17582670e-02 4.19872722e+00] [ 4.75372760e-02 9.98860144e-01 -4.31515708e-03 3.15249588e-01] [ 7.18824114e-02 8.87910608e-04 9.97412718e-01 3.49064316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.247105681 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:4.23, Y:0.33, Z:0.35 [[ 9.96409302e-01 -4.04443891e-02 -7.43824857e-02 4.22987248e+00] [ 4.02238211e-02 9.99180734e-01 -4.46159978e-03 3.29103807e-01] [ 7.45019933e-02 1.45363173e-03 9.97219805e-01 3.51645342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.277105681 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:4.26, Y:0.34, Z:0.35 [[ 9.96298479e-01 -4.16053650e-02 -7.52219032e-02 4.26211218e+00] [ 4.13837863e-02 9.99133179e-01 -4.50264168e-03 3.36105905e-01] [ 7.53440333e-02 1.37300788e-03 9.97156653e-01 3.50713624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3071056809999995 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:4.29, Y:0.34, Z:0.35 [[ 9.96275552e-01 -4.90714487e-02 -7.09014632e-02 4.29440491e+00] [ 4.88939503e-02 9.98794985e-01 -4.23784773e-03 3.38003232e-01] [ 7.10239832e-02 7.55411467e-04 9.97474322e-01 3.52191452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.337105681 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:4.33, Y:0.34, Z:0.36 [[ 9.95944197e-01 -6.05787473e-02 -6.65234749e-02 4.32723902e+00] [ 6.04484718e-02 9.98163419e-01 -3.97130250e-03 3.40175487e-01] [ 6.66418757e-02 -6.60467168e-05 9.97776957e-01 3.59963628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.367105681 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:4.36, Y:0.34, Z:0.37 [[ 9.95615940e-01 -6.54802356e-02 -6.67925082e-02 4.35934219e+00] [ 6.53604997e-02 9.97853784e-01 -3.97867398e-03 3.43116653e-01] [ 6.69096816e-02 -4.04360471e-04 9.97758954e-01 3.66270384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.397105680999999 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:4.39, Y:0.35, Z:0.37 [[ 9.95395763e-01 -6.97591202e-02 -6.57338591e-02 4.39124795e+00] [ 6.96527464e-02 9.97563630e-01 -3.91141644e-03 3.47167793e-01] [ 6.58465640e-02 -6.85136469e-04 9.97829525e-01 3.71494787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.427105681 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:4.42, Y:0.35, Z:0.37 [[ 9.96105022e-01 -6.35704106e-02 -6.11030935e-02 4.42379152e+00] [ 6.34681534e-02 9.97977317e-01 -3.61489868e-03 3.50192263e-01] [ 6.12093019e-02 -2.77281781e-04 9.98124914e-01 3.72064665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.457105681 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:4.46, Y:0.36, Z:0.37 [[ 9.96712953e-01 -5.09142152e-02 -6.30161220e-02 4.45725721e+00] [ 5.07811903e-02 9.98702905e-01 -3.71181908e-03 3.55014037e-01] [ 6.31233685e-02 4.99584476e-04 9.98005607e-01 3.71401608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.487105681 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:4.49, Y:0.36, Z:0.37 [[ 9.96578544e-01 -4.32917662e-02 -7.04061653e-02 4.48872434e+00] [ 4.31074502e-02 9.99061881e-01 -4.13590768e-03 3.60588162e-01] [ 7.05191667e-02 1.08672659e-03 9.97509833e-01 3.73207144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.517105680999999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:4.52, Y:0.36, Z:0.37 [[ 9.96266187e-01 -4.22119058e-02 -7.53116210e-02 4.52060999e+00] [ 4.19985594e-02 9.99107916e-01 -4.41505074e-03 3.63820577e-01] [ 7.54308044e-02 1.23558618e-03 9.97150273e-01 3.74633625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.547105681 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:4.55, Y:0.36, Z:0.37 [[ 9.95836942e-01 -4.61017869e-02 -7.86346677e-02 4.55328933e+00] [ 4.58819676e-02 9.98936273e-01 -4.60088299e-03 3.62267160e-01] [ 7.87631308e-02 9.73815971e-04 9.96892883e-01 3.73736712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.577105681 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:4.59, Y:0.36, Z:0.38 [[ 9.95596715e-01 -5.06377027e-02 -7.88860164e-02 4.58663090e+00] [ 5.04311998e-02 9.98716902e-01 -4.60908944e-03 3.58599581e-01] [ 7.90181916e-02 6.10477850e-04 9.96872987e-01 3.77202534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.607105680999999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:4.62, Y:0.36, Z:0.38 [[ 9.95520325e-01 -5.08041003e-02 -7.97384793e-02 4.61919761e+00] [ 5.05944703e-02 9.98708462e-01 -4.64846317e-03 3.55835493e-01] [ 7.98716550e-02 5.93313443e-04 9.96804979e-01 3.81837951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6371056809999995 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:4.65, Y:0.35, Z:0.38 [[ 9.95579466e-01 -4.65596997e-02 -8.15703449e-02 4.65112170e+00] [ 4.63270073e-02 9.98915063e-01 -4.74398152e-03 3.52593042e-01] [ 8.17027245e-02 9.44100621e-04 9.96656297e-01 3.83332317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.667105681 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:4.68, Y:0.35, Z:0.39 [[ 9.95601567e-01 -4.21506810e-02 -8.36710238e-02 4.68323378e+00] [ 4.18910822e-02 9.99110380e-01 -4.85659029e-03 3.50370735e-01] [ 8.38012969e-02 1.33015917e-03 9.96481597e-01 3.85777200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.697105681 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:4.71, Y:0.35, Z:0.39 [[ 9.95566154e-01 -4.25032066e-02 -8.39137058e-02 4.71464926e+00] [ 4.22439648e-02 9.99095489e-01 -4.86333385e-03 3.46473496e-01] [ 8.40445122e-02 1.29692295e-03 9.96461157e-01 3.87685152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.727105680999999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:4.75, Y:0.34, Z:0.39 [[ 9.95713440e-01 -4.49987453e-02 -8.08075369e-02 4.74679550e+00] [ 4.47671890e-02 9.98986504e-01 -4.67589393e-03 3.38995691e-01] [ 8.09360481e-02 1.03832415e-03 9.96718756e-01 3.89885727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.757105681 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:4.78, Y:0.34, Z:0.39 [[ 9.95718939e-01 -4.48765885e-02 -8.08077156e-02 4.77934328e+00] [ 4.46448814e-02 9.98991992e-01 -4.67280350e-03 3.40775609e-01] [ 8.09359603e-02 1.04514806e-03 9.96718756e-01 3.92770248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.787105681 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:4.81, Y:0.33, Z:0.40 [[ 9.95949728e-01 -4.48383192e-02 -7.79337199e-02 4.81154802e+00] [ 4.46234647e-02 9.98993755e-01 -4.49706863e-03 3.33144753e-01] [ 7.80569405e-02 1.00118168e-03 9.96948400e-01 3.97510569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.817105680999999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:4.84, Y:0.33, Z:0.41 [[ 9.96262726e-01 -4.47126581e-02 -7.39010078e-02 4.84311809e+00] [ 4.45196301e-02 9.98999435e-01 -4.25802208e-03 3.27076688e-01] [ 7.40174526e-02 9.52063156e-04 9.97256492e-01 4.07457788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8471056809999995 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:4.88, Y:0.32, Z:0.41 [[ 9.96737560e-01 -4.19633199e-02 -6.89442912e-02 4.87587691e+00] [ 4.17891942e-02 9.99118576e-01 -3.96657800e-03 3.18912264e-01] [ 6.90499728e-02 1.07251090e-03 9.97612626e-01 4.13338958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.877105681 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:4.91, Y:0.32, Z:0.42 [[ 9.96891523e-01 -3.96881043e-02 -6.80598623e-02 4.90811275e+00] [ 3.95135511e-02 9.99211386e-01 -3.90952317e-03 3.16057604e-01] [ 6.81613509e-02 1.20808366e-03 9.97673579e-01 4.15955165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.907105681 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:4.94, Y:0.31, Z:0.41 [[ 9.96767862e-01 -3.10893924e-02 -7.40761661e-02 4.93969968e+00] [ 3.08594341e-02 9.99514711e-01 -4.24715428e-03 3.10035141e-01] [ 7.41722592e-02 1.94747833e-03 9.97243543e-01 4.14320486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.937105680999999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:4.97, Y:0.30, Z:0.41 [[ 9.97140120e-01 -1.30376987e-02 -7.44419165e-02 4.96927773e+00] [ 1.27560345e-02 9.99909573e-01 -4.25789699e-03 3.03263078e-01] [ 7.44906981e-02 3.29613627e-03 9.97216261e-01 4.13721358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.967105681 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:5.00, Y:0.30, Z:0.42 [[ 9.97340992e-01 -9.56797499e-03 -7.22454097e-02 4.99566499e+00] [ 9.29197548e-03 9.99948194e-01 -4.15543734e-03 3.02439740e-01] [ 7.22814261e-02 3.47308542e-03 9.97378230e-01 4.17623184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.997105681 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:5.02, Y:0.30, Z:0.42 [[ 9.96894476e-01 -4.60879979e-03 -7.86140069e-02 5.02375563e+00] [ 4.26554705e-03 9.99980625e-01 -4.53367306e-03 2.99516755e-01] [ 7.86333786e-02 4.18426189e-03 9.96894821e-01 4.19754848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.027105680999999 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:5.05, Y:0.30, Z:0.42 [[ 9.96032519e-01 -1.38326538e-03 -8.89792570e-02 5.05119434e+00] [ 9.26946879e-04 9.99986208e-01 -5.16948647e-03 2.95703073e-01] [ 8.89851806e-02 5.06649759e-03 9.96020064e-01 4.15398776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0571056809999995 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:5.08, Y:0.29, Z:0.42 [[ 9.96122200e-01 2.68066188e-03 -8.79396142e-02 5.07903473e+00] [-3.14335595e-03 9.99981935e-01 -5.12343828e-03 2.91322042e-01] [ 8.79242914e-02 5.37999613e-03 9.96112631e-01 4.15315823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.087105681 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:5.11, Y:0.29, Z:0.42 [[ 0.99607854 0.00621912 -0.08825452 5.1056346 ] [-0.0067019 0.99996415 -0.00517505 0.28747275] [ 0.08821918 0.00574623 0.99608451 0.41859665] [ 0. 0. 0. 1. ]] SLAMing on 5.117105681 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:5.13, Y:0.28, Z:0.42 [[ 0.99579798 0.0060831 -0.09137493 5.13333641] [-0.00660168 0.99996377 -0.00537414 0.28298606] [ 0.09133893 0.00595479 0.99580206 0.42118694] [ 0. 0. 0. 1. ]] SLAMing on 5.147105680999999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:5.16, Y:0.27, Z:0.42 [[ 9.95740567e-01 -1.66460207e-03 -9.21843400e-02 5.16168607e+00] [ 1.16655652e-03 9.99984434e-01 -5.45633352e-03 2.66418228e-01] [ 9.21919876e-02 5.32555439e-03 9.95727009e-01 4.20031034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.177105681 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:5.19, Y:0.26, Z:0.42 [[ 9.95637364e-01 -7.11287049e-03 -9.30357284e-02 5.18979803e+00] [ 6.62767003e-03 9.99962784e-01 -5.52314542e-03 2.62177839e-01] [ 9.30715514e-02 4.88243983e-03 9.95647452e-01 4.22678007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.207105681 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:5.22, Y:0.25, Z:0.43 [[ 9.95383430e-01 -1.96427573e-02 -9.39467357e-02 5.21835764e+00] [ 1.92004198e-02 9.99799915e-01 -5.61006667e-03 2.50804738e-01] [ 9.40381356e-02 3.78035064e-03 9.95561418e-01 4.27523960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.237105680999999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:5.25, Y:0.23, Z:0.43 [[ 9.95349939e-01 -2.87777742e-02 -9.19257215e-02 5.24733097e+00] [ 2.83919506e-02 9.99581723e-01 -5.50238603e-03 2.34392155e-01] [ 9.20456175e-02 2.86684905e-03 9.95750664e-01 4.29348980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.267105680999999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:5.28, Y:0.22, Z:0.43 [[ 9.95549997e-01 -3.16405557e-02 -8.87641795e-02 5.27541404e+00] [ 3.12893498e-02 9.99496074e-01 -5.34561491e-03 2.19060246e-01] [ 8.88885871e-02 2.54445344e-03 9.96038325e-01 4.32158929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.297105681 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:5.31, Y:0.21, Z:0.44 [[ 0.99679794 -0.03300153 -0.07283377 5.30544207] [ 0.03034144 0.99884219 -0.03733206 0.21369109] [ 0.07398146 0.03500264 0.99664515 0.44357967] [ 0. 0. 0. 1. ]] SLAMing on 5.327105681 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:5.33, Y:0.20, Z:0.45 [[ 0.99664914 -0.02616907 -0.07749625 5.33012882] [ 0.02739862 0.99951435 0.0148452 0.20065521] [ 0.07707013 -0.01691875 0.99688211 0.44782076] [ 0. 0. 0. 1. ]] SLAMing on 5.357105680999999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:5.36, Y:0.20, Z:0.45 [[ 9.96875823e-01 -2.68399294e-02 -7.42846704e-02 5.35783812e+00] [ 2.68292876e-02 9.99639378e-01 -1.14131468e-03 2.00033041e-01] [ 7.42885145e-02 -8.55255780e-04 9.97236424e-01 4.54801386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3871056809999995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:5.39, Y:0.19, Z:0.45 [[ 0.99659555 -0.02881302 -0.07724713 5.38852365] [ 0.02934337 0.99955291 0.00573928 0.18968268] [ 0.07704723 -0.00798643 0.99699546 0.44943892] [ 0. 0. 0. 1. ]] SLAMing on 5.417105681 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:5.42, Y:0.19, Z:0.45 [[ 9.96618021e-01 -2.85563410e-02 -7.70522863e-02 5.41666779e+00] [ 2.82748403e-02 9.99588939e-01 -4.74206772e-03 1.89188667e-01] [ 7.71560292e-02 2.54738906e-03 9.97015776e-01 4.53787294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.447105680999999 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:5.44, Y:0.19, Z:0.46 [[ 9.96612850e-01 -2.34346156e-02 -7.88266851e-02 5.44386933e+00] [ 2.31214999e-02 9.99720739e-01 -4.88270312e-03 1.88452318e-01] [ 7.89190961e-02 3.04357348e-03 9.96876378e-01 4.56440431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.477105680999999 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:5.47, Y:0.19, Z:0.46 [[ 9.96173999e-01 -1.37824364e-02 -8.62983629e-02 5.47143745e+00] [ 1.33687489e-02 9.99896215e-01 -5.36981157e-03 1.90784146e-01] [ 8.63634155e-02 4.19556552e-03 9.96254866e-01 4.58723833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.507105681 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:5.50, Y:0.19, Z:0.46 [[ 9.96088427e-01 -2.86429641e-03 -8.83155796e-02 5.49912019e+00] [ 2.38527810e-03 9.99981870e-01 -5.52899695e-03 1.94314545e-01] [ 8.83298151e-02 5.29671266e-03 9.96077200e-01 4.59609734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.537105681 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:5.53, Y:0.20, Z:0.46 [[ 9.96125531e-01 3.98714274e-03 -8.78523173e-02 5.52695250e+00] [-4.49053055e-03 9.99974610e-01 -5.53304266e-03 1.98154066e-01] [ 8.78280257e-02 5.90610857e-03 9.96118143e-01 4.62342450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.567105680999999 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:5.55, Y:0.20, Z:0.47 [[ 9.96162629e-01 4.41260500e-03 -8.74102104e-02 5.55399013e+00] [-4.91549788e-03 9.99972579e-01 -5.53884145e-03 2.00048403e-01] [ 8.73833728e-02 5.94725156e-03 9.96157004e-01 4.65416167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5971056809999995 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:5.58, Y:0.20, Z:0.47 [[ 9.95989573e-01 2.49784034e-03 -8.94345061e-02 5.58057440e+00] [-3.01810562e-03 9.99979300e-01 -5.68251683e-03 2.01962469e-01] [ 8.94184607e-02 5.92965030e-03 9.95976495e-01 4.68686781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.627105681 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:5.61, Y:0.20, Z:0.47 [[ 9.95788503e-01 1.58447826e-03 -9.16664995e-02 5.60800704e+00] [-2.12876400e-03 9.99980680e-01 -5.84020422e-03 2.04560521e-01] [ 9.16554748e-02 6.01074456e-03 9.95772637e-01 4.70185072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.657105680999999 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:5.64, Y:0.21, Z:0.47 [[ 0.99553082 0.00631605 -0.09422578 5.63528523] [-0.00691559 0.99995786 -0.00603762 0.21010265] [ 0.09418367 0.00666226 0.99553255 0.47073435] [ 0. 0. 0. 1. ]] SLAMing on 5.687105680999999 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:5.66, Y:0.21, Z:0.47 [[ 0.99540696 0.00895031 -0.09531465 5.66182212] [-0.00957919 0.99993525 -0.00614239 0.21425994] [ 0.09525351 0.00702721 0.99542824 0.47133104] [ 0. 0. 0. 1. ]] SLAMing on 5.717105681 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:5.69, Y:0.22, Z:0.47 [[ 0.99524903 0.01100609 -0.09673793 5.68963646] [-0.01166539 0.99991241 -0.00625243 0.21965844] [ 0.09666064 0.00735121 0.99529025 0.4725824 ] [ 0. 0. 0. 1. ]] SLAMing on 5.747105681 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:5.72, Y:0.22, Z:0.48 [[ 9.95366731e-01 4.71494641e-03 -9.60356192e-02 5.71572733e+00] [-5.33887536e-03 9.99966273e-01 -6.24092943e-03 2.23691302e-01] [ 9.60029545e-02 6.72473572e-03 9.95358333e-01 4.76588342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.777105680999999 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:5.74, Y:0.22, Z:0.48 [[ 9.95832394e-01 -1.11008420e-02 -9.05241147e-02 5.74339098e+00] [ 1.06104579e-02 9.99926321e-01 -5.89662090e-03 2.23762763e-01] [ 9.05829025e-02 4.91154379e-03 9.95876807e-01 4.82549295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8071056809999995 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:5.77, Y:0.22, Z:0.49 [[ 9.95995173e-01 -1.95981631e-02 -8.72326059e-02 5.76980496e+00] [ 1.91742906e-02 9.99799940e-01 -5.69444721e-03 2.24098668e-01] [ 8.73267548e-02 3.99901860e-03 9.96171695e-01 4.87419940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.837105681 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:5.79, Y:0.23, Z:0.50 [[ 0.99572628 -0.03347676 -0.08607249 5.79428639] [ 0.03190722 0.99929968 -0.01954698 0.2256424 ] [ 0.08666658 0.01671711 0.9960971 0.49993154] [ 0. 0. 0. 1. ]] SLAMing on 5.867105680999999 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:5.82, Y:0.23, Z:0.50 [[ 0.99590947 -0.04205524 -0.07997307 5.82459423] [ 0.0428209 0.99905167 0.00788248 0.22555323] [ 0.07956573 -0.01127476 0.99676586 0.49603838] [ 0. 0. 0. 1. ]] SLAMing on 5.897105680999999 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:5.85, Y:0.23, Z:0.50 [[ 9.95821884e-01 -5.17212584e-02 -7.52574637e-02 5.85301367e+00] [ 5.14934187e-02 9.98660987e-01 -4.96601504e-03 2.29439517e-01] [ 7.54135415e-02 1.07000236e-03 9.97151770e-01 5.02125711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.927105681 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:5.88, Y:0.23, Z:0.50 [[ 9.95686602e-01 -5.61561812e-02 -7.38557626e-02 5.88099992e+00] [ 5.59469226e-02 9.98421717e-01 -4.90076315e-03 2.31940979e-01] [ 7.40144055e-02 7.47621575e-04 9.97256892e-01 5.04673328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.957105681 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:5.91, Y:0.24, Z:0.51 [[ 9.94812906e-01 -6.78867102e-02 -7.57540527e-02 5.91113968e+00] [ 6.77522804e-02 9.97692708e-01 -4.34607478e-03 2.39101524e-01] [ 7.58743067e-02 -8.08978541e-04 9.97117062e-01 5.07091729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.987105680999999 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:5.94, Y:0.24, Z:0.51 [[ 9.94014530e-01 -7.40556469e-02 -8.03173403e-02 5.94204804e+00] [ 7.37735706e-02 9.97253978e-01 -6.47789564e-03 2.44374014e-01] [ 8.05765119e-02 5.13825418e-04 9.96748294e-01 5.09337655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.017105680999999 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:5.97, Y:0.25, Z:0.51 [[ 0.99256861 -0.08454546 -0.08751927 5.97143297] [ 0.08308842 0.99633812 -0.020166 0.25207606] [ 0.08890373 0.0127443 0.99595869 0.5136981 ] [ 0. 0. 0. 1. ]] SLAMing on 6.047105681 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:6.00, Y:0.26, Z:0.51 [[ 0.9915576 -0.09587909 -0.0872968 6.00369769] [ 0.09692609 0.99526082 0.00782504 0.25873803] [ 0.08613283 -0.01622031 0.99615161 0.50893643] [ 0. 0. 0. 1. ]] SLAMing on 6.077105680999999 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:6.03, Y:0.27, Z:0.52 [[ 9.90938684e-01 -1.02758836e-01 -8.64936251e-02 6.03359349e+00] [ 1.02650148e-01 9.94701103e-01 -5.71515918e-03 2.66536083e-01] [ 8.66225874e-02 -3.21521109e-03 9.96236011e-01 5.16109524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.107105680999999 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:6.06, Y:0.28, Z:0.52 [[ 9.90324061e-01 -1.09199568e-01 -8.56370707e-02 6.06497010e+00] [ 1.09117475e-01 9.94012787e-01 -5.65299113e-03 2.76435738e-01] [ 8.57416475e-02 -3.74620779e-03 9.96310361e-01 5.20423916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1371056809999995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:6.10, Y:0.29, Z:0.53 [[ 9.90826957e-01 -1.07316274e-01 -8.21289151e-02 6.09628457e+00] [ 1.07234844e-01 9.94218975e-01 -5.41466883e-03 2.89516168e-01] [ 8.22352078e-02 -3.44208159e-03 9.96607005e-01 5.25196891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.167105681 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:6.13, Y:0.30, Z:0.53 [[ 9.91418444e-01 -1.02338221e-01 -8.13409922e-02 6.12828797e+00] [ 1.02242335e-01 9.94745112e-01 -5.35410355e-03 2.99888561e-01] [ 8.14614838e-02 -3.00833595e-03 9.96671950e-01 5.29246151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.197105680999999 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:6.16, Y:0.32, Z:0.54 [[ 0.99249238 -0.08806607 -0.08487187 6.15636844] [ 0.08696197 0.99607288 -0.01662656 0.32411024] [ 0.0860028 0.00912111 0.99625314 0.53669612] [ 0. 0. 0. 1. ]] SLAMing on 6.227105680999999 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:6.19, Y:0.34, Z:0.53 [[ 9.92960585e-01 -8.27945237e-02 -8.47014945e-02 6.19014918e+00] [ 8.34711983e-02 9.96500152e-01 4.47281968e-03 3.35561983e-01] [ 8.40347272e-02 -1.15114689e-02 9.96396332e-01 5.30597913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.257105681 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:6.22, Y:0.36, Z:0.53 [[ 9.93340606e-01 -7.95237053e-02 -8.33691836e-02 6.22025773e+00] [ 7.93470412e-02 9.96832234e-01 -5.43551926e-03 3.59394693e-01] [ 8.35373422e-02 -1.21577605e-03 9.96503906e-01 5.34354327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.287105680999999 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:6.25, Y:0.38, Z:0.53 [[ 9.92953198e-01 -8.36216100e-02 -8.39724574e-02 6.25261366e+00] [ 8.34586344e-02 9.96496309e-01 -5.45545411e-03 3.78136140e-01] [ 8.41344378e-02 -1.59121602e-03 9.96453142e-01 5.34349603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.317105680999999 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:6.28, Y:0.39, Z:0.54 [[ 9.92523818e-01 -8.74227600e-02 -8.51688431e-02 6.28397176e+00] [ 8.72700712e-02 9.96169387e-01 -5.52142119e-03 3.86532630e-01] [ 8.53252922e-02 -1.95254896e-03 9.96351234e-01 5.35766262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3471056809999995 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:6.32, Y:0.40, Z:0.54 [[ 9.91615263e-01 -9.57455036e-02 -8.67869178e-02 6.31569420e+00] [ 9.56195855e-02 9.95402105e-01 -5.61646191e-03 4.01795550e-01] [ 8.69256316e-02 -2.72915976e-03 9.96211065e-01 5.41830584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.377105681 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:6.35, Y:0.42, Z:0.55 [[ 9.91081884e-01 -1.01913252e-01 -8.58509635e-02 6.34693926e+00] [ 1.01814041e-01 9.94787995e-01 -5.54482477e-03 4.17001860e-01] [ 8.59685990e-02 -3.24545814e-03 9.96292561e-01 5.48260359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.407105680999999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:6.38, Y:0.42, Z:0.55 [[ 9.91134042e-01 -1.02973314e-01 -8.39631250e-02 6.37911489e+00] [ 1.02883141e-01 9.94678729e-01 -5.41167828e-03 4.24097592e-01] [ 8.40735929e-02 -3.27469149e-03 9.96454167e-01 5.51373159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.437105680999999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:6.41, Y:0.43, Z:0.55 [[ 9.91788570e-01 -9.79963082e-02 -8.21715016e-02 6.41037687e+00] [ 9.78937147e-02 9.95182836e-01 -5.28621862e-03 4.33553873e-01] [ 8.22936979e-02 -2.80126233e-03 9.96604184e-01 5.51627034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.467105681 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:6.44, Y:0.44, Z:0.55 [[ 9.92686832e-01 -8.54859105e-02 -8.52350397e-02 6.44308145e+00] [ 8.53319597e-02 9.96337646e-01 -5.45454188e-03 4.44826267e-01] [ 8.53891653e-02 -1.85862108e-03 9.96345942e-01 5.53236112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.497105680999999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:6.48, Y:0.45, Z:0.56 [[ 9.93204760e-01 -7.77469653e-02 -8.66008848e-02 6.47568174e+00] [ 7.75613414e-02 9.96972349e-01 -5.51127317e-03 4.52341878e-01] [ 8.67671723e-02 -1.24305805e-03 9.96227842e-01 5.56307058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.527105680999999 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:6.51, Y:0.46, Z:0.56 [[ 9.94415288e-01 -5.85413803e-02 -8.78131091e-02 6.50837933e+00] [ 5.82767081e-02 9.98284891e-01 -5.57691232e-03 4.64251319e-01] [ 8.79889802e-02 4.28307939e-04 9.96121356e-01 5.55958219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5571056809999995 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:6.54, Y:0.47, Z:0.56 [[ 9.95062536e-01 -4.06462525e-02 -9.05451902e-02 6.54020844e+00] [ 4.02919490e-02 9.99171473e-01 -5.73820666e-03 4.74505584e-01] [ 9.07034076e-02 2.06163229e-03 9.95875816e-01 5.56325723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.587105681 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:6.57, Y:0.48, Z:0.56 [[ 9.95226187e-01 -3.35645050e-02 -9.16420301e-02 6.57162111e+00] [ 3.31725374e-02 9.99432825e-01 -5.79745098e-03 4.80403763e-01] [ 9.17846416e-02 2.72977636e-03 9.95775139e-01 5.59210732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.617105680999999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:6.60, Y:0.49, Z:0.56 [[ 9.95390464e-01 -2.64027232e-02 -9.21993561e-02 6.60136020e+00] [ 2.59756835e-02 9.99645581e-01 -5.82886861e-03 4.86754290e-01] [ 9.23205769e-02 3.40705894e-03 9.95723507e-01 5.61020994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.647105680999999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:6.63, Y:0.49, Z:0.56 [[ 9.95381273e-01 -2.67481828e-02 -9.21990011e-02 6.62950850e+00] [ 2.63221012e-02 9.99636487e-01 -5.83447627e-03 4.88735717e-01] [ 9.23215472e-02 3.38065698e-03 9.95723507e-01 5.63512764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.677105681 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:6.66, Y:0.49, Z:0.56 [[ 9.95236010e-01 -3.17612735e-02 -9.21764965e-02 6.65775208e+00] [ 3.13538331e-02 9.99491138e-01 -5.86535248e-03 4.89566001e-01] [ 9.23158824e-02 2.94732352e-03 9.95725410e-01 5.63425633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.707105680999999 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:6.69, Y:0.49, Z:0.56 [[ 9.94891386e-01 -3.65081269e-02 -9.41184690e-02 6.68520902e+00] [ 3.61012048e-02 9.99329988e-01 -6.02313643e-03 4.89161789e-01] [ 9.42753019e-02 2.59457643e-03 9.95542784e-01 5.64134426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.737105680999999 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:6.71, Y:0.49, Z:0.56 [[ 9.93884807e-01 -4.70709461e-02 -9.98865138e-02 6.71401601e+00] [ 4.66641049e-02 9.98890091e-01 -6.40683896e-03 4.85683280e-01] [ 1.00077225e-01 1.70654515e-03 9.94978209e-01 5.63238812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.767105680999999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:6.74, Y:0.48, Z:0.57 [[ 9.93530470e-01 -5.52030518e-02 -9.92462992e-02 6.74476382e+00] [ 5.48391359e-02 9.98474735e-01 -6.39318575e-03 4.83213207e-01] [ 9.94478457e-02 9.09243549e-04 9.95042361e-01 5.70472875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.797105681 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:6.78, Y:0.48, Z:0.58 [[ 9.93670718e-01 -5.65184576e-02 -9.70781553e-02 6.77624880e+00] [ 5.61770364e-02 9.98401268e-01 -6.24881708e-03 4.83299424e-01] [ 9.72761269e-02 7.55703493e-04 9.95257145e-01 5.77021382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.827105680999999 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:6.81, Y:0.48, Z:0.58 [[ 9.94003784e-01 -5.50651113e-02 -9.44685756e-02 6.80812361e+00] [ 5.47361014e-02 9.98482391e-01 -6.07241180e-03 4.79419615e-01] [ 9.46595873e-02 8.65158765e-04 9.95509324e-01 5.80281043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.857105680999999 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:6.84, Y:0.47, Z:0.58 [[ 9.94415067e-01 -5.23120773e-02 -9.16630894e-02 6.84000817e+00] [ 5.19916301e-02 9.98630198e-01 -5.88197341e-03 4.73671558e-01] [ 9.18452274e-02 1.08340954e-03 9.95772705e-01 5.81624897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8871056809999995 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:6.87, Y:0.47, Z:0.58 [[ 9.94383742e-01 -5.20990525e-02 -9.21230778e-02 6.87255316e+00] [ 5.17750653e-02 9.98641314e-01 -5.90496029e-03 4.73675635e-01] [ 9.23055543e-02 1.10211815e-03 9.95730119e-01 5.83788166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.917105680999999 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:6.90, Y:0.47, Z:0.58 [[ 9.94162044e-01 -5.50016642e-02 -9.28258938e-02 6.90369393e+00] [ 5.46861455e-02 9.98485918e-01 -5.94119682e-03 4.72165101e-01] [ 9.30121235e-02 8.30222042e-04 9.95664630e-01 5.84990155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.947105680999999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:6.94, Y:0.47, Z:0.58 [[ 9.93782207e-01 -6.39280882e-02 -9.11598843e-02 6.93645085e+00] [ 6.36625179e-02 9.97954508e-01 -5.82104941e-03 4.65808055e-01] [ 9.13455460e-02 -1.86124391e-05 9.95819256e-01 5.83938357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.977105680999999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:6.97, Y:0.46, Z:0.59 [[ 9.93282381e-01 -7.06543529e-02 -9.16410063e-02 6.96884134e+00] [ 7.04152920e-02 9.97500647e-01 -5.84338621e-03 4.62652004e-01] [ 9.18248238e-02 -6.48795653e-04 9.95774965e-01 5.85483022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.007105681 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:7.00, Y:0.46, Z:0.59 [[ 9.92077086e-01 -8.79177370e-02 -8.97414460e-02 7.00100876e+00] [ 8.77595811e-02 9.96125295e-01 -5.71433004e-03 4.55310487e-01] [ 8.98961153e-02 -2.20661582e-03 9.95948703e-01 5.91164971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.037105680999999 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:7.03, Y:0.45, Z:0.60 [[ 9.90211445e-01 -1.06992675e-01 -8.96318152e-02 7.03402454e+00] [ 1.06913551e-01 9.94251997e-01 -5.69729546e-03 4.48968293e-01] [ 8.97261801e-02 -3.94132845e-03 9.95958673e-01 5.97499134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.067105680999999 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:7.07, Y:0.45, Z:0.60 [[ 9.89446725e-01 -1.13150607e-01 -9.05103173e-02 7.06610972e+00] [ 1.13096769e-01 9.93567398e-01 -5.73997366e-03 4.45803152e-01] [ 9.05775819e-02 -4.55702627e-03 9.95878976e-01 6.00195110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0971056809999995 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:7.10, Y:0.44, Z:0.60 [[ 9.88453136e-01 -1.21438836e-01 -9.06256469e-02 7.09967309e+00] [ 1.21422203e-01 9.92584485e-01 -5.71745084e-03 4.39876746e-01] [ 9.06479317e-02 -5.35253349e-03 9.95868617e-01 6.01407732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.127105680999999 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:7.13, Y:0.44, Z:0.60 [[ 9.89270379e-01 -1.16846659e-01 -8.76982106e-02 7.12743973e+00] [ 1.16627272e-01 9.93146376e-01 -7.63904718e-03 4.36664665e-01] [ 8.79897572e-02 -2.67091995e-03 9.96117799e-01 6.04910200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.157105680999999 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:7.16, Y:0.44, Z:0.61 [[ 9.89238570e-01 -1.18718001e-01 -8.55165922e-02 7.16361614e+00] [ 1.18741517e-01 9.92913454e-01 -4.82961885e-03 4.40620183e-01] [ 8.54839376e-02 -5.37672460e-03 9.96325041e-01 6.08386630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.187105680999999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:7.20, Y:0.45, Z:0.61 [[ 9.89948896e-01 -1.13925366e-01 -8.37985336e-02 7.19597782e+00] [ 1.13888305e-01 9.93479752e-01 -5.23806946e-03 4.46373342e-01] [ 8.38488954e-02 -4.35825187e-03 9.96468950e-01 6.13831633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.217105681 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:7.23, Y:0.45, Z:0.62 [[ 9.89869474e-01 -1.13726998e-01 -8.49976107e-02 7.22828042e+00] [ 1.13689134e-01 9.93502226e-01 -5.30159345e-03 4.54518413e-01] [ 8.50482498e-02 -4.41541923e-03 9.96367050e-01 6.15866446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.247105680999999 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:7.26, Y:0.46, Z:0.62 [[ 9.89716748e-01 -1.13857685e-01 -8.65862953e-02 7.26009335e+00] [ 1.13819906e-01 9.93486781e-01 -5.38927742e-03 4.59524349e-01] [ 8.66359504e-02 -4.52138588e-03 9.96229777e-01 6.17553095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.277105680999999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:7.29, Y:0.47, Z:0.62 [[ 9.89448463e-01 -1.14816741e-01 -8.83677317e-02 7.29341182e+00] [ 1.14783812e-01 9.93375430e-01 -5.47103944e-03 4.66467569e-01] [ 8.84105004e-02 -4.72987350e-03 9.96072895e-01 6.16516622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3071056809999995 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:7.33, Y:0.47, Z:0.62 [[ 9.89616015e-01 -1.13375444e-01 -8.83524319e-02 7.32585154e+00] [ 1.13337839e-01 9.93541514e-01 -5.45847307e-03 4.72657808e-01] [ 8.84006658e-02 -4.61188133e-03 9.96074321e-01 6.19032099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.337105680999999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:7.36, Y:0.48, Z:0.62 [[ 9.90019898e-01 -1.10953333e-01 -8.68905023e-02 7.35871140e+00] [ 1.10910187e-01 9.93816092e-01 -5.33908411e-03 4.78020944e-01] [ 8.69455686e-02 -4.35124233e-03 9.96203561e-01 6.24468488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.367105680999999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:7.39, Y:0.49, Z:0.63 [[ 9.90541935e-01 -1.04246621e-01 -8.92150046e-02 7.39075121e+00] [ 1.04176968e-01 9.94543846e-01 -5.44953901e-03 4.87933331e-01] [ 8.92963298e-02 -3.89615173e-03 9.95997483e-01 6.30260141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.397105680999999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:7.42, Y:0.50, Z:0.63 [[ 9.90993981e-01 -9.52937144e-02 -9.40746343e-02 7.42356438e+00] [ 9.51794307e-02 9.95443749e-01 -5.71130918e-03 4.97415805e-01] [ 9.41902585e-02 -3.29409712e-03 9.95548765e-01 6.31229896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.427105681 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:7.46, Y:0.50, Z:0.63 [[ 9.91509488e-01 -9.04261680e-02 -9.34454028e-02 7.45602011e+00] [ 9.02947990e-02 9.95899102e-01 -5.64168544e-03 5.03340156e-01] [ 9.35723487e-02 -2.84384922e-03 9.95608421e-01 6.33366475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.457105680999999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:7.49, Y:0.51, Z:0.64 [[ 9.92577749e-01 -8.15803427e-02 -9.01890182e-02 7.48736016e+00] [ 8.14225700e-02 9.96664860e-01 -5.43336169e-03 5.14135478e-01] [ 9.03314807e-02 -1.95038772e-03 9.95909845e-01 6.35280413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.487105680999999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:7.52, Y:0.52, Z:0.64 [[ 9.93149116e-01 -7.56766291e-02 -8.90386550e-02 7.51993614e+00] [ 7.55008744e-02 9.97131410e-01 -5.34506357e-03 5.23624956e-01] [ 8.91877360e-02 -1.41405115e-03 9.96013829e-01 6.36040992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.517105680999999 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:7.55, Y:0.53, Z:0.64 [[ 9.93148358e-01 -7.40810687e-02 -9.03788331e-02 7.55124690e+00] [ 7.38944554e-02 9.97251373e-01 -5.41377213e-03 5.29956886e-01] [ 9.05314734e-02 -1.30181574e-03 9.95892744e-01 6.38818615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.547105680999999 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:7.58, Y:0.54, Z:0.64 [[ 9.93034712e-01 -7.21395928e-02 -9.31554627e-02 7.58197187e+00] [ 7.19338120e-02 9.97393859e-01 -5.56934170e-03 5.42221701e-01] [ 9.33144564e-02 -1.17047791e-03 9.95635999e-01 6.42734020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.577105680999999 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:7.61, Y:0.55, Z:0.65 [[ 9.93042484e-01 -7.26541130e-02 -9.26714853e-02 7.61452575e+00] [ 7.24544597e-02 9.97356438e-01 -5.52155492e-03 5.48628354e-01] [ 9.28276662e-02 -1.23132378e-03 9.95681429e-01 6.46069486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.607105680999999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:7.65, Y:0.56, Z:0.65 [[ 9.92835025e-01 -7.75299856e-02 -9.09269682e-02 7.64746740e+00] [ 7.73592228e-02 9.96988628e-01 -5.40618519e-03 5.56186324e-01] [ 9.10722947e-02 -1.66658958e-03 9.95842889e-01 6.48905491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6371056809999995 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:7.68, Y:0.56, Z:0.66 [[ 0.99247432 -0.08787452 -0.08528066 7.68079494] [ 0.086079 0.99598666 -0.02451493 0.56447903] [ 0.08709264 0.01698957 0.99605533 0.6550952 ] [ 0. 0. 0. 1. ]] SLAMing on 7.667105680999999 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:7.72, Y:0.57, Z:0.65 [[ 9.91973623e-01 -9.15039053e-02 -8.72660730e-02 7.71500592e+00] [ 9.14527374e-02 9.95798827e-01 -4.59260228e-03 5.65607532e-01] [ 8.73196942e-02 -3.42498095e-03 9.96174453e-01 6.49952301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.697105680999999 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:7.75, Y:0.57, Z:0.65 [[ 9.91003635e-01 -1.02804232e-01 -8.56918063e-02 7.74806235e+00] [ 1.02660280e-01 9.94697792e-01 -6.09664152e-03 5.70120483e-01] [ 8.58642111e-02 -2.75535090e-03 9.96303039e-01 6.53766627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.727105680999999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:7.78, Y:0.57, Z:0.66 [[ 9.90257885e-01 -1.09802227e-01 -8.56317276e-02 7.78012170e+00] [ 1.09856051e-01 9.93939061e-01 -4.09780022e-03 5.74094772e-01] [ 8.55626665e-02 -5.34928447e-03 9.96318431e-01 6.57061048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.757105680999999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:7.81, Y:0.58, Z:0.66 [[ 9.90205692e-01 -1.10443615e-01 -8.54101613e-02 7.81349836e+00] [ 1.10424414e-01 9.93872130e-01 -4.96366533e-03 5.77157256e-01] [ 8.54349840e-02 -4.51631737e-03 9.96333512e-01 6.59520232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.787105680999999 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:7.84, Y:0.58, Z:0.66 [[ 0.99023936 -0.10567505 -0.09087793 7.84314628] [ 0.10757167 0.99406505 0.01621768 0.57781246] [ 0.08862477 -0.02583528 0.99572998 0.65714659] [ 0. 0. 0. 1. ]] SLAMing on 7.817105680999999 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:7.88, Y:0.59, Z:0.68 [[ 0.99170454 -0.09970552 -0.08112283 7.87551247] [ 0.09791761 0.99486167 -0.02573713 0.58910471] [ 0.08327213 0.01758028 0.99637176 0.67778377] [ 0. 0. 0. 1. ]] SLAMing on 7.8471056809999995 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:7.91, Y:0.59, Z:0.67 [[ 9.92441089e-01 -9.07506710e-02 -8.26135590e-02 7.90870530e+00] [ 9.07567810e-02 9.95866255e-01 -3.68913190e-03 5.90935171e-01] [ 8.26068468e-02 -3.83649460e-03 9.96574829e-01 6.73479825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.877105680999999 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:7.94, Y:0.60, Z:0.68 [[ 0.99308334 -0.07293746 -0.09200875 7.93877542] [ 0.07466991 0.99708745 0.01552487 0.59524461] [ 0.09060843 -0.02228778 0.99563717 0.67510322] [ 0. 0. 0. 1. ]] SLAMing on 7.907105680999999 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:7.97, Y:0.60, Z:0.68 [[ 9.93863718e-01 -6.02427361e-02 -9.27670367e-02 7.96966970e+00] [ 6.00007832e-02 9.98183737e-01 -5.39758423e-03 6.03738726e-01] [ 9.29237125e-02 -2.01631724e-04 9.95673211e-01 6.84497524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.937105680999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:8.00, Y:0.61, Z:0.69 [[ 9.94113770e-01 -5.55195081e-02 -9.30343820e-02 8.00235103e+00] [ 5.52582206e-02 9.98457580e-01 -5.38419943e-03 6.06966221e-01] [ 9.31898120e-02 2.11592393e-04 9.95648339e-01 6.86564428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.967105680999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:8.03, Y:0.61, Z:0.69 [[ 9.94241785e-01 -4.99127350e-02 -9.48261171e-02 8.03426712e+00] [ 4.96170000e-02 9.98753309e-01 -5.47543989e-03 6.10858879e-01] [ 9.49811925e-02 7.38923680e-04 9.95478793e-01 6.86788716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.997105680999999 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:8.07, Y:0.61, Z:0.69 [[ 9.94152457e-01 -4.80073251e-02 -9.67273914e-02 8.06639445e+00] [ 4.76915947e-02 9.98846552e-01 -5.57479110e-03 6.13367202e-01] [ 9.68834521e-02 9.29108723e-04 9.95295300e-01 6.87975404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.027105680999998 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:8.10, Y:0.62, Z:0.69 [[ 9.93961044e-01 -4.77896517e-02 -9.87805274e-02 8.09713687e+00] [ 4.74600877e-02 9.98856958e-01 -5.68480291e-03 6.15282610e-01] [ 9.89392918e-02 9.62340136e-04 9.95093006e-01 6.89198140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.057105681 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:8.13, Y:0.61, Z:0.69 [[ 9.94077967e-01 -5.56692808e-02 -9.33269848e-02 8.12828545e+00] [ 5.54103553e-02 9.98449250e-01 -5.36541741e-03 6.14019223e-01] [ 9.34809469e-02 1.62361845e-04 9.95621056e-01 6.94713837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.087105680999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:8.16, Y:0.61, Z:0.70 [[ 9.93412313e-01 -7.23371835e-02 -8.88780502e-02 8.15988663e+00] [ 7.21693430e-02 9.97379330e-01 -5.10472062e-03 6.09514779e-01] [ 8.90143913e-02 -1.34317817e-03 9.96029434e-01 7.02426253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.117105681 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:8.19, Y:0.61, Z:0.71 [[ 9.92636949e-01 -8.22053334e-02 -8.89616250e-02 8.19271747e+00] [ 8.20783272e-02 9.96612878e-01 -5.09111220e-03 6.07020529e-01] [ 8.90788177e-02 -2.24819528e-03 9.96022043e-01 7.05933950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.147105681 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:8.23, Y:0.60, Z:0.71 [[ 9.90725739e-01 -1.01364896e-01 -9.04857379e-02 8.22611999e+00] [ 1.01314058e-01 9.94841076e-01 -5.16674692e-03 5.99509416e-01] [ 9.05426556e-02 -4.04864816e-03 9.95884349e-01 7.06437296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.177105680999999 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:8.26, Y:0.59, Z:0.71 [[ 9.89648706e-01 -1.14779806e-01 -8.61454309e-02 8.25940499e+00] [ 1.14786562e-01 9.93378135e-01 -4.89146315e-03 5.92185561e-01] [ 8.61364287e-02 -5.04750767e-03 9.96270565e-01 7.10719903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.207105681 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:8.29, Y:0.59, Z:0.72 [[ 9.89556087e-01 -1.17552781e-01 -8.34271812e-02 8.29156002e+00] [ 1.17571268e-01 9.93053285e-01 -4.70843261e-03 5.90178764e-01] [ 8.34011257e-02 -5.14938132e-03 9.96502753e-01 7.15810070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.237105681 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:8.32, Y:0.59, Z:0.72 [[ 9.90085947e-01 -1.12719211e-01 -8.38104829e-02 8.32368590e+00] [ 1.12722094e-01 9.93615378e-01 -4.71278036e-03 5.88301257e-01] [ 8.38066055e-02 -4.78123555e-03 9.96470568e-01 7.21382525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.267105680999999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:8.36, Y:0.59, Z:0.72 [[ 9.90751116e-01 -1.06208515e-01 -8.44510388e-02 8.35630751e+00] [ 1.06190136e-01 9.94334629e-01 -4.72236775e-03 5.89241246e-01] [ 8.44741480e-02 -4.28917617e-03 9.96416440e-01 7.24113608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.297105681 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:8.39, Y:0.59, Z:0.73 [[ 9.92346744e-01 -9.01877573e-02 -8.43451733e-02 8.38792747e+00] [ 9.01141517e-02 9.95920413e-01 -4.68720968e-03 5.91045660e-01] [ 8.44238088e-02 -2.94935648e-03 9.96425573e-01 7.26791983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.327105680999999 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:8.42, Y:0.60, Z:0.73 [[ 9.93509999e-01 -7.35541069e-02 -8.67621749e-02 8.42121624e+00] [ 7.34153871e-02 9.97289932e-01 -4.79297701e-03 5.95006832e-01] [ 8.68795867e-02 -1.60780807e-03 9.96217523e-01 7.29200141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.357105680999998 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:8.45, Y:0.60, Z:0.73 [[ 9.93743474e-01 -6.73582641e-02 -8.90885582e-02 8.45447389e+00] [ 6.71899065e-02 9.97728218e-01 -4.89074831e-03 5.97425660e-01] [ 8.92156007e-02 -1.12570268e-03 9.96011701e-01 7.31471030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.387105681 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:8.49, Y:0.60, Z:0.73 [[ 9.93697364e-01 -6.31283008e-02 -9.26302625e-02 8.48724294e+00] [ 6.29291549e-02 9.98005108e-01 -5.07211405e-03 5.98647546e-01] [ 9.27656690e-02 -7.88997772e-04 9.95687656e-01 7.31026836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.417105680999999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:8.52, Y:0.60, Z:0.73 [[ 9.92953139e-01 -6.86042654e-02 -9.66308338e-02 8.52083887e+00] [ 6.84154786e-02 9.97642999e-01 -5.26954881e-03 5.96366378e-01] [ 9.67645884e-02 -1.37862970e-03 9.95306342e-01 7.30275909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.447105680999998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:8.55, Y:0.60, Z:0.73 [[ 9.92523466e-01 -7.17798358e-02 -9.87158768e-02 8.55401413e+00] [ 7.15997886e-02 9.97418986e-01 -5.36996334e-03 5.95063204e-01] [ 9.88465448e-02 -1.73822129e-03 9.95101170e-01 7.32177022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.477105681 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:8.59, Y:0.59, Z:0.74 [[ 9.91657001e-01 -7.64708158e-02 -1.03771895e-01 8.58705589e+00] [ 7.62989459e-02 9.97069088e-01 -5.63064528e-03 5.92256670e-01] [ 1.03898329e-01 -2.33401741e-03 9.94585185e-01 7.37361066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.507105680999999 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:8.62, Y:0.59, Z:0.74 [[ 9.91326373e-01 -8.00356293e-02 -1.04241647e-01 8.61846067e+00] [ 7.98832556e-02 9.96788255e-01 -5.64263205e-03 5.89646816e-01] [ 1.04358461e-01 -2.73347216e-03 9.94535992e-01 7.42531408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.537105681 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:8.65, Y:0.59, Z:0.74 [[ 9.91333882e-01 -8.14688653e-02 -1.03053179e-01 8.65123073e+00] [ 8.13288375e-02 9.96671776e-01 -5.56689663e-03 5.88690070e-01] [ 1.03163724e-01 -2.86254203e-03 9.94660270e-01 7.44972716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.567105681 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:8.68, Y:0.59, Z:0.75 [[ 9.91346281e-01 -8.13169127e-02 -1.03053921e-01 8.68462308e+00] [ 8.11774956e-02 9.96684191e-01 -5.55314112e-03 5.90365609e-01] [ 1.03163778e-01 -2.86057339e-03 9.94660270e-01 7.48031241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.597105680999999 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:8.72, Y:0.59, Z:0.75 [[ 9.91596964e-01 -8.29964604e-02 -9.92322921e-02 8.71798117e+00] [ 8.28769924e-02 9.96545516e-01 -5.33270376e-03 5.85646311e-01] [ 9.93320914e-02 -2.93618106e-03 9.95050006e-01 7.48621480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.627105681 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:8.75, Y:0.58, Z:0.75 [[ 9.91701104e-01 -8.57359818e-02 -9.58032457e-02 8.75014218e+00] [ 8.56385112e-02 9.96313035e-01 -5.13625749e-03 5.80406145e-01] [ 9.58903846e-02 -3.11081511e-03 9.95387039e-01 7.49712563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.657105680999999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:8.78, Y:0.58, Z:0.75 [[ 9.91637586e-01 -8.80220164e-02 -9.43770191e-02 8.78338900e+00] [ 8.79387034e-02 9.96113089e-01 -5.04952434e-03 5.78541862e-01] [ 9.44546534e-02 -3.29209456e-03 9.95523722e-01 7.52455388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.687105680999998 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:8.81, Y:0.58, Z:0.76 [[ 9.91172243e-01 -9.33890823e-02 -9.41066644e-02 8.81491458e+00] [ 9.33315152e-02 9.95622419e-01 -5.02256453e-03 5.75444358e-01] [ 9.41637576e-02 -3.80489104e-03 9.95549451e-01 7.58907305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.717105681 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:8.85, Y:0.58, Z:0.76 [[ 9.90757578e-01 -9.70234439e-02 -9.47938466e-02 8.84733072e+00] [ 9.69835249e-02 9.95273231e-01 -5.03908459e-03 5.75212834e-01] [ 9.48346872e-02 -4.20093014e-03 9.95484171e-01 7.64492760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.747105680999999 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:8.88, Y:0.57, Z:0.77 [[ 0.98989898 -0.10947861 -0.09008015 8.88005003] [ 0.10812102 0.99393995 -0.01982986 0.57385471] [ 0.0917052 0.00989 0.99573709 0.76837362] [ 0. 0. 0. 1. ]] SLAMing on 8.777105680999998 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:8.91, Y:0.57, Z:0.76 [[ 9.88159227e-01 -1.22470401e-01 -9.24247943e-02 8.91380146e+00] [ 1.22496887e-01 9.92454163e-01 -5.40795978e-03 5.65082998e-01] [ 9.23896869e-02 -5.97782426e-03 9.95704982e-01 7.62549899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.807105681 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:8.95, Y:0.56, Z:0.76 [[ 9.87176933e-01 -1.28829512e-01 -9.42584722e-02 8.94745395e+00] [ 1.29028940e-01 9.91632755e-01 -4.00145743e-03 5.61474472e-01] [ 9.39852943e-02 -8.21192424e-03 9.95539717e-01 7.64052169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.837105680999999 meters Centerline goodness : 0.998271 Centerline is valid? [True, True] Translation: X:8.98, Y:0.56, Z:0.77 [[ 0.98524673 -0.13760068 -0.10175921 8.97866608] [ 0.13933396 0.99019402 0.01009204 0.55641614] [ 0.09937269 -0.02412166 0.99475787 0.76656819] [ 0. 0. 0. 1. ]] SLAMing on 8.867105680999998 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:9.01, Y:0.56, Z:0.78 [[ 9.85046589e-01 -1.42584909e-01 -9.67096705e-02 9.01003366e+00] [ 1.41138607e-01 9.89752651e-01 -2.16698937e-02 5.63628333e-01] [ 9.88084526e-02 7.69638671e-03 9.95076708e-01 7.77276531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.897105681 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:9.04, Y:0.57, Z:0.78 [[ 9.85411008e-01 -1.37026731e-01 -1.00939690e-01 9.04250709e+00] [ 1.37266106e-01 9.90523510e-01 -4.60340970e-03 5.69301618e-01] [ 1.00613926e-01 -9.31934752e-03 9.94881896e-01 7.75817382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.927105680999999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:9.07, Y:0.58, Z:0.78 [[ 9.86187712e-01 -1.28631417e-01 -1.04344406e-01 9.07399013e+00] [ 1.28769360e-01 9.91659638e-01 -5.44182272e-03 5.80866494e-01] [ 1.04174125e-01 -8.06970371e-03 9.94526335e-01 7.79067882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.957105681 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:9.11, Y:0.59, Z:0.78 [[ 9.87158188e-01 -1.19328470e-01 -1.06204655e-01 9.10624528e+00] [ 1.19423432e-01 9.92828246e-01 -5.48805742e-03 5.92277871e-01] [ 1.06097863e-01 -7.26574360e-03 9.94329147e-01 7.80156603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.987105681 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:9.14, Y:0.60, Z:0.78 [[ 0.98737322 -0.11316119 -0.11085423 9.13702923] [ 0.11508268 0.99329423 0.01107044 0.59606918] [ 0.10885812 -0.02368806 0.99377502 0.78174377] [ 0. 0. 0. 1. ]] SLAMing on 9.017105680999999 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:9.17, Y:0.61, Z:0.79 [[ 9.88680529e-01 -1.07701454e-01 -1.04456733e-01 9.16764066e+00] [ 1.07736699e-01 9.94165221e-01 -5.32146822e-03 6.12339459e-01] [ 1.04420381e-01 -5.99259161e-03 9.94515195e-01 7.94594479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.047105681 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:9.20, Y:0.63, Z:0.80 [[ 9.90633035e-01 -9.84911075e-02 -9.45816638e-02 9.19901239e+00] [ 9.84805903e-02 9.95127442e-01 -4.79033416e-03 6.29158147e-01] [ 9.45926145e-02 -4.56899482e-03 9.95505581e-01 8.04713077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.077105680999999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:9.23, Y:0.65, Z:0.82 [[ 0.99255395 -0.09137551 -0.08054295 9.23028359] [ 0.08991661 0.99571579 -0.02156554 0.64874411] [ 0.08216845 0.01416281 0.99651782 0.81749716] [ 0. 0. 0. 1. ]] SLAMing on 9.107105680999998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:9.26, Y:0.65, Z:0.81 [[ 9.93041368e-01 -8.55897685e-02 -8.08902487e-02 9.26219556e+00] [ 8.58858568e-02 9.96304967e-01 1.81694254e-04 6.54777385e-01] [ 8.05758054e-02 -7.12775823e-03 9.96722998e-01 8.12039180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.137105681 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:9.29, Y:0.66, Z:0.81 [[ 0.99353951 -0.07513271 -0.08505484 9.29410457] [ 0.07623677 0.99704155 0.00980322 0.66498473] [ 0.08406667 -0.01622419 0.99632804 0.81167195] [ 0. 0. 0. 1. ]] SLAMing on 9.167105680999999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:9.33, Y:0.67, Z:0.82 [[ 9.93886298e-01 -7.15913010e-02 -8.40518485e-02 9.32526484e+00] [ 7.14936630e-02 9.97432317e-01 -4.17486699e-03 6.73269216e-01] [ 8.41349142e-02 -1.85983143e-03 9.96452637e-01 8.21444745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.197105680999998 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:9.36, Y:0.69, Z:0.83 [[ 9.94200343e-01 -6.42111817e-02 -8.62705210e-02 9.35759491e+00] [ 6.40831588e-02 9.97935489e-01 -4.25543479e-03 6.85247415e-01] [ 8.63656610e-02 -1.29773277e-03 9.96262660e-01 8.26723866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.227105681 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:9.39, Y:0.69, Z:0.83 [[ 9.93806663e-01 -6.38546802e-02 -9.09444676e-02 9.38904625e+00] [ 6.37120370e-02 9.97958297e-01 -4.47373074e-03 6.93263133e-01] [ 9.10444546e-02 -1.34823387e-03 9.95845917e-01 8.29165835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.257105680999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:9.42, Y:0.70, Z:0.83 [[ 9.93467520e-01 -6.62591696e-02 -9.29086031e-02 9.42203333e+00] [ 6.61236781e-02 9.97801109e-01 -4.53936830e-03 6.95834237e-01] [ 9.30050820e-02 -1.63374360e-03 9.95664294e-01 8.30081373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.287105680999998 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:9.45, Y:0.70, Z:0.83 [[ 0.99278583 -0.07504127 -0.09351523 9.45401323] [ 0.07367748 0.99712045 -0.01795667 0.69855272] [ 0.09459344 0.01093716 0.99545591 0.82812736] [ 0. 0. 0. 1. ]] SLAMing on 9.317105681 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:9.49, Y:0.70, Z:0.82 [[ 9.91685449e-01 -8.06632787e-02 -1.00266674e-01 9.48740749e+00] [ 8.09224072e-02 9.96719295e-01 -1.48676090e-03 6.96479121e-01] [ 1.00057656e-01 -6.63942150e-03 9.94959488e-01 8.18076571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.347105680999999 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:9.52, Y:0.70, Z:0.82 [[ 9.91021904e-01 -8.21707528e-02 -1.05468258e-01 9.51943637e+00] [ 8.31711790e-02 9.96522147e-01 5.11514225e-03 6.97596895e-01] [ 1.04681139e-01 -1.38411373e-02 9.94409514e-01 8.22050035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.377105681 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:9.55, Y:0.70, Z:0.83 [[ 9.90708599e-01 -8.37746617e-02 -1.07136727e-01 9.55070464e+00] [ 8.37041295e-02 9.96477276e-01 -5.16299011e-03 7.02344427e-01] [ 1.07191841e-01 -3.85276774e-03 9.94230891e-01 8.32406152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.407105680999999 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:9.58, Y:0.71, Z:0.84 [[ 9.91161379e-01 -8.43682676e-02 -1.02377319e-01 9.58195424e+00] [ 8.30445568e-02 9.96398574e-01 -1.71313730e-02 7.06496948e-01] [ 1.03453959e-01 8.47807621e-03 9.94598110e-01 8.38648027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.437105680999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:9.61, Y:0.71, Z:0.84 [[ 9.91132529e-01 -8.24919606e-02 -1.04169985e-01 9.61447523e+00] [ 8.23568443e-02 9.96587143e-01 -5.60506959e-03 7.09591037e-01] [ 1.04276841e-01 -3.02374443e-03 9.94543713e-01 8.35677131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.467105681 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:9.65, Y:0.71, Z:0.84 [[ 9.91102441e-01 -8.31151200e-02 -1.03960708e-01 9.64736899e+00] [ 8.25202255e-02 9.96539038e-01 -1.00178695e-02 7.12107146e-01] [ 1.04433541e-01 1.34987378e-03 9.94530951e-01 8.39309290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.497105680999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:9.68, Y:0.71, Z:0.84 [[ 9.91055764e-01 -8.51617626e-02 -1.02742133e-01 9.68001231e+00] [ 8.54249869e-02 9.96342900e-01 -1.84337005e-03 7.11886470e-01] [ 1.02523379e-01 -6.94986285e-03 9.94706317e-01 8.38203451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.527105680999998 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:9.71, Y:0.71, Z:0.84 [[ 9.90674089e-01 -8.80980104e-02 -1.03940324e-01 9.71239951e+00] [ 8.84659355e-02 9.96078624e-01 -1.07402907e-03 7.12246850e-01] [ 1.03627355e-01 -8.13116522e-03 9.94582956e-01 8.42780325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.557105681 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:9.75, Y:0.71, Z:0.85 [[ 9.89627754e-01 -9.98941575e-02 -1.03237913e-01 9.74553511e+00] [ 9.98425702e-02 9.94987033e-01 -5.68020942e-03 7.10839591e-01] [ 1.03287804e-01 -4.68624568e-03 9.94640472e-01 8.50308795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.587105680999999 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:9.78, Y:0.71, Z:0.86 [[ 9.89021927e-01 -1.06755704e-01 -1.02170674e-01 9.77890558e+00] [ 1.06582600e-01 9.94278017e-01 -7.16762847e-03 7.09626268e-01] [ 1.02351241e-01 -3.80067433e-03 9.94741061e-01 8.56124270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.617105680999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:9.81, Y:0.71, Z:0.86 [[ 9.87668126e-01 -1.19190093e-01 -1.01515490e-01 9.81004045e+00] [ 1.19265238e-01 9.92848011e-01 -5.35064267e-03 7.06360465e-01] [ 1.01427196e-01 -6.82260984e-03 9.94819570e-01 8.59659540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.647105681 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:9.84, Y:0.70, Z:0.86 [[ 9.86254420e-01 -1.28729845e-01 -1.03589800e-01 9.84401385e+00] [ 1.28731296e-01 9.91656879e-01 -6.69976033e-03 7.02443577e-01] [ 1.03587997e-01 -6.72758096e-03 9.94597540e-01 8.62032498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.677105680999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:9.88, Y:0.70, Z:0.86 [[ 9.85703091e-01 -1.32409498e-01 -1.04197606e-01 9.87745390e+00] [ 1.32687476e-01 9.91148640e-01 -4.29030155e-03 7.00593303e-01] [ 1.03843392e-01 -9.59675383e-03 9.94547360e-01 8.62213196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.707105680999998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:9.91, Y:0.70, Z:0.86 [[ 0.98480963 -0.13607315 -0.10786143 9.90922826] [ 0.13808707 0.99035457 0.0113925 0.69573296] [ 0.10527084 -0.02611371 0.99410066 0.86136787] [ 0. 0. 0. 1. ]] SLAMing on 9.737105681 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:9.94, Y:0.70, Z:0.88 [[ 9.84902804e-01 -1.40635749e-01 -1.00935888e-01 9.93915694e+00] [ 1.39085512e-01 9.90029922e-01 -2.22704632e-02 7.03532937e-01] [ 1.03061573e-01 7.89552204e-03 9.94643641e-01 8.82213693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.767105680999999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:9.97, Y:0.70, Z:0.88 [[ 0.98491956 -0.13594055 -0.1070216 9.97117587] [ 0.13809973 0.99033308 0.0129945 0.70246654] [ 0.10422055 -0.02757819 0.99417178 0.87567477] [ 0. 0. 0. 1. ]] SLAMing on 9.797105681 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:10.00, Y:0.71, Z:0.89 [[ 9.85630209e-01 -1.32638109e-01 -1.04595523e-01 1.00035412e+01] [ 1.32881654e-01 9.91120920e-01 -4.66781123e-03 7.09187556e-01] [ 1.04285940e-01 -9.29809031e-03 9.94503890e-01 8.86346991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.827105680999999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:10.04, Y:0.71, Z:0.89 [[ 9.86857481e-01 -1.24984576e-01 -1.02426403e-01 1.00354128e+01] [ 1.25180618e-01 9.92123595e-01 -4.53708767e-03 7.14062392e-01] [ 1.02186717e-01 -8.34434148e-03 9.94730238e-01 8.87322254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.857105680999998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:10.07, Y:0.72, Z:0.90 [[ 0.98757533 -0.12346807 -0.09721418 10.0665595 ] [ 0.12149167 0.99225143 -0.02601674 0.72058335] [ 0.09967314 0.01388277 0.99492338 0.89608738] [ 0. 0. 0. 1. ]] SLAMing on 9.887105681 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:10.10, Y:0.73, Z:0.89 [[ 9.87969002e-01 -1.16588217e-01 -1.01609249e-01 1.01001406e+01] [ 1.16745607e-01 9.93152030e-01 -4.41676257e-03 7.25495410e-01] [ 1.01428374e-01 -7.49880889e-03 9.94814582e-01 8.91452651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.917105680999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:10.13, Y:0.73, Z:0.89 [[ 9.88036309e-01 -1.15039353e-01 -1.02714164e-01 1.01312724e+01] [ 1.15577192e-01 9.93298241e-01 -7.19712169e-04 7.29124698e-01] [ 1.02108594e-01 -1.11603129e-02 9.94710653e-01 8.93138976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.947105680999998 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:10.16, Y:0.73, Z:0.89 [[ 0.98739043 -0.1159305 -0.10779729 10.1627142 ] [ 0.11821002 0.99287561 0.01498064 0.73273602] [ 0.10529259 -0.02753446 0.99406002 0.89471913] [ 0. 0. 0. 1. ]] SLAMing on 9.977105681 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:10.19, Y:0.74, Z:0.91 [[ 0.98746053 -0.12178665 -0.10044752 10.19446782] [ 0.11993764 0.99248476 -0.02426845 0.74107067] [ 0.10264821 0.01191669 0.99464634 0.91191993] [ 0. 0. 0. 1. ]] SLAMing on 10.007105680999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.23, Y:0.74, Z:0.90 [[ 9.87426641e-01 -1.21175861e-01 -1.01513737e-01 1.02293576e+01] [ 1.21171602e-01 9.92612017e-01 -6.23115595e-03 7.40335700e-01] [ 1.01518821e-01 -6.14777269e-03 9.94814623e-01 9.02449554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.037105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.26, Y:0.74, Z:0.90 [[ 0.9868872 -0.12073413 -0.10713039 10.26132683] [ 0.12331029 0.99220971 0.01773329 0.74012365] [ 0.1041548 -0.03071104 0.99408682 0.89748589] [ 0. 0. 0. 1. ]] SLAMing on 10.067105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.29, Y:0.75, Z:0.93 [[ 0.9872483 -0.12485175 -0.09875648 10.29218114] [ 0.12259112 0.99204332 -0.02866116 0.75027122] [ 0.1015491 0.01618902 0.9946988 0.92514996] [ 0. 0. 0. 1. ]] SLAMing on 10.097105680999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.33, Y:0.75, Z:0.91 [[ 9.87475005e-01 -1.19926525e-01 -1.02521918e-01 1.03257583e+01] [ 1.20169538e-01 9.92746015e-01 -3.82518215e-03 7.48230374e-01] [ 1.02236967e-01 -8.54273978e-03 9.94723391e-01 9.12208976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.127105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.36, Y:0.75, Z:0.91 [[ 9.87601132e-01 -1.17926855e-01 -1.03620759e-01 1.03582674e+01] [ 1.18166646e-01 9.92986341e-01 -3.84327330e-03 7.48786342e-01] [ 1.03347224e-01 -8.44889658e-03 9.94609455e-01 9.13229335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.157105680999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.39, Y:0.75, Z:0.92 [[ 9.87917614e-01 -1.14326449e-01 -1.04633892e-01 1.03898743e+01] [ 1.14492427e-01 9.93414205e-01 -4.43865320e-03 7.53655149e-01] [ 1.04452250e-01 -7.59476449e-03 9.94500904e-01 9.21643597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.187105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.42, Y:0.76, Z:0.93 [[ 9.88208652e-01 -1.10488334e-01 -1.05999944e-01 1.04218506e+01] [ 1.10759548e-01 9.93841611e-01 -3.34301980e-03 7.58264913e-01] [ 1.05716519e-01 -8.43690473e-03 9.94360516e-01 9.27861377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.217105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.45, Y:0.77, Z:0.93 [[ 9.89208980e-01 -9.78962013e-02 -1.09004252e-01 1.04537760e+01] [ 9.75472883e-02 9.95194235e-01 -8.54170024e-03 7.65236734e-01] [ 1.09316604e-01 -2.18354266e-03 9.94004584e-01 9.31257359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.247105680999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.49, Y:0.77, Z:0.92 [[ 0.990094 -0.07724034 -0.11725106 10.48665311] [ 0.08031099 0.9965339 0.02168693 0.76663979] [ 0.11516955 -0.03088865 0.99286548 0.9202214 ] [ 0. 0. 0. 1. ]] SLAMing on 10.277105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.52, Y:0.77, Z:0.94 [[ 9.90655711e-01 -7.16122152e-02 -1.16073053e-01 1.05172515e+01] [ 7.15467517e-02 9.97426005e-01 -4.73570339e-03 7.74870047e-01] [ 1.16113416e-01 -3.61319834e-03 9.93229389e-01 9.38381624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.307105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.55, Y:0.79, Z:0.95 [[ 0.99247787 -0.05856934 -0.10750497 10.54822166] [ 0.05564561 0.99799978 -0.03000002 0.78788623] [ 0.10904701 0.02379218 0.99375182 0.95286189] [ 0. 0. 0. 1. ]] SLAMing on 10.337105680999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.58, Y:0.79, Z:0.94 [[ 9.93288254e-01 -4.35890583e-02 -1.07137476e-01 1.05817266e+01] [ 4.36639182e-02 9.99044917e-01 -1.64807057e-03 7.90522944e-01] [ 1.07106988e-01 -3.04103284e-03 9.94242850e-01 9.43732360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.367105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.61, Y:0.79, Z:0.94 [[ 0.99296437 -0.03804059 -0.11213681 10.61367263] [ 0.04033634 0.99901903 0.01827473 0.78930121] [ 0.11133162 -0.02266935 0.99352472 0.94452488] [ 0. 0. 0. 1. ]] SLAMing on 10.397105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.64, Y:0.79, Z:0.97 [[ 9.93192351e-01 -3.66404004e-02 -1.10573211e-01 1.06417468e+01] [ 3.56737183e-02 9.99306112e-01 -1.07088504e-02 7.93539715e-01] [ 1.10888862e-01 6.69139078e-03 9.93810287e-01 9.65158360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.427105680999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.67, Y:0.79, Z:0.96 [[ 9.93199596e-01 -3.95773464e-02 -1.09490624e-01 1.06739811e+01] [ 3.99242878e-02 9.99202230e-01 9.77378296e-04 7.93278948e-01] [ 1.09364594e-01 -5.34206693e-03 9.93987348e-01 9.61765326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.457105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.71, Y:0.80, Z:0.97 [[ 9.93205051e-01 -4.00256378e-02 -1.09277973e-01 1.07061839e+01] [ 3.97860651e-02 9.99198653e-01 -4.37272529e-03 7.95102141e-01] [ 1.09365425e-01 -4.72771821e-06 9.94001612e-01 9.68084642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.487105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.74, Y:0.79, Z:0.97 [[ 9.93013223e-01 -4.61971472e-02 -1.08584360e-01 1.07389654e+01] [ 4.59985640e-02 9.98932103e-01 -4.33424429e-03 7.92625132e-01] [ 1.08668632e-01 -6.90762725e-04 9.94077789e-01 9.69240406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.517105680999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.77, Y:0.79, Z:0.98 [[ 0.99307519 -0.05755911 -0.10241394 10.77098445] [ 0.0547925 0.99805811 -0.02962743 0.79148467] [ 0.1039204 0.02381075 0.99430056 0.97797069] [ 0. 0. 0. 1. ]] SLAMing on 10.547105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.80, Y:0.78, Z:0.96 [[ 0.99143488 -0.06418982 -0.11373894 10.80424413] [ 0.06702661 0.99752399 0.02129115 0.77966185] [ 0.11209065 -0.02873232 0.99328251 0.95974963] [ 0. 0. 0. 1. ]] SLAMing on 10.577105680999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.84, Y:0.78, Z:0.98 [[ 9.91058925e-01 -7.06842352e-02 -1.13163364e-01 1.08359745e+01] [ 7.06329351e-02 9.97492370e-01 -4.46774017e-03 7.80342274e-01] [ 1.13195391e-01 -3.56526676e-03 9.93566350e-01 9.76743874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.607105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.87, Y:0.78, Z:0.98 [[ 9.90856512e-01 -7.39705855e-02 -1.12834942e-01 1.08693359e+01] [ 7.39424386e-02 9.97252626e-01 -4.44023640e-03 7.75688109e-01] [ 1.12853389e-01 -3.94365362e-03 9.93603825e-01 9.80873339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.637105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.90, Y:0.77, Z:0.99 [[ 9.90819687e-01 -7.29048826e-02 -1.13847378e-01 1.09015763e+01] [ 7.28709407e-02 9.97331383e-01 -4.46531825e-03 7.74399219e-01] [ 1.13869106e-01 -3.87184030e-03 9.93488216e-01 9.87299672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.667105680999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.93, Y:0.78, Z:1.00 [[ 0.99150776 -0.07361037 -0.10720948 10.93277829] [ 0.07069466 0.99702384 -0.03075282 0.77753305] [ 0.10915413 0.02291252 0.99376073 0.99806573] [ 0. 0. 0. 1. ]] SLAMing on 10.697105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.97, Y:0.77, Z:0.98 [[ 0.99136918 -0.06506273 -0.11381563 10.96570272] [ 0.06803117 0.99743192 0.02239025 0.7706245 ] [ 0.11206657 -0.02994002 0.99324956 0.98034469] [ 0. 0. 0. 1. ]] SLAMing on 10.727105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.00, Y:0.77, Z:1.00 [[ 9.91559751e-01 -6.57415128e-02 -1.11746647e-01 1.09972658e+01] [ 6.56691309e-02 9.97832048e-01 -4.33231204e-03 7.73689275e-01] [ 1.11789199e-01 -3.04255897e-03 9.93727285e-01 9.97565889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.757105680999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.03, Y:0.77, Z:1.00 [[ 9.92022316e-01 -6.03964783e-02 -1.10652568e-01 1.10290547e+01] [ 6.02939072e-02 9.98171509e-01 -4.27592784e-03 7.74089428e-01] [ 1.10708491e-01 -2.42985980e-03 9.93849951e-01 1.00412166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.787105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.06, Y:0.78, Z:1.01 [[ 9.92556140e-01 -5.11535942e-02 -1.10524294e-01 1.10614071e+01] [ 5.09954492e-02 9.98689804e-01 -4.25903436e-03 7.76161463e-01] [ 1.10597351e-01 -1.40890533e-03 9.93864297e-01 1.00880845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.817105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.09, Y:0.78, Z:1.01 [[ 9.92725898e-01 -4.57444825e-02 -1.11367564e-01 1.10940903e+01] [ 4.55515912e-02 9.98952831e-01 -4.27715198e-03 7.76755827e-01] [ 1.11446600e-01 -8.26930222e-04 9.93770080e-01 1.01105213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.847105680999999 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:11.13, Y:0.78, Z:1.01 [[ 9.93202241e-01 -3.46926153e-02 -1.11111347e-01 1.11262167e+01] [ 3.44331820e-02 9.99397951e-01 -4.25352682e-03 7.76536778e-01] [ 1.11192019e-01 3.98695134e-04 9.93798861e-01 1.01473255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.877105680999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:11.16, Y:0.78, Z:1.02 [[ 9.93642533e-01 -2.38655642e-02 -1.10022507e-01 1.11560699e+01] [ 2.35459891e-02 9.99713919e-01 -4.20314396e-03 7.76564529e-01] [ 1.10091342e-01 1.58583387e-03 9.93920209e-01 1.02031905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.907105680999999 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:11.18, Y:0.78, Z:1.02 [[ 9.93744782e-01 -2.09166505e-02 -1.09698688e-01 1.11834123e+01] [ 2.05810259e-02 9.99779404e-01 -4.19101889e-03 7.75065101e-01] [ 1.09762151e-01 1.90709161e-03 9.93956052e-01 1.02222041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.937105680999998 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:11.21, Y:0.77, Z:1.02 [[ 9.93674099e-01 -1.99487204e-02 -1.10516213e-01 1.12111958e+01] [ 1.97278270e-02 9.99800606e-01 -3.09196259e-03 7.67536831e-01] [ 1.10555857e-01 8.92158410e-04 9.93869512e-01 1.02141362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.967105680999998 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:11.24, Y:0.76, Z:1.03 [[ 9.93118006e-01 -2.94956713e-02 -1.13342982e-01 1.12412299e+01] [ 2.90071874e-02 9.99561453e-01 -5.95692768e-03 7.60161994e-01] [ 1.13468980e-01 2.62817101e-03 9.93538063e-01 1.02514553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.997105680999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:11.27, Y:0.76, Z:1.03 [[ 9.92785471e-01 -3.54198485e-02 -1.14553231e-01 1.12686225e+01] [ 3.51379899e-02 9.99372431e-01 -4.47943938e-03 7.56519195e-01] [ 1.14640002e-01 4.21952062e-04 9.93407012e-01 1.02749217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.027105680999998 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:11.30, Y:0.75, Z:1.03 [[ 9.92384951e-01 -4.48264408e-02 -1.14728804e-01 1.12978290e+01] [ 4.46021494e-02 9.98994592e-01 -4.52257906e-03 7.47343104e-01] [ 1.14816186e-01 -6.29011847e-04 9.93386555e-01 1.02959164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.057105681 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:11.33, Y:0.74, Z:1.03 [[ 9.92610570e-01 -4.85600019e-02 -1.11203341e-01 1.13290158e+01] [ 4.83718016e-02 9.98819746e-01 -4.39130013e-03 7.36411790e-01] [ 1.11285334e-01 -1.02025503e-03 9.93787972e-01 1.03139725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.087105680999999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:11.36, Y:0.73, Z:1.04 [[ 9.92664928e-01 -4.86527671e-02 -1.10676330e-01 1.13615811e+01] [ 4.84672137e-02 9.98815224e-01 -4.36788329e-03 7.31902431e-01] [ 1.10757713e-01 -1.02832878e-03 9.93846906e-01 1.03587040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.117105680999998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:11.39, Y:0.73, Z:1.04 [[ 9.92550865e-01 -4.46679505e-02 -1.13347053e-01 1.13935067e+01] [ 4.44485304e-02 9.99001704e-01 -4.46355997e-03 7.26159062e-01] [ 1.13433277e-01 -6.07799628e-04 9.93545430e-01 1.04244287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.147105681 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:11.42, Y:0.72, Z:1.05 [[ 9.92650750e-01 -4.02429479e-02 -1.14127091e-01 1.14243002e+01] [ 3.99924207e-02 9.99189918e-01 -4.48483745e-03 7.24779709e-01] [ 1.14215122e-01 -1.12341382e-04 9.93456035e-01 1.04625251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.177105680999999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:11.45, Y:0.72, Z:1.05 [[ 9.92838391e-01 -3.24937289e-02 -1.14961240e-01 1.14546240e+01] [ 3.21882397e-02 9.99471635e-01 -4.51317568e-03 7.19390662e-01] [ 1.15047149e-01 7.80454116e-04 9.93359726e-01 1.04849702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.207105680999998 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:11.48, Y:0.71, Z:1.05 [[ 9.92892818e-01 -2.84480688e-02 -1.15561930e-01 1.14824305e+01] [ 2.81115324e-02 9.99594477e-01 -4.54123453e-03 7.12475491e-01] [ 1.15644256e-01 1.26033621e-03 9.93289896e-01 1.04826960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.237105681 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:11.51, Y:0.71, Z:1.05 [[ 9.92870808e-01 -2.74903998e-02 -1.15982057e-01 1.15096488e+01] [ 2.71401477e-02 9.99621062e-01 -4.59831718e-03 7.08505794e-01] [ 1.16064516e-01 1.41776474e-03 9.93240665e-01 1.04857175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.267105680999999 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:11.54, Y:0.70, Z:1.05 [[ 9.92946452e-01 -2.73802840e-02 -1.15358845e-01 1.15382835e+01] [ 2.70281989e-02 9.99624016e-01 -4.61546985e-03 6.98925865e-01] [ 1.15441845e-01 1.46497260e-03 9.93313160e-01 1.04868006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.297105680999998 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:11.57, Y:0.70, Z:1.05 [[ 9.93001832e-01 -2.76348899e-02 -1.14820187e-01 1.15656694e+01] [ 2.72829683e-02 9.99617002e-01 -4.63566765e-03 6.95643321e-01] [ 1.14904317e-01 1.47059093e-03 9.93375475e-01 1.05212296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.327105680999999 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:11.59, Y:0.68, Z:1.05 [[ 9.93388992e-01 -2.86786303e-02 -1.11156859e-01 1.15936063e+01] [ 2.83510306e-02 9.99587778e-01 -4.52699537e-03 6.82122915e-01] [ 1.11240865e-01 1.34565586e-03 9.93792563e-01 1.05480861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.357105680999998 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:11.62, Y:0.68, Z:1.06 [[ 9.93327432e-01 -3.03981150e-02 -1.11250020e-01 1.16219904e+01] [ 3.00760619e-02 9.99537155e-01 -4.57229649e-03 6.76766204e-01] [ 1.11337517e-01 1.19582505e-03 9.93781931e-01 1.05699084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.387105680999998 meters Centerline goodness : 0.998005 Centerline is valid? [True, True] Translation: X:11.65, Y:0.66, Z:1.06 [[ 9.92885016e-01 -3.51165122e-02 -1.13781266e-01 1.16497211e+01] [ 3.48056719e-02 9.99382963e-01 -4.71794646e-03 6.64845209e-01] [ 1.13876737e-01 7.24144923e-04 9.93494622e-01 1.05918111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.417105680999999 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:11.68, Y:0.66, Z:1.06 [[ 9.92814760e-01 -3.74167897e-02 -1.13661055e-01 1.16763785e+01] [ 3.71193775e-02 9.99299632e-01 -4.73265239e-03 6.58626049e-01] [ 1.13758531e-01 4.79619526e-04 9.93508312e-01 1.06104116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.447105680999998 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:11.70, Y:0.64, Z:1.06 [[ 9.93053729e-01 -4.20182749e-02 -1.09903393e-01 1.17048960e+01] [ 4.17651529e-02 9.99116842e-01 -4.60518330e-03 6.43924333e-01] [ 1.09999833e-01 -1.69375608e-05 9.93931606e-01 1.06364375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.477105681 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:11.73, Y:0.63, Z:1.07 [[ 9.93126468e-01 -4.51687535e-02 -1.07979636e-01 1.17330637e+01] [ 4.49390606e-02 9.98979319e-01 -4.56086046e-03 6.30862008e-01] [ 1.08075432e-01 -3.22992179e-04 9.94142644e-01 1.06952883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.507105680999999 meters Centerline goodness : 0.997857 Centerline is valid? [True, True] Translation: X:11.76, Y:0.63, Z:1.07 [[ 9.93076769e-01 -4.53712523e-02 -1.08351193e-01 1.17610464e+01] [ 4.51368330e-02 9.98970148e-01 -4.61634336e-03 6.26819204e-01] [ 1.08449056e-01 -3.06246349e-04 9.94101961e-01 1.07316190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.537105680999998 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:11.79, Y:0.62, Z:1.08 [[ 9.93533400e-01 -4.39984093e-02 -1.04668634e-01 1.17896139e+01] [ 4.37682158e-02 9.99031595e-01 -4.49625450e-03 6.16571865e-01] [ 1.04765100e-01 -1.13980314e-04 9.94496989e-01 1.07589744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.567105681 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:11.82, Y:0.61, Z:1.08 [[ 9.93678198e-01 -4.46729030e-02 -1.02994998e-01 1.18172519e+01] [ 4.44524407e-02 9.99001653e-01 -4.43596992e-03 6.12638557e-01] [ 1.03090341e-01 -1.70452463e-04 9.94671982e-01 1.07922855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.597105680999999 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:11.85, Y:0.60, Z:1.08 [[ 9.93840431e-01 -4.47028269e-02 -1.01404410e-01 1.18466501e+01] [ 4.44855162e-02 9.99000320e-01 -4.40448101e-03 6.04569933e-01] [ 1.01499931e-01 -1.33676224e-04 9.94835537e-01 1.08256408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.627105680999998 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:11.87, Y:0.60, Z:1.08 [[ 9.93805926e-01 -4.39547042e-02 -1.02067452e-01 1.18745571e+01] [ 4.37270626e-02 9.99033525e-01 -4.46772271e-03 6.00515906e-01] [ 1.02165184e-01 -2.30605724e-05 9.94767448e-01 1.08497379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.657105680999999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:11.90, Y:0.60, Z:1.09 [[ 9.93763636e-01 -4.44199887e-02 -1.02277564e-01 1.19028268e+01] [ 4.41926313e-02 9.99012943e-01 -4.48889872e-03 5.99802033e-01] [ 1.02376007e-01 -5.90103477e-05 9.94745771e-01 1.08740692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.687105680999998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:11.93, Y:0.60, Z:1.09 [[ 9.93711522e-01 -4.77708472e-02 -1.01268733e-01 1.19304385e+01] [ 4.75616799e-02 9.98858255e-01 -4.48031360e-03 5.96936895e-01] [ 1.01367138e-01 -3.64371802e-04 9.94849019e-01 1.09077762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.717105680999998 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:11.96, Y:0.59, Z:1.09 [[ 9.93305168e-01 -5.84391202e-02 -9.96479419e-02 1.19585771e+01] [ 5.82863585e-02 9.98290004e-01 -4.44613720e-03 5.94587921e-01] [ 9.97373727e-02 -1.39174460e-03 9.95012824e-01 1.09432584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.747105680999999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:11.99, Y:0.59, Z:1.10 [[ 9.92964798e-01 -6.52641176e-02 -9.88003308e-02 1.19890636e+01] [ 6.51464514e-02 9.97865924e-01 -4.42008734e-03 5.93145712e-01] [ 9.88779565e-02 -2.04749981e-03 9.95097461e-01 1.09789059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.777105680999998 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:12.02, Y:0.59, Z:1.10 [[ 9.92297374e-01 -7.51437391e-02 -9.84852259e-02 1.20196918e+01] [ 7.50752847e-02 9.97168134e-01 -4.40608426e-03 5.89079061e-01] [ 9.85374186e-02 -3.02166053e-03 9.95128759e-01 1.10205336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.807105680999998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:12.05, Y:0.59, Z:1.11 [[ 9.91924476e-01 -7.59703506e-02 -1.01559543e-01 1.20510240e+01] [ 7.59021511e-02 9.97104929e-01 -4.54127356e-03 5.88109106e-01] [ 1.01610523e-01 -3.20398735e-03 9.94819097e-01 1.10509667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.837105680999999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:12.08, Y:0.59, Z:1.11 [[ 9.92026515e-01 -7.24890121e-02 -1.03095764e-01 1.20822000e+01] [ 7.24004950e-02 9.97365008e-01 -4.60536204e-03 5.89383214e-01] [ 1.03157946e-01 -2.89554312e-03 9.94660773e-01 1.10787686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.867105680999998 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:12.11, Y:0.59, Z:1.11 [[ 9.92981696e-01 -5.68219854e-02 -1.03723741e-01 1.21121840e+01] [ 5.66475895e-02 9.98383506e-01 -4.62877172e-03 5.91906062e-01] [ 1.03819088e-01 -1.27941429e-03 9.94595375e-01 1.11054337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.897105681 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:12.14, Y:0.60, Z:1.11 [[ 9.93591747e-01 -4.67388870e-02 -1.02912180e-01 1.21411876e+01] [ 4.65130064e-02 9.98907117e-01 -4.59486473e-03 5.95182538e-01] [ 1.03014468e-01 -2.21335226e-04 9.94679833e-01 1.11372921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.927105680999999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:12.17, Y:0.60, Z:1.12 [[ 9.94417584e-01 -2.85279627e-02 -1.01586533e-01 1.21688108e+01] [ 2.82126137e-02 9.99591635e-01 -4.53991027e-03 6.01248550e-01] [ 1.01674563e-01 1.64854499e-03 9.94816348e-01 1.11622670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.957105680999998 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:12.20, Y:0.61, Z:1.12 [[ 9.94389961e-01 -1.75593020e-02 -1.04308561e-01 1.21965117e+01] [ 1.71624283e-02 9.99841662e-01 -4.70119848e-03 6.06399254e-01] [ 1.04374595e-01 2.88463637e-03 9.94533872e-01 1.11648928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.987105681 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:12.22, Y:0.61, Z:1.12 [[ 9.94183399e-01 -1.69967311e-02 -1.06350738e-01 1.22247417e+01] [ 1.65765875e-02 9.99850917e-01 -4.83333821e-03 6.08200096e-01] [ 1.06417034e-01 3.04229231e-03 9.94316931e-01 1.11640193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.017105680999999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:12.25, Y:0.61, Z:1.12 [[ 0.99343978 -0.02428836 -0.11174742 12.25102855] [ 0.02264577 0.99961639 -0.01594514 0.60916575] [ 0.11209183 0.01330993 0.99360871 1.11964077] [ 0. 0. 0. 1. ]] SLAMing on 12.047105680999998 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:12.28, Y:0.61, Z:1.12 [[ 9.93009888e-01 -3.81083530e-02 -1.11709966e-01 1.22804672e+01] [ 3.89067281e-02 9.99230463e-01 4.97483345e-03 6.06992267e-01] [ 1.11434419e-01 -9.28632809e-03 9.93728401e-01 1.11538193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.077105680999999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:12.31, Y:0.61, Z:1.12 [[ 9.92633573e-01 -4.74556119e-02 -1.11474456e-01 1.23074214e+01] [ 4.71736438e-02 9.98873339e-01 -5.16712863e-03 6.07736756e-01] [ 1.11594071e-01 -1.29590923e-04 9.93753866e-01 1.12244272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.107105680999998 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:12.33, Y:0.60, Z:1.13 [[ 9.91953526e-01 -6.39688337e-02 -1.09252879e-01 1.23349874e+01] [ 6.37935185e-02 9.97950073e-01 -5.10280977e-03 6.03454061e-01] [ 1.09355339e-01 -1.90787540e-03 9.94000890e-01 1.12739437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.137105680999998 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:12.36, Y:0.60, Z:1.13 [[ 9.91673688e-01 -7.53037021e-02 -1.04463629e-01 1.23629654e+01] [ 7.52022313e-02 9.97156188e-01 -4.91538076e-03 5.99780176e-01] [ 1.04536700e-01 -2.98144422e-03 9.94516561e-01 1.13354955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.167105680999999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:12.39, Y:0.60, Z:1.14 [[ 9.91732454e-01 -7.71644002e-02 -1.02529972e-01 1.23940097e+01] [ 7.70756199e-02 9.97013535e-01 -4.83329603e-03 5.98715398e-01] [ 1.02596728e-01 -3.10922458e-03 9.94718173e-01 1.13792300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.197105680999998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:12.43, Y:0.60, Z:1.14 [[ 9.92293544e-01 -7.39094880e-02 -9.94530539e-02 1.24251837e+01] [ 7.38100660e-02 9.97261318e-01 -4.68383291e-03 5.98551547e-01] [ 9.95268633e-02 -2.69289931e-03 9.95031232e-01 1.14132321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.227105680999998 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:12.46, Y:0.60, Z:1.15 [[ 9.92646426e-01 -6.91148714e-02 -9.93791093e-02 1.24558067e+01] [ 6.89920875e-02 9.97606249e-01 -4.67581731e-03 6.00943665e-01] [ 9.94643890e-02 -2.21493886e-03 9.95038657e-01 1.14506765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.257105680999999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:12.49, Y:0.61, Z:1.15 [[ 9.93381439e-01 -5.38962631e-02 -1.01432289e-01 1.24862430e+01] [ 5.36896727e-02 9.98546288e-01 -4.76760511e-03 6.06382077e-01] [ 1.01541792e-01 -7.09815985e-04 9.94831021e-01 1.14701902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.287105680999998 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:12.51, Y:0.61, Z:1.15 [[ 9.94125293e-01 -3.72274978e-02 -1.01631759e-01 1.25138295e+01] [ 3.69331638e-02 9.99306321e-01 -4.77686869e-03 6.08351979e-01] [ 1.01739090e-01 9.95223588e-04 9.94810619e-01 1.14666825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.317105681 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:12.54, Y:0.61, Z:1.15 [[ 9.94308336e-01 -3.18075677e-02 -1.01681916e-01 1.25409989e+01] [ 3.14834880e-02 9.99492790e-01 -4.79082326e-03 6.09039297e-01] [ 1.01782726e-01 1.56225413e-03 9.94805426e-01 1.14794665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.347105680999999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:12.57, Y:0.61, Z:1.15 [[ 9.94481359e-01 -2.69478540e-02 -1.01393491e-01 1.25680084e+01] [ 2.69886685e-02 9.99635269e-01 -9.69466243e-04 6.09510093e-01] [ 1.01382635e-01 -1.77235921e-03 9.94845928e-01 1.14905733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.377105680999998 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:12.60, Y:0.61, Z:1.15 [[ 9.94491800e-01 -2.76344007e-02 -1.01105880e-01 1.25960770e+01] [ 2.72265530e-02 9.99614639e-01 -5.41182946e-03 6.11534632e-01] [ 1.01216470e-01 2.62925542e-03 9.94860952e-01 1.15319550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.407105680999999 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:12.63, Y:0.62, Z:1.16 [[ 9.94173142e-01 -3.18105727e-02 -1.02994423e-01 1.26255467e+01] [ 3.10084448e-02 9.99475106e-01 -9.38024058e-03 6.15141725e-01] [ 1.03238753e-01 6.13188636e-03 9.94637703e-01 1.15775545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.437105680999998 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:12.65, Y:0.62, Z:1.16 [[ 9.93955397e-01 -3.52701054e-02 -1.03964843e-01 1.26537379e+01] [ 3.49378877e-02 9.99376901e-01 -5.01541290e-03 6.16201683e-01] [ 1.04076957e-01 1.35278472e-03 9.94568327e-01 1.15783520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.467105680999998 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:12.68, Y:0.62, Z:1.16 [[ 9.93887337e-01 -3.74878932e-02 -1.03839391e-01 1.26808557e+01] [ 3.71644086e-02 9.99296410e-01 -5.04897039e-03 6.17317586e-01] [ 1.03955606e-01 1.15897816e-03 9.94581263e-01 1.16003659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.497105680999999 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:12.71, Y:0.62, Z:1.16 [[ 9.93743745e-01 -3.91357417e-02 -1.04602880e-01 1.27089063e+01] [ 3.88146818e-02 9.99233391e-01 -5.10399541e-03 6.17382826e-01] [ 1.04722439e-01 1.01193601e-03 9.94500974e-01 1.16159240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.527105680999998 meters Centerline goodness : 0.998602 Centerline is valid? [True, True] Translation: X:12.74, Y:0.62, Z:1.17 [[ 9.94001702e-01 -3.17550469e-02 -1.04652922e-01 1.27353778e+01] [ 3.13888494e-02 9.99494008e-01 -5.14471461e-03 6.20509721e-01] [ 1.04763340e-01 1.82892026e-03 9.94495499e-01 1.16581616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.557105680999998 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:12.76, Y:0.62, Z:1.17 [[ 9.94160347e-01 -2.59759189e-02 -1.04739941e-01 1.27626348e+01] [ 2.55743263e-02 9.99659525e-01 -5.17561494e-03 6.24243895e-01] [ 1.04838721e-01 2.46673771e-03 9.94486178e-01 1.16953035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.587105680999999 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:12.79, Y:0.63, Z:1.17 [[ 9.94204644e-01 -1.25020935e-02 -1.06774635e-01 1.27899814e+01] [ 1.20028356e-02 9.99913826e-01 -5.31719157e-03 6.28734364e-01] [ 1.06831910e-01 4.00477816e-03 9.94269030e-01 1.17032939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.617105680999998 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:12.82, Y:0.63, Z:1.17 [[ 9.94002823e-01 -6.06896909e-03 -1.09185877e-01 1.28151486e+01] [ 4.72931585e-03 9.99910384e-01 -1.25242563e-02 6.30427776e-01] [ 1.09252102e-01 1.19327716e-02 9.93942447e-01 1.17387465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.647105680999998 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:12.84, Y:0.63, Z:1.17 [[ 9.94227324e-01 1.91015509e-03 -1.07277115e-01 1.28439517e+01] [-1.68284432e-03 9.99996143e-01 2.20939865e-03 6.28675560e-01] [ 1.07280921e-01 -2.01611382e-03 9.94226704e-01 1.16960990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.677105680999999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:12.87, Y:0.63, Z:1.18 [[ 9.94313023e-01 -2.20239130e-03 -1.06474229e-01 1.28731392e+01] [ 1.42992004e-03 9.99972107e-01 -7.33080442e-03 6.30533018e-01] [ 1.06487405e-01 7.13686467e-03 9.94288438e-01 1.17610933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.707105680999998 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:12.90, Y:0.63, Z:1.18 [[ 9.94315535e-01 -5.08309048e-03 -1.06352151e-01 1.29012309e+01] [ 4.53488524e-03 9.99975160e-01 -5.39582283e-03 6.29288378e-01] [ 1.06376937e-01 4.88285566e-03 9.94313887e-01 1.17760525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.737105681 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:12.93, Y:0.62, Z:1.18 [[ 9.94148066e-01 -1.49898048e-02 -1.06980974e-01 1.29285921e+01] [ 1.44877303e-02 9.99880092e-01 -5.46880769e-03 6.22482150e-01] [ 1.07050122e-01 3.88689310e-03 9.94246028e-01 1.17927391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.767105680999999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:12.96, Y:0.61, Z:1.18 [[ 9.93649650e-01 -3.07032269e-02 -1.08248256e-01 1.29554919e+01] [ 3.02799655e-02 9.99526037e-01 -5.55203047e-03 6.14925259e-01] [ 1.08367416e-01 2.23901967e-03 9.94108389e-01 1.18185897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.797105680999998 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:12.98, Y:0.61, Z:1.19 [[ 9.93472767e-01 -3.96889914e-02 -1.06942248e-01 1.29826595e+01] [ 3.93259292e-02 9.99211286e-01 -5.50248736e-03 6.12086274e-01] [ 1.07076289e-01 1.26096807e-03 9.94250008e-01 1.18548612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.827105680999999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:13.01, Y:0.61, Z:1.19 [[ 9.93089718e-01 -5.75524754e-02 -1.02276708e-01 1.30104777e+01] [ 5.73132999e-02 9.98342290e-01 -5.27804726e-03 6.05193187e-01] [ 1.02410928e-01 -6.20241200e-04 9.94741985e-01 1.19219774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.857105680999998 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:13.04, Y:0.60, Z:1.20 [[ 9.92285712e-01 -7.00778389e-02 -1.02265154e-01 1.30373356e+01] [ 6.99010830e-02 9.97539766e-01 -5.31544786e-03 5.99956963e-01] [ 1.02386053e-01 -1.87400205e-03 9.94742974e-01 1.19724150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.887105680999998 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:13.07, Y:0.60, Z:1.20 [[ 9.92001650e-01 -7.29783707e-02 -1.02989724e-01 1.30650607e+01] [ 7.28119547e-02 9.97331179e-01 -5.37942331e-03 5.98752168e-01] [ 1.03107445e-01 -2.16248632e-03 9.94667873e-01 1.20022354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.917105680999999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:13.09, Y:0.60, Z:1.20 [[ 9.92368668e-01 -6.89229524e-02 -1.02245062e-01 1.30940962e+01] [ 6.87336347e-02 9.97620553e-01 -5.37774938e-03 5.99020386e-01] [ 1.02372425e-01 -1.69096473e-03 9.94744705e-01 1.20290859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.947105680999998 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:13.12, Y:0.60, Z:1.21 [[ 9.93056544e-01 -5.93577672e-02 -1.01564545e-01 1.31213869e+01] [ 5.91203498e-02 9.98236533e-01 -5.34873210e-03 6.04193206e-01] [ 1.01702928e-01 -6.92938009e-04 9.94814573e-01 1.20587874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.977105680999998 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:13.15, Y:0.61, Z:1.21 [[ 9.93388538e-01 -5.54072843e-02 -1.00544745e-01 1.31490179e+01] [ 5.51533640e-02 9.98463799e-01 -5.30557735e-03 6.09196339e-01] [ 1.00684256e-01 -2.74881213e-04 9.94918391e-01 1.20918298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.007105680999999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:13.18, Y:0.62, Z:1.21 [[ 9.93976882e-01 -4.72901768e-02 -9.88615006e-02 1.31759955e+01] [ 4.70012690e-02 9.98881030e-01 -5.25063438e-03 6.16445166e-01] [ 9.89991809e-02 5.72393203e-04 9.95087350e-01 1.21295673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.037105680999998 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:13.20, Y:0.62, Z:1.21 [[ 9.93716364e-01 -4.30951416e-02 -1.03298584e-01 1.32041774e+01] [ 4.27530940e-02 9.99070397e-01 -5.52409413e-03 6.18916950e-01] [ 1.03440619e-01 1.07304866e-03 9.94635052e-01 1.21277976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.067105680999997 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:13.23, Y:0.62, Z:1.21 [[ 9.93494500e-01 -3.92677738e-02 -1.06895839e-01 1.32307111e+01] [ 3.88749664e-02 9.99227500e-01 -5.75676459e-03 6.21468497e-01] [ 1.07039317e-01 1.56374181e-03 9.94253559e-01 1.21334077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.097105680999999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:13.26, Y:0.62, Z:1.22 [[ 9.93568866e-01 -3.70096878e-02 -1.07010239e-01 1.32588335e+01] [ 3.66010039e-02 9.99313236e-01 -5.78124959e-03 6.23390841e-01] [ 1.07150711e-01 1.82738741e-03 9.94241111e-01 1.21650683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.127105680999998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:13.29, Y:0.62, Z:1.22 [[ 9.93778925e-01 -2.81282141e-02 -1.07760159e-01 1.32858998e+01] [ 2.76573099e-02 9.99600274e-01 -5.86226736e-03 6.23652597e-01] [ 1.07881979e-01 2.84544164e-03 9.94159636e-01 1.22005534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.157105680999999 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:13.31, Y:0.62, Z:1.22 [[ 9.93607321e-01 -2.18965558e-02 -1.10747604e-01 1.33132422e+01] [ 2.13581969e-02 9.99753611e-01 -6.04527602e-03 6.23884653e-01] [ 1.10852688e-01 3.64126137e-03 9.93830178e-01 1.22243210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.187105680999998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:13.34, Y:0.63, Z:1.23 [[ 9.93617595e-01 -1.81377484e-02 -1.11333274e-01 1.33385620e+01] [ 1.75984459e-02 9.99828168e-01 -5.82490980e-03 6.25062978e-01] [ 1.11419794e-01 3.82844026e-03 9.93766055e-01 1.22556756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.217105680999998 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:13.37, Y:0.63, Z:1.23 [[ 9.93687715e-01 -1.74979049e-02 -1.10808615e-01 1.33685782e+01] [ 1.68327035e-02 9.99834263e-01 -6.93587000e-03 6.25482002e-01] [ 1.10911614e-01 5.02688024e-03 9.93817561e-01 1.22617306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.247105680999999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:13.40, Y:0.62, Z:1.23 [[ 9.93918765e-01 -1.85388015e-02 -1.08544004e-01 1.33959468e+01] [ 1.79962650e-02 9.99820196e-01 -5.97584901e-03 6.23096981e-01] [ 1.08635272e-01 3.98612181e-03 9.94073684e-01 1.22715673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.277105680999998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:13.42, Y:0.63, Z:1.23 [[ 9.93795914e-01 -2.22254224e-02 -1.08975736e-01 1.34236775e+01] [ 2.16984632e-02 9.99746441e-01 -6.01916457e-03 6.25393244e-01] [ 1.09081882e-01 3.61721517e-03 9.94026186e-01 1.23071726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.307105680999998 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:13.45, Y:0.63, Z:1.23 [[ 9.92935104e-01 -3.23347429e-02 -1.14168047e-01 1.34511355e+01] [ 3.18173933e-02 9.99473519e-01 -6.35127385e-03 6.30434720e-01] [ 1.14313307e-01 2.67387310e-03 9.93441150e-01 1.23333623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.337105680999999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:13.48, Y:0.63, Z:1.23 [[ 9.92151050e-01 -4.48398646e-02 -1.16729089e-01 1.34783462e+01] [ 4.43799742e-02 9.98993334e-01 -6.53725504e-03 6.30351108e-01] [ 1.16904711e-01 1.30551049e-03 9.93142278e-01 1.23492581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.367105680999998 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:13.51, Y:0.63, Z:1.24 [[ 9.92018022e-01 -5.21634404e-02 -1.14800781e-01 1.35056039e+01] [ 5.17639986e-02 9.98638452e-01 -6.45986792e-03 6.29816568e-01] [ 1.14981444e-01 4.65757913e-04 9.93367531e-01 1.23872033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.397105680999998 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:13.53, Y:0.63, Z:1.25 [[ 9.92216800e-01 -6.38052203e-02 -1.06933233e-01 1.35314822e+01] [ 6.35222567e-02 9.97962061e-01 -6.05367441e-03 6.29235644e-01] [ 1.07101565e-01 -7.86082805e-04 9.94247774e-01 1.24658574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.427105680999999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:13.56, Y:0.64, Z:1.25 [[ 0.99298305 -0.07159908 -0.09411822 13.55968573] [ 0.06814866 0.99689763 -0.03938127 0.63644592] [ 0.09664589 0.0326909 0.99478182 1.25464821] [ 0. 0. 0. 1. ]] SLAMing on 13.457105680999998 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:13.59, Y:0.63, Z:1.25 [[ 0.99240446 -0.06454466 -0.10472524 13.58892924] [ 0.06787672 0.99728463 0.02856776 0.63140494] [ 0.10259698 -0.03545917 0.99409079 1.2511933 ] [ 0. 0. 0. 1. ]] SLAMing on 13.487105680999997 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:13.62, Y:0.64, Z:1.26 [[ 9.92546586e-01 -6.35375676e-02 -1.03991596e-01 1.36167055e+01] [ 6.32616580e-02 9.97979222e-01 -5.95268832e-03 6.37474479e-01] [ 1.04159672e-01 -6.70360343e-04 9.94560362e-01 1.26147677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.517105680999999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:13.65, Y:0.64, Z:1.26 [[ 0.99350259 -0.0636224 -0.09436524 13.64569133] [ 0.06013424 0.99741393 -0.03936142 0.64203544] [ 0.09662548 0.03343109 0.99475921 1.26228936] [ 0. 0. 0. 1. ]] SLAMing on 13.547105680999998 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:13.67, Y:0.64, Z:1.26 [[ 0.99285394 -0.05781126 -0.10439787 13.6747332 ] [ 0.06109123 0.99772534 0.02849591 0.6359742 ] [ 0.10251302 -0.03467007 0.99412729 1.25698239] [ 0. 0. 0. 1. ]] SLAMing on 13.577105680999999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:13.70, Y:0.64, Z:1.27 [[ 9.92448878e-01 -6.31177412e-02 -1.05173077e-01 1.37016871e+01] [ 6.28264000e-02 9.98005925e-01 -6.08415752e-03 6.41219414e-01] [ 1.05347373e-01 -5.69430529e-04 9.94435321e-01 1.26708270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.607105680999998 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:13.73, Y:0.64, Z:1.27 [[ 9.92315924e-01 -6.09548951e-02 -1.07673619e-01 1.37300609e+01] [ 6.06323600e-02 9.98140474e-01 -6.26979560e-03 6.39311884e-01] [ 1.07855572e-01 -3.06887645e-04 9.94166526e-01 1.26858047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.637105680999998 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:13.76, Y:0.64, Z:1.27 [[ 9.92427516e-01 -5.84463750e-02 -1.08035397e-01 1.37581936e+01] [ 5.81024216e-02 9.98290549e-01 -6.33146045e-03 6.39592011e-01] [ 1.08220767e-01 6.39736839e-06 9.94126886e-01 1.27088887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.667105680999999 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:13.79, Y:0.64, Z:1.27 [[ 9.92700352e-01 -5.17462424e-02 -1.08941902e-01 1.37855228e+01] [ 5.13518283e-02 9.98659958e-01 -6.42472887e-03 6.39574922e-01] [ 1.09128371e-01 7.83464774e-04 9.94027356e-01 1.27395703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.697105680999998 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:13.81, Y:0.64, Z:1.28 [[ 9.92935242e-01 -4.60641455e-02 -1.09351271e-01 1.38128436e+01] [ 4.56303072e-02 9.98937457e-01 -6.46778241e-03 6.42741763e-01] [ 1.09533013e-01 1.43235702e-03 9.93982126e-01 1.27785433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.727105680999998 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:13.84, Y:0.65, Z:1.28 [[ 9.93034529e-01 -3.50203189e-02 -1.12498893e-01 1.38367415e+01] [ 3.44543491e-02 9.99381955e-01 -6.97176953e-03 6.45234662e-01] [ 1.12673517e-01 3.04713174e-03 9.93627392e-01 1.27848989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.757105680999999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:13.87, Y:0.65, Z:1.28 [[ 9.93003708e-01 -3.20710782e-02 -1.13644537e-01 1.38675529e+01] [ 3.13999864e-02 9.99477310e-01 -7.69075292e-03 6.47589878e-01] [ 1.13831787e-01 4.06850924e-03 9.93491707e-01 1.28022131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.787105680999998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:13.90, Y:0.64, Z:1.28 [[ 9.93352685e-01 -1.81849705e-02 -1.13665077e-01 1.38950417e+01] [ 1.79770931e-02 9.99834327e-01 -2.85368240e-03 6.43785988e-01] [ 1.13698140e-01 7.91345398e-04 9.93515026e-01 1.27766907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.817105680999997 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:13.92, Y:0.65, Z:1.28 [[ 9.93233044e-01 -1.68765837e-02 -1.14905619e-01 1.39242722e+01] [ 1.56549876e-02 9.99811024e-01 -1.15254895e-02 6.46565838e-01] [ 1.15078416e-01 9.64865099e-03 9.93309550e-01 1.28290150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.847105680999999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:13.95, Y:0.65, Z:1.29 [[ 9.93136847e-01 -1.05673080e-02 -1.16479766e-01 1.39518960e+01] [ 9.81403712e-03 9.99927069e-01 -7.03860838e-03 6.49104121e-01] [ 1.16545650e-01 5.84716458e-03 9.93168124e-01 1.28504413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.877105680999998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:13.98, Y:0.65, Z:1.29 [[ 9.93015347e-01 -6.76808160e-03 -1.17790971e-01 1.39761271e+01] [ 4.46282857e-03 9.99793535e-01 -1.98234800e-02 6.49998747e-01] [ 1.17900818e-01 1.91593390e-02 9.92840529e-01 1.29155729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.907105680999997 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:14.00, Y:0.65, Z:1.29 [[ 9.93184061e-01 -5.73736837e-03 -1.16415222e-01 1.40045943e+01] [ 5.70844908e-03 9.99983537e-01 -5.81824968e-04 6.45491860e-01] [ 1.16416644e-01 -8.66910824e-05 9.93200462e-01 1.28779355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.937105680999998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:14.03, Y:0.63, Z:1.29 [[ 9.93266017e-01 -1.17302055e-02 -1.15260668e-01 1.40309802e+01] [ 1.18545340e-02 9.99929655e-01 3.93242382e-04 6.34720807e-01] [ 1.15247948e-01 -1.75695581e-03 9.93335202e-01 1.28852998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.967105680999998 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:14.06, Y:0.63, Z:1.30 [[ 9.92759617e-01 -3.23603774e-02 -1.15676912e-01 1.40646616e+01] [ 3.11418849e-02 9.99438971e-01 -1.23258528e-02 6.32475065e-01] [ 1.16010883e-01 8.63421179e-03 9.93210413e-01 1.29708704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.997105680999999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:14.09, Y:0.63, Z:1.30 [[ 9.92615828e-01 -4.84476477e-02 -1.11205410e-01 1.40926990e+01] [ 4.79810945e-02 9.98824623e-01 -6.86935680e-03 6.28074284e-01] [ 1.11407506e-01 1.48287499e-03 9.93773701e-01 1.30235412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.027105680999998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:14.12, Y:0.62, Z:1.31 [[ 9.92522046e-01 -6.32073692e-02 -1.04426131e-01 1.41193228e+01] [ 6.28736530e-02 9.98000407e-01 -6.48777756e-03 6.21720316e-01] [ 1.04627397e-01 -1.26390085e-04 9.94511484e-01 1.30790380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.057105680999998 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:14.15, Y:0.62, Z:1.31 [[ 9.92258804e-01 -7.02812983e-02 -1.02386544e-01 1.41472261e+01] [ 6.99953919e-02 9.97526868e-01 -6.38696675e-03 6.19596153e-01] [ 1.02582213e-01 -8.29062300e-04 9.94724184e-01 1.31272637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.087105680999999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:14.17, Y:0.62, Z:1.32 [[ 9.91819447e-01 -7.97772864e-02 -9.96482247e-02 1.41742551e+01] [ 7.95505657e-02 9.96811220e-01 -6.25295666e-03 6.18545581e-01] [ 9.98293123e-02 -1.72526863e-03 9.95003081e-01 1.31843492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.117105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.20, Y:0.62, Z:1.32 [[ 9.91779777e-01 -8.42826942e-02 -9.62772124e-02 1.42021797e+01] [ 8.40909163e-02 9.96439690e-01 -6.05492627e-03 6.20821295e-01] [ 9.64447612e-02 -2.09088559e-03 9.95336142e-01 1.32365564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.147105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.23, Y:0.62, Z:1.33 [[ 9.91740841e-01 -8.53062780e-02 -9.57754815e-02 1.42310733e+01] [ 8.51178859e-02 9.96352469e-01 -6.05830393e-03 6.24375584e-01] [ 9.59429488e-02 -2.14393906e-03 9.95384526e-01 1.32686302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.177105680999999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:14.26, Y:0.63, Z:1.33 [[ 9.91390859e-01 -8.52121220e-02 -9.94135778e-02 1.42592404e+01] [ 8.50054259e-02 9.96360439e-01 -6.32091797e-03 6.32674731e-01] [ 9.95903748e-02 -2.18419323e-03 9.95026124e-01 1.32873803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.207105680999998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:14.29, Y:0.64, Z:1.33 [[ 9.91150916e-01 -8.30010268e-02 -1.03589048e-01 1.42877897e+01] [ 8.27609082e-02 9.96547434e-01 -6.62145566e-03 6.39840277e-01] [ 1.03780988e-01 -2.01026184e-03 9.94598143e-01 1.32788971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.237105680999997 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:14.31, Y:0.65, Z:1.33 [[ 9.90725291e-01 -7.93700635e-02 -1.10289581e-01 1.43127660e+01] [ 7.75514345e-02 9.96773658e-01 -2.06893621e-02 6.46773394e-01] [ 1.11575865e-01 1.19443591e-02 9.93684134e-01 1.33063162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.267105680999999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:14.34, Y:0.65, Z:1.33 [[ 9.90707121e-01 -7.80757333e-02 -1.11371363e-01 1.43412889e+01] [ 7.76582136e-02 9.96947228e-01 -8.08862104e-03 6.47006723e-01] [ 1.11662896e-01 -6.35446608e-04 9.93745940e-01 1.33103962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.297105680999998 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:14.37, Y:0.65, Z:1.33 [[ 9.91002984e-01 -7.64956663e-02 -1.09824851e-01 1.43712173e+01] [ 7.75457827e-02 9.96974618e-01 5.31632308e-03 6.51153353e-01] [ 1.09085913e-01 -1.37849461e-02 9.93936738e-01 1.32990702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.327105680999997 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:14.40, Y:0.66, Z:1.34 [[ 9.91312147e-01 -7.64503879e-02 -1.07030676e-01 1.43965270e+01] [ 7.61470729e-02 9.97072557e-01 -6.92386039e-03 6.61620035e-01] [ 1.07246681e-01 -1.28636576e-03 9.94231610e-01 1.33697749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.357105680999998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:14.42, Y:0.67, Z:1.34 [[ 9.91767573e-01 -7.79582422e-02 -1.01585398e-01 1.44232839e+01] [ 7.76904141e-02 9.96955711e-01 -6.59623594e-03 6.68747644e-01] [ 1.01790374e-01 -1.35027874e-03 9.94804954e-01 1.34218346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.387105680999998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:14.45, Y:0.67, Z:1.35 [[ 9.91811173e-01 -7.92653166e-02 -1.00137938e-01 1.44520325e+01] [ 7.90079352e-02 9.96852536e-01 -6.53976798e-03 6.73076430e-01] [ 1.00341134e-01 -1.42547676e-03 9.94952072e-01 1.34569365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.417105680999999 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:14.48, Y:0.68, Z:1.35 [[ 9.91825754e-01 -7.81239944e-02 -1.00887633e-01 1.44801916e+01] [ 7.78533991e-02 9.96942821e-01 -6.62270555e-03 6.80720833e-01] [ 1.01096594e-01 -1.28587523e-03 9.94875784e-01 1.34776041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.447105680999998 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:14.51, Y:0.69, Z:1.35 [[ 9.92200053e-01 -7.17454512e-02 -1.01939416e-01 1.45086510e+01] [ 7.14349032e-02 9.97422772e-01 -6.69841001e-03 6.91176986e-01] [ 1.02157275e-01 -6.35869531e-04 9.94768057e-01 1.34864317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.477105680999998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:14.54, Y:0.70, Z:1.35 [[ 9.92584661e-01 -6.55424062e-02 -1.02371301e-01 1.45360464e+01] [ 6.51928223e-02 9.97849784e-01 -6.76049275e-03 6.97196103e-01] [ 1.02594280e-01 3.64873442e-05 9.94723284e-01 1.35099606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.507105680999999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:14.56, Y:0.71, Z:1.35 [[ 9.93318725e-01 -4.75861716e-02 -1.05135469e-01 1.45635240e+01] [ 4.71156733e-02 9.98865222e-01 -6.95570545e-03 7.07200462e-01] [ 1.05347159e-01 1.95570407e-03 9.94433583e-01 1.35051910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.537105680999998 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:14.59, Y:0.71, Z:1.35 [[ 9.93473466e-01 -3.03796553e-02 -1.09943388e-01 1.45914369e+01] [ 2.97551954e-02 9.99530439e-01 -7.31643061e-03 7.14835973e-01] [ 1.10114034e-01 3.99729268e-03 9.93910922e-01 1.35063273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.567105680999997 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:14.62, Y:0.72, Z:1.35 [[ 9.93246115e-01 -1.83140652e-02 -1.14572028e-01 1.46177852e+01] [ 1.75506801e-02 9.99816569e-01 -7.66819818e-03 7.21495292e-01] [ 1.14691448e-01 5.60559104e-03 9.93385348e-01 1.35367341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.597105680999999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:14.64, Y:0.72, Z:1.36 [[ 9.93223944e-01 -1.62799359e-02 -1.15070247e-01 1.46449566e+01] [ 1.54937347e-02 9.99850134e-01 -7.72352366e-03 7.24648283e-01] [ 1.15178740e-01 5.88832075e-03 9.93327330e-01 1.35720693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.627105680999998 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:14.67, Y:0.72, Z:1.36 [[ 9.93143740e-01 -1.75474678e-02 -1.15575076e-01 1.46719462e+01] [ 1.60638346e-02 9.99776338e-01 -1.37559620e-02 7.24752660e-01] [ 1.15790609e-01 1.18050686e-02 9.93203491e-01 1.36376615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.657105680999997 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:14.70, Y:0.72, Z:1.36 [[ 9.93149330e-01 -2.62153350e-02 -1.13873455e-01 1.47019025e+01] [ 2.61370274e-02 9.99655991e-01 -2.18088962e-03 7.18465850e-01] [ 1.13891454e-01 -8.10364549e-04 9.93492869e-01 1.36219066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.687105680999998 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:14.73, Y:0.72, Z:1.37 [[ 9.93038238e-01 -3.25578370e-02 -1.13203555e-01 1.47297218e+01] [ 3.18918621e-02 9.99461746e-01 -7.68945890e-03 7.18659555e-01] [ 1.13392975e-01 4.02565457e-03 9.93542061e-01 1.36657872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.717105680999998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:14.76, Y:0.72, Z:1.37 [[ 9.93017468e-01 -4.01847238e-02 -1.10912110e-01 1.47572842e+01] [ 3.95882049e-02 9.99187358e-01 -7.57616985e-03 7.17737796e-01] [ 1.11126425e-01 3.13245766e-03 9.93801341e-01 1.37074291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.747105680999997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:14.78, Y:0.72, Z:1.37 [[ 9.92862499e-01 -4.47561036e-02 -1.10548405e-01 1.47840220e+01] [ 4.41871487e-02 9.98994420e-01 -7.59246432e-03 7.17259052e-01] [ 1.10777049e-01 2.65345428e-03 9.93841740e-01 1.37469452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.777105680999998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:14.81, Y:0.72, Z:1.38 [[ 9.92757550e-01 -4.62665069e-02 -1.10868648e-01 1.48111134e+01] [ 4.57015689e-02 9.98925977e-01 -7.63279781e-03 7.17459032e-01] [ 1.11102715e-01 2.51064652e-03 9.93805757e-01 1.37706165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.807105680999998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:14.84, Y:0.72, Z:1.38 [[ 9.92860685e-01 -4.82855961e-02 -1.09069528e-01 1.48389227e+01] [ 4.77490847e-02 9.98831002e-01 -7.52695449e-03 7.16344658e-01] [ 1.09305470e-01 2.26524704e-03 9.94005625e-01 1.37960865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.837105680999999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:14.87, Y:0.71, Z:1.38 [[ 9.92881907e-01 -5.02988984e-02 -1.07960827e-01 1.48660973e+01] [ 4.97807546e-02 9.98732078e-01 -7.49079810e-03 7.13631199e-01] [ 1.08200720e-01 2.06310648e-03 9.94126927e-01 1.38304726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.867105680999998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:14.89, Y:0.71, Z:1.39 [[ 9.92673273e-01 -5.22604634e-02 -1.08943182e-01 1.48934768e+01] [ 5.17413590e-02 9.98631689e-01 -7.58827285e-03 7.12773729e-01] [ 1.09190680e-01 1.89580736e-03 9.94019015e-01 1.38582703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.897105680999998 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:14.92, Y:0.71, Z:1.39 [[ 9.92133337e-01 -5.91473507e-02 -1.10331463e-01 1.49206290e+01] [ 5.86528310e-02 9.98248550e-01 -7.72515955e-03 7.09102855e-01] [ 1.10595146e-01 1.19313565e-03 9.93864825e-01 1.38886169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.927105680999999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:14.95, Y:0.71, Z:1.39 [[ 9.91655110e-01 -6.93205867e-02 -1.08695899e-01 1.49486848e+01] [ 6.88995639e-02 9.97594432e-01 -7.62886756e-03 7.05020729e-01] [ 1.08963261e-01 7.61054425e-05 9.94045775e-01 1.39417085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.957105680999998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:14.98, Y:0.70, Z:1.40 [[ 9.91418926e-01 -7.34988768e-02 -1.08103781e-01 1.49757786e+01] [ 7.31029381e-02 9.97295241e-01 -7.62640909e-03 7.03165276e-01] [ 1.08371919e-01 -3.41737681e-04 9.94110361e-01 1.39720023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.987105680999997 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:15.00, Y:0.70, Z:1.40 [[ 9.91012577e-01 -7.93354715e-02 -1.07703087e-01 1.50041926e+01] [ 7.89748722e-02 9.96847513e-01 -7.61608517e-03 6.99010277e-01] [ 1.07967780e-01 -9.58201361e-04 9.94153932e-01 1.39902422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.017105680999999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:15.03, Y:0.70, Z:1.40 [[ 9.90857312e-01 -8.06538259e-02 -1.08151500e-01 1.50308997e+01] [ 8.02937475e-02 9.96741602e-01 -7.68715054e-03 6.99593089e-01] [ 1.08419097e-01 -1.06701988e-03 9.94104703e-01 1.40199446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.047105680999998 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:15.06, Y:0.70, Z:1.41 [[ 9.90587948e-01 -7.99784740e-02 -1.11080874e-01 1.50582530e+01] [ 7.95921562e-02 9.96796089e-01 -7.91494739e-03 7.02809213e-01] [ 1.11358006e-01 -1.00071479e-03 9.93779851e-01 1.40527784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.077105680999997 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:15.09, Y:0.71, Z:1.41 [[ 9.90668327e-01 -7.87655457e-02 -1.11230641e-01 1.50857281e+01] [ 7.83660936e-02 9.96892826e-01 -7.96543662e-03 7.06572063e-01] [ 1.11512430e-01 -8.25605042e-04 9.93762696e-01 1.40852000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.107105680999998 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:15.11, Y:0.71, Z:1.41 [[ 9.90722055e-01 -7.81378349e-02 -1.11194820e-01 1.51129506e+01] [ 7.77300767e-02 9.96942310e-01 -8.00408074e-03 7.10790182e-01] [ 1.11480242e-01 -7.13362584e-04 9.93766394e-01 1.41185768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.137105680999998 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:15.14, Y:0.72, Z:1.42 [[ 9.89823889e-01 -8.20487346e-02 -1.16261230e-01 1.51367235e+01] [ 8.04718612e-02 9.96590696e-01 -1.82006918e-02 7.23424327e-01] [ 1.17358204e-01 8.65972199e-03 9.93051892e-01 1.41763339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.167105680999997 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:15.16, Y:0.73, Z:1.42 [[ 9.89327941e-01 -8.37971405e-02 -1.19198424e-01 1.51632140e+01] [ 8.30925821e-02 9.96482466e-01 -1.08773925e-02 7.28021223e-01] [ 1.19690634e-01 8.56803476e-04 9.92810867e-01 1.41849238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.197105680999998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:15.19, Y:0.74, Z:1.42 [[ 9.89226931e-01 -8.91852025e-02 -1.16086515e-01 1.51923210e+01] [ 8.99689928e-02 9.95943409e-01 1.51900560e-03 7.37776194e-01] [ 1.15480127e-01 -1.19468281e-02 9.93237944e-01 1.41643761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.227105680999998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:15.22, Y:0.75, Z:1.42 [[ 9.89426864e-01 -9.08219488e-02 -1.13074554e-01 1.52188598e+01] [ 9.04688187e-02 9.95865024e-01 -8.26112194e-03 7.45906199e-01] [ 1.13357285e-01 -2.05594534e-03 9.93552162e-01 1.42168820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.257105680999999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:15.25, Y:0.76, Z:1.42 [[ 9.89793595e-01 -8.87964680e-02 -1.11462220e-01 1.52451602e+01] [ 8.82541668e-02 9.96049782e-01 -9.79967552e-03 7.58278113e-01] [ 1.11892097e-01 -1.37349337e-04 9.93720353e-01 1.42484582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.287105680999998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:15.27, Y:0.77, Z:1.43 [[ 9.89730361e-01 -8.78240328e-02 -1.12786311e-01 1.52735938e+01] [ 8.75670903e-02 9.96132316e-01 -7.23979097e-03 7.65685651e-01] [ 1.12985917e-01 -2.71092815e-03 9.93592891e-01 1.42631997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.317105680999997 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:15.30, Y:0.78, Z:1.43 [[ 9.90013018e-01 -8.21519334e-02 -1.14565636e-01 1.53017973e+01] [ 8.17213123e-02 9.96619327e-01 -8.45839662e-03 7.78276195e-01] [ 1.14873201e-01 -9.88531377e-04 9.93379671e-01 1.42974288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.347105680999999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:15.33, Y:0.79, Z:1.44 [[ 9.90755151e-01 -7.73270572e-02 -1.11466397e-01 1.53298898e+01] [ 7.68884769e-02 9.97005695e-01 -8.23442715e-03 7.90455024e-01] [ 1.11769376e-01 -4.12180339e-04 9.93734088e-01 1.43505711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.377105680999998 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:15.36, Y:0.80, Z:1.44 [[ 9.91145464e-01 -7.53994547e-02 -1.09295886e-01 1.53586911e+01] [ 7.49656076e-02 9.97153392e-01 -8.07898723e-03 7.97807980e-01] [ 1.09593915e-01 -1.85980948e-04 9.93976428e-01 1.44032164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.407105680999997 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:15.39, Y:0.81, Z:1.44 [[ 9.91530640e-01 -7.32173891e-02 -1.07266978e-01 1.53879883e+01] [ 7.27865547e-02 9.97316003e-01 -7.93137643e-03 8.08362627e-01] [ 1.07559789e-01 5.66089575e-05 9.94198616e-01 1.44431351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.437105680999998 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:15.42, Y:0.82, Z:1.45 [[ 9.91230413e-01 -7.09673082e-02 -1.11471562e-01 1.54171442e+01] [ 7.04877025e-02 9.97478593e-01 -8.24260723e-03 8.16814610e-01] [ 1.11775452e-01 3.12948694e-04 9.93733440e-01 1.44577009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.467105680999998 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:15.45, Y:0.82, Z:1.45 [[ 9.91120657e-01 -6.81384461e-02 -1.14179665e-01 1.54468401e+01] [ 6.76158434e-02 9.97675662e-01 -8.44817926e-03 8.22559800e-01] [ 1.14489919e-01 6.52810641e-04 9.93424196e-01 1.44738547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.497105680999997 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:15.48, Y:0.83, Z:1.45 [[ 9.91222854e-01 -6.09228191e-02 -1.17327168e-01 1.54754064e+01] [ 6.03193919e-02 9.98141296e-01 -8.69041535e-03 8.31909633e-01] [ 1.17638536e-01 1.53703487e-03 9.93055292e-01 1.44846528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.527105680999998 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:15.50, Y:0.84, Z:1.45 [[ 9.91477324e-01 -5.28772559e-02 -1.19065997e-01 1.55029762e+01] [ 5.21930785e-02 9.98597714e-01 -8.85939804e-03 8.39812919e-01] [ 1.19367493e-01 2.56947132e-03 9.92846816e-01 1.45111710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.557105680999998 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:15.53, Y:0.84, Z:1.45 [[ 9.91631664e-01 -4.87272681e-02 -1.19550396e-01 1.55297680e+01] [ 4.80022943e-02 9.98807234e-01 -8.93809533e-03 8.43986264e-01] [ 1.19843330e-01 3.12460503e-03 9.92787899e-01 1.45376283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.587105680999999 meters Centerline goodness : 0.997788 Centerline is valid? [True, True] Translation: X:15.56, Y:0.85, Z:1.46 [[ 9.91787650e-01 -4.38119090e-02 -1.20157288e-01 1.55571253e+01] [ 4.30407335e-02 9.99032716e-01 -9.00704841e-03 8.50605223e-01] [ 1.20435678e-01 3.76142156e-03 9.92714007e-01 1.45701305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.617105680999998 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:15.58, Y:0.85, Z:1.46 [[ 9.92208573e-01 -4.00878380e-02 -1.17962341e-01 1.55831152e+01] [ 4.05213383e-02 9.99177856e-01 1.27785842e-03 8.52901763e-01] [ 1.17814132e-01 -6.04789399e-03 9.93017247e-01 1.45590945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.647105680999998 meters Centerline goodness : 0.997902 Centerline is valid? [True, True] Translation: X:15.61, Y:0.86, Z:1.47 [[ 9.91846302e-01 -4.62008018e-02 -1.18770360e-01 1.56116308e+01] [ 4.41141391e-02 9.98823475e-01 -2.01397025e-02 8.58234035e-01] [ 1.19561094e-01 1.47360373e-02 9.92717479e-01 1.46690266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.677105680999999 meters Centerline goodness : 0.998095 Centerline is valid? [True, True] Translation: X:15.64, Y:0.86, Z:1.47 [[ 9.91286376e-01 -5.20757669e-02 -1.20993534e-01 1.56401368e+01] [ 5.13431184e-02 9.98638998e-01 -9.16708413e-03 8.58575002e-01] [ 1.21306245e-01 2.87502027e-03 9.92610966e-01 1.46706830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.707105680999998 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:15.67, Y:0.86, Z:1.47 [[ 9.90610903e-01 -6.14661180e-02 -1.22114515e-01 1.56669120e+01] [ 6.07855839e-02 9.98107576e-01 -9.29402924e-03 8.61049157e-01] [ 1.22454690e-01 1.78396460e-03 9.92472502e-01 1.47079845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.737105680999997 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:15.69, Y:0.86, Z:1.47 [[ 9.90478260e-01 -6.62842059e-02 -1.20661599e-01 1.56946132e+01] [ 6.56526957e-02 9.97800066e-01 -9.20605409e-03 8.61472585e-01] [ 1.21006367e-01 1.19663719e-03 9.92651010e-01 1.47354091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.767105680999999 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:15.72, Y:0.86, Z:1.48 [[ 9.90099624e-01 -7.57555434e-02 -1.18168661e-01 1.57236724e+01] [ 7.52121869e-02 9.97126417e-01 -9.05735585e-03 8.58326133e-01] [ 1.18515238e-01 7.99612045e-05 9.92952230e-01 1.47594583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.797105680999998 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:15.75, Y:0.86, Z:1.48 [[ 9.89271401e-01 -8.57999436e-02 -1.18239016e-01 1.57526070e+01] [ 8.53231449e-02 9.96311791e-01 -9.09808338e-03 8.55974300e-01] [ 1.18583541e-01 -1.08805103e-03 9.92943483e-01 1.47812647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.827105680999997 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:15.78, Y:0.86, Z:1.48 [[ 9.88843707e-01 -9.03709048e-02 -1.18411241e-01 1.57826824e+01] [ 8.99244825e-02 9.95906842e-01 -9.11859230e-03 8.56662592e-01] [ 1.18750621e-01 -1.63120699e-03 9.92922771e-01 1.48209889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.857105680999998 meters Centerline goodness : 0.998390 Centerline is valid? [True, True] Translation: X:15.81, Y:0.85, Z:1.49 [[ 9.88440472e-01 -9.54257399e-02 -1.17810702e-01 1.58108235e+01] [ 9.46419015e-02 9.95436097e-01 -1.22428631e-02 8.53428549e-01] [ 1.18441310e-01 9.51512495e-04 9.92960599e-01 1.48942506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.887105680999998 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:15.84, Y:0.85, Z:1.49 [[ 9.87099274e-01 -1.08215289e-01 -1.18002014e-01 1.58419953e+01] [ 1.08120217e-01 9.94111565e-01 -7.22600605e-03 8.50991323e-01] [ 1.18089131e-01 -5.62561796e-03 9.92987064e-01 1.48997697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.917105680999997 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:15.87, Y:0.85, Z:1.49 [[ 9.86402323e-01 -1.14110338e-01 -1.18276317e-01 1.58735566e+01] [ 1.13832923e-01 9.93458040e-01 -9.12078553e-03 8.50535356e-01] [ 1.18543334e-01 -4.46697479e-03 9.92938832e-01 1.49446008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.947105680999998 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:15.90, Y:0.85, Z:1.50 [[ 9.85404024e-01 -1.23350518e-01 -1.17318194e-01 1.59044820e+01] [ 1.23143879e-01 9.92347686e-01 -9.03633847e-03 8.50515448e-01] [ 1.17535075e-01 -5.54257321e-03 9.93053264e-01 1.50141014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.977105680999998 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:15.94, Y:0.85, Z:1.50 [[ 9.84970004e-01 -1.27339107e-01 -1.16699795e-01 1.59358939e+01] [ 1.27163389e-01 9.91841127e-01 -8.98064774e-03 8.50230769e-01] [ 1.16891244e-01 -5.99427273e-03 9.93126631e-01 1.50369605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.007105681 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:15.97, Y:0.85, Z:1.50 [[ 9.84599176e-01 -1.28674058e-01 -1.18353071e-01 1.59680085e+01] [ 1.28503982e-01 9.91667247e-01 -9.09933795e-03 8.50642586e-01] [ 1.18537713e-01 -6.24964020e-03 9.92929883e-01 1.50445340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.037105680999996 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:16.00, Y:0.85, Z:1.51 [[ 9.84526229e-01 -1.28433464e-01 -1.19218078e-01 1.59987275e+01] [ 1.28260632e-01 9.91698251e-01 -9.15368728e-03 8.53680974e-01] [ 1.19403999e-01 -6.27894081e-03 9.92825896e-01 1.50878874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.067105680999997 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:16.03, Y:0.86, Z:1.52 [[ 9.84392619e-01 -1.27615010e-01 -1.21184078e-01 1.60299841e+01] [ 1.27432533e-01 9.91803764e-01 -9.28672258e-03 8.60195687e-01] [ 1.21375950e-01 -6.30101283e-03 9.92586609e-01 1.51509204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.097105681 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:16.06, Y:0.86, Z:1.52 [[ 9.84945668e-01 -1.23678714e-01 -1.20770886e-01 1.60561505e+01] [ 1.22772469e-01 9.92322309e-01 -1.49451272e-02 8.63372166e-01] [ 1.21692038e-01 -1.07201503e-04 9.92567900e-01 1.52075653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.127105680999996 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:16.09, Y:0.87, Z:1.52 [[ 9.85026893e-01 -1.26531378e-01 -1.17097526e-01 1.60897533e+01] [ 1.26817323e-01 9.91913306e-01 -5.03583290e-03 8.67025887e-01] [ 1.16787785e-01 -9.88956396e-03 9.93107653e-01 1.52012666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.157105680999997 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:16.12, Y:0.87, Z:1.53 [[ 9.84889421e-01 -1.29121507e-01 -1.15414315e-01 1.61207915e+01] [ 1.28961155e-01 9.91609824e-01 -8.88691904e-03 8.74195221e-01] [ 1.15593461e-01 -6.13133076e-03 9.93277685e-01 1.52557756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.187105681 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:16.15, Y:0.88, Z:1.53 [[ 9.84909731e-01 -1.28965726e-01 -1.15415178e-01 1.61540773e+01] [ 1.28805622e-01 9.91630140e-01 -8.87569409e-03 8.76614142e-01] [ 1.15593830e-01 -6.12436637e-03 9.93277685e-01 1.52907016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.217105681 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:16.19, Y:0.88, Z:1.53 [[ 9.84191172e-01 -1.33926263e-01 -1.15894320e-01 1.61858657e+01] [ 1.33801081e-01 9.90968292e-01 -8.89462741e-03 8.84976074e-01] [ 1.16038820e-01 -6.75277151e-03 9.93221724e-01 1.53128775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.247105680999997 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:16.22, Y:0.89, Z:1.53 [[ 9.83828517e-01 -1.36349871e-01 -1.16147157e-01 1.62187066e+01] [ 1.36242486e-01 9.90635535e-01 -8.90064740e-03 8.90884457e-01] [ 1.16273103e-01 -7.06746662e-03 9.93192135e-01 1.53455786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.277105681 meters Centerline goodness : 0.998127 Centerline is valid? [True, True] Translation: X:16.25, Y:0.90, Z:1.54 [[ 9.83098539e-01 -1.39704661e-01 -1.18321047e-01 1.62505180e+01] [ 1.39619499e-01 9.90163874e-01 -9.04981298e-03 9.01022264e-01] [ 1.18421527e-01 -7.62306736e-03 9.92934152e-01 1.53540776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.307105681 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:16.28, Y:0.91, Z:1.54 [[ 9.81914396e-01 -1.45099346e-01 -1.21615370e-01 1.62829937e+01] [ 1.45053727e-01 9.89380298e-01 -9.27589875e-03 9.11809668e-01] [ 1.21669778e-01 -8.53262417e-03 9.92533959e-01 1.53616008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.337105680999997 meters Centerline goodness : 0.998127 Centerline is valid? [True, True] Translation: X:16.32, Y:0.92, Z:1.54 [[ 9.81399478e-01 -1.47817587e-01 -1.22494999e-01 1.63156546e+01] [ 1.47794324e-01 9.88974139e-01 -9.32689871e-03 9.19760808e-01] [ 1.22523066e-01 -8.95065205e-03 9.92425304e-01 1.53939383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.367105680999998 meters Centerline goodness : 0.997848 Centerline is valid? [True, True] Translation: X:16.34, Y:0.93, Z:1.54 [[ 9.80683988e-01 -1.50366074e-01 -1.25095804e-01 1.63421121e+01] [ 1.49808365e-01 9.88617228e-01 -1.39079500e-02 9.32075951e-01] [ 1.25763151e-01 -5.10109408e-03 9.92047181e-01 1.54493422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.397105681 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:16.38, Y:0.94, Z:1.55 [[ 9.80275138e-01 -1.52636913e-01 -1.25549302e-01 1.63775763e+01] [ 1.53047806e-01 9.88197906e-01 -6.42392586e-03 9.43973717e-01] [ 1.25048086e-01 -1.29178304e-02 9.92066583e-01 1.54605763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.427105680999997 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:16.41, Y:0.96, Z:1.55 [[ 0.98122138 -0.15645089 -0.11281718 16.41002834] [ 0.15221887 0.98731034 -0.04525166 0.95880297] [ 0.11846523 0.02722899 0.99258479 1.55341229] [ 0. 0. 0. 1. ]] SLAMing on 16.457105680999998 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:16.44, Y:0.97, Z:1.55 [[ 9.82493540e-01 -1.48690981e-01 -1.12238296e-01 1.64437178e+01] [ 1.48372640e-01 9.88867748e-01 -1.12310582e-02 9.70317784e-01] [ 1.12658788e-01 -5.61865026e-03 9.93617848e-01 1.54569552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.487105681 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:16.48, Y:0.98, Z:1.55 [[ 9.83717873e-01 -1.39479918e-01 -1.13333573e-01 1.64772181e+01] [ 1.39755662e-01 9.90170479e-01 -5.54782196e-03 9.84598080e-01] [ 1.12993368e-01 -1.03815169e-02 9.93541505e-01 1.55016925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.517105680999997 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:16.50, Y:1.00, Z:1.55 [[ 0.98451938 -0.12488308 -0.12298701 16.50251172] [ 0.12956734 0.9910914 0.03082448 0.99882188] [ 0.11804191 -0.0462824 0.99192946 1.54984265] [ 0. 0. 0. 1. ]] SLAMing on 16.547105680999998 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:16.53, Y:1.01, Z:1.57 [[ 9.85724372e-01 -1.19097218e-01 -1.19009729e-01 1.65298029e+01] [ 1.19061767e-01 9.92859022e-01 -7.43352618e-03 1.01241405e+00] [ 1.19045196e-01 -6.84210071e-03 9.92865261e-01 1.56789500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.577105681 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:16.56, Y:1.03, Z:1.58 [[ 9.87124915e-01 -1.05221957e-01 -1.20468838e-01 1.65615279e+01] [ 1.04566543e-01 9.94448277e-01 -1.17669817e-02 1.03263539e+00] [ 1.21038174e-01 -9.81529138e-04 9.92647368e-01 1.57588820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.607105680999997 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:16.59, Y:1.04, Z:1.58 [[ 9.88107692e-01 -9.57636748e-02 -1.20301734e-01 1.65929210e+01] [ 9.53744593e-02 9.95400759e-01 -9.00234487e-03 1.04312770e+00] [ 1.20610535e-01 -2.57842662e-03 9.92696555e-01 1.58006753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.637105680999998 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:16.62, Y:1.06, Z:1.59 [[ 9.89666417e-01 -7.98614562e-02 -1.19090430e-01 1.66245574e+01] [ 7.93694993e-02 9.96805749e-01 -8.87586615e-03 1.05891342e+00] [ 1.19418865e-01 -6.68001176e-04 9.92843738e-01 1.58585430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.667105681 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:16.66, Y:1.07, Z:1.59 [[ 9.90363752e-01 -7.13187291e-02 -1.18715110e-01 1.66559827e+01] [ 7.07705285e-02 9.97453517e-01 -8.83249852e-03 1.06771442e+00] [ 1.19042727e-01 3.45855265e-04 9.92889072e-01 1.58682704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.697105680999996 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:16.69, Y:1.07, Z:1.59 [[ 9.90373025e-01 -7.11989449e-02 -1.18709650e-01 1.66886081e+01] [ 7.06515176e-02 9.97462074e-01 -8.81891233e-03 1.07292092e+00] [ 1.19036271e-01 3.46995952e-04 9.92889846e-01 1.58994797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.727105680999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:16.72, Y:1.08, Z:1.59 [[ 9.90107070e-01 -7.33629839e-02 -1.19607115e-01 1.67216758e+01] [ 7.28248581e-02 9.97305303e-01 -8.86975581e-03 1.07988287e+00] [ 1.19935522e-01 7.16367439e-05 9.92781681e-01 1.59235497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.757105681 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:16.75, Y:1.08, Z:1.59 [[ 9.89233789e-01 -7.74049531e-02 -1.24197359e-01 1.67539860e+01] [ 7.68584025e-02 9.96999634e-01 -9.19328087e-03 1.08478807e+00] [ 1.24536327e-01 -4.51306511e-04 9.92214946e-01 1.59239396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.787105680999996 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:16.79, Y:1.09, Z:1.59 [[ 9.88874528e-01 -7.96225521e-02 -1.25647993e-01 1.67855743e+01] [ 7.90827278e-02 9.96824800e-01 -9.28657516e-03 1.08890420e+00] [ 1.25988456e-01 -7.53328370e-04 9.92031422e-01 1.59487467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.817105680999997 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:16.82, Y:1.09, Z:1.60 [[ 9.88417503e-01 -8.41714300e-02 -1.26277516e-01 1.68170675e+01] [ 8.36648756e-02 9.96450369e-01 -9.31935551e-03 1.09373051e+00] [ 1.26613701e-01 -1.35357857e-03 9.91951177e-01 1.59626374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.847105681 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:16.85, Y:1.10, Z:1.60 [[ 9.88227877e-01 -8.69725829e-02 -1.25862754e-01 1.68497222e+01] [ 8.64937418e-02 9.96209220e-01 -9.27488121e-03 1.09591612e+00] [ 1.26192296e-01 -1.72064438e-03 9.92004306e-01 1.59847910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.877105680999996 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:16.88, Y:1.10, Z:1.60 [[ 9.87749185e-01 -9.37977776e-02 -1.24713766e-01 1.68821518e+01] [ 9.33839708e-02 9.95587912e-01 -9.17294485e-03 1.09753163e+00] [ 1.25023920e-01 -2.58569790e-03 9.92150358e-01 1.59969941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.907105680999997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:16.91, Y:1.10, Z:1.61 [[ 9.87560264e-01 -9.64559864e-02 -1.24181189e-01 1.69096932e+01] [ 9.50623741e-02 9.95324208e-01 -1.71133412e-02 1.09930429e+00] [ 1.25251228e-01 5.09549711e-03 9.92111972e-01 1.60871764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.937105681 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:16.95, Y:1.10, Z:1.61 [[ 9.87394683e-01 -9.95624098e-02 -1.23040915e-01 1.69463906e+01] [ 9.99639886e-02 9.94986769e-01 -2.92073201e-03 1.10132072e+00] [ 1.22714878e-01 -9.41574538e-03 9.92397301e-01 1.60598638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.967105680999996 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:16.98, Y:1.10, Z:1.61 [[ 9.87370282e-01 -1.01687260e-01 -1.21489206e-01 1.69784734e+01] [ 1.01371406e-01 9.94809783e-01 -8.79392475e-03 1.10334622e+00] [ 1.21752881e-01 -3.63267170e-03 9.92553797e-01 1.61268859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.997105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.01, Y:1.11, Z:1.62 [[ 9.87635823e-01 -1.02057856e-01 -1.18994433e-01 1.70101878e+01] [ 1.01759584e-01 9.94771881e-01 -8.59598651e-03 1.10611535e+00] [ 1.19249604e-01 -3.61911980e-03 9.92857711e-01 1.61893127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.027105681 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:17.04, Y:1.11, Z:1.62 [[ 9.87704333e-01 -1.02189304e-01 -1.18311016e-01 1.70425025e+01] [ 1.01899890e-01 9.94758268e-01 -8.50886253e-03 1.10854214e+00] [ 1.18560376e-01 -3.65163917e-03 9.92940130e-01 1.62269935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.057105681 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:17.08, Y:1.11, Z:1.62 [[ 9.87421265e-01 -1.04996432e-01 -1.18215882e-01 1.70754959e+01] [ 1.04731729e-01 9.94464470e-01 -8.46658408e-03 1.10904353e+00] [ 1.18450455e-01 -4.02086855e-03 9.92951823e-01 1.62206598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.087105680999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.11, Y:1.11, Z:1.62 [[ 9.87437324e-01 -1.05563349e-01 -1.17575127e-01 1.71063000e+01] [ 1.06111322e-01 9.94352958e-01 -1.60704815e-03 1.10807781e+00] [ 1.17080821e-01 -1.08891929e-02 9.93062690e-01 1.61936122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.117105680999998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:17.14, Y:1.11, Z:1.63 [[ 0.98670709 -0.11777862 -0.11197017 17.14147595] [ 0.11378472 0.99264094 -0.04143681 1.11300569] [ 0.11602655 0.0281455 0.99284725 1.63366371] [ 0. 0. 0. 1. ]] SLAMing on 17.147105681 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:17.18, Y:1.11, Z:1.62 [[ 9.85981318e-01 -1.21403757e-01 -1.14463828e-01 1.71755460e+01] [ 1.21291717e-01 9.92584915e-01 -7.96907510e-03 1.10955005e+00] [ 1.14582544e-01 -6.02615501e-03 9.93395453e-01 1.62017584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.177105680999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.20, Y:1.11, Z:1.62 [[ 0.98501818 -0.12051504 -0.12335035 17.20427702] [ 0.12395857 0.99207343 0.02060538 1.10893438] [ 0.11988935 -0.03558701 0.99214924 1.6203873 ] [ 0. 0. 0. 1. ]] SLAMing on 17.207105680999998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:17.23, Y:1.12, Z:1.64 [[ 9.85123005e-01 -1.22057342e-01 -1.20973840e-01 1.72340198e+01] [ 1.21921076e-01 9.92502923e-01 -8.55566886e-03 1.11738884e+00] [ 1.21111172e-01 -6.32087456e-03 9.92618824e-01 1.63762052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.237105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.27, Y:1.12, Z:1.64 [[ 9.85431417e-01 -1.18126899e-01 -1.22355866e-01 1.72670398e+01] [ 1.17962352e-01 9.92980710e-01 -8.61359459e-03 1.12389302e+00] [ 1.22514512e-01 -5.94527908e-03 9.92448915e-01 1.64090964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.267105680999997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:17.30, Y:1.13, Z:1.65 [[ 0.98659753 -0.118046 -0.1126519 17.30162249] [ 0.11489013 0.99279173 -0.03412973 1.13085612] [ 0.11586875 0.02072971 0.99304819 1.64913487] [ 0. 0. 0. 1. ]] SLAMing on 17.297105680999998 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:17.33, Y:1.14, Z:1.64 [[ 9.87322903e-01 -1.10871313e-01 -1.13582729e-01 1.73310366e+01] [ 1.10661419e-01 9.93824575e-01 -8.17098215e-03 1.13535932e+00] [ 1.13787235e-01 -4.50182813e-03 9.93494941e-01 1.64128068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.327105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.37, Y:1.14, Z:1.64 [[ 9.87050848e-01 -1.12648708e-01 -1.14196727e-01 1.73668077e+01] [ 1.12622218e-01 9.93615261e-01 -6.70439157e-03 1.14024602e+00] [ 1.14222852e-01 -6.24351328e-03 9.93435533e-01 1.64260428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.357105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.40, Y:1.15, Z:1.65 [[ 9.86888883e-01 -1.15827832e-01 -1.12402161e-01 1.73974383e+01] [ 1.15865934e-01 9.93245413e-01 -6.21572100e-03 1.14512108e+00] [ 1.12362885e-01 -6.88935549e-03 9.93643356e-01 1.64511367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.387105680999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:17.43, Y:1.15, Z:1.65 [[ 9.86589338e-01 -1.17624549e-01 -1.13163347e-01 1.74285064e+01] [ 1.17570760e-01 9.93038606e-01 -7.17246157e-03 1.15022036e+00] [ 1.13219230e-01 -6.22842655e-03 9.93550508e-01 1.65060091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.417105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.46, Y:1.16, Z:1.66 [[ 9.86109330e-01 -1.20444246e-01 -1.14374706e-01 1.74601824e+01] [ 1.20096856e-01 9.92712331e-01 -9.94850891e-03 1.15842001e+00] [ 1.14739422e-01 -3.92572517e-03 9.93387867e-01 1.65572207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.447105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.49, Y:1.16, Z:1.66 [[ 9.85978601e-01 -1.20495301e-01 -1.15442972e-01 1.74934479e+01] [ 1.20638452e-01 9.92679732e-01 -5.77177670e-03 1.16078975e+00] [ 1.15293370e-01 -8.23601314e-03 9.93297341e-01 1.65576100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.477105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.53, Y:1.16, Z:1.66 [[ 9.85570767e-01 -1.22859482e-01 -1.16429425e-01 1.75251462e+01] [ 1.22904997e-01 9.92395035e-01 -6.81587036e-03 1.16401637e+00] [ 1.16381377e-01 -7.59223551e-03 9.93175580e-01 1.65608593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.507105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.56, Y:1.17, Z:1.66 [[ 9.84954375e-01 -1.26474258e-01 -1.17767322e-01 1.75560394e+01] [ 1.26290817e-01 9.91951986e-01 -9.04919398e-03 1.17116773e+00] [ 1.17964019e-01 -5.95988805e-03 9.92999985e-01 1.66435360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.537105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.59, Y:1.18, Z:1.67 [[ 9.84814140e-01 -1.26745326e-01 -1.18645402e-01 1.75871778e+01] [ 1.26747420e-01 9.91906223e-01 -7.55888171e-03 1.17654343e+00] [ 1.18643165e-01 -7.59390492e-03 9.92907917e-01 1.67048473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.567105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.62, Y:1.19, Z:1.68 [[ 9.85080620e-01 -1.24104726e-01 -1.19223272e-01 1.76183986e+01] [ 1.23975371e-01 9.92248629e-01 -8.53028370e-03 1.18627017e+00] [ 1.19357777e-01 -6.37773229e-03 9.92830824e-01 1.67796202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.597105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.65, Y:1.19, Z:1.67 [[ 0.98512305 -0.11475119 -0.12792473 17.64925239] [ 0.11845192 0.99272306 0.02168124 1.18870815] [ 0.12450588 -0.03651162 0.99154687 1.67178133] [ 0. 0. 0. 1. ]] SLAMing on 17.627105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.68, Y:1.20, Z:1.70 [[ 0.98639132 -0.11784585 -0.11464959 17.67922277] [ 0.11384185 0.9926571 -0.04088902 1.20121954] [ 0.11862633 0.02728066 0.99256413 1.69632931] [ 0. 0. 0. 1. ]] SLAMing on 17.657105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.71, Y:1.20, Z:1.68 [[ 0.98621473 -0.10651134 -0.12663269 17.71261571] [ 0.11052016 0.9935583 0.02504398 1.19744101] [ 0.12314949 -0.0386942 0.99163348 1.67617487] [ 0. 0. 0. 1. ]] SLAMing on 17.687105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.74, Y:1.22, Z:1.71 [[ 0.98851754 -0.09873003 -0.11439166 17.74109667] [ 0.09461991 0.99467571 -0.04083267 1.22102912] [ 0.11781401 0.02954008 0.99259621 1.70940115] [ 0. 0. 0. 1. ]] SLAMing on 17.717105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.78, Y:1.22, Z:1.70 [[ 9.88697024e-01 -9.01161948e-02 -1.19821813e-01 1.77766455e+01] [ 8.99191220e-02 9.95924037e-01 -7.06145394e-03 1.22122335e+00] [ 1.19969775e-01 -3.79263375e-03 9.92770300e-01 1.69524318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.747105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.81, Y:1.23, Z:1.70 [[ 9.88919247e-01 -8.53136596e-02 -1.21491982e-01 1.78075428e+01] [ 8.51308181e-02 9.96347226e-01 -6.70434026e-03 1.22590619e+00] [ 1.21620171e-01 -3.71266067e-03 9.92569771e-01 1.69632583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.84, Y:1.23, Z:1.70 [[ 9.88842969e-01 -8.30635281e-02 -1.23652870e-01 1.78389979e+01] [ 8.29684216e-02 9.96534549e-01 -5.92736066e-03 1.22938863e+00] [ 1.23716704e-01 -4.39805451e-03 9.92307832e-01 1.70007417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.807105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.87, Y:1.24, Z:1.71 [[ 9.88960953e-01 -7.62668779e-02 -1.27041713e-01 1.78705342e+01] [ 7.57622516e-02 9.97087020e-01 -8.80659969e-03 1.23748502e+00] [ 1.27343295e-01 -9.15583003e-04 9.91858280e-01 1.70525391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.837105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.90, Y:1.24, Z:1.71 [[ 9.88868866e-01 -7.08724637e-02 -1.30826064e-01 1.79014921e+01] [ 7.09707036e-02 9.97470708e-01 -3.91731810e-03 1.24313199e+00] [ 1.30772797e-01 -5.41110390e-03 9.91397597e-01 1.70824838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.867105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.93, Y:1.25, Z:1.71 [[ 9.89739115e-01 -6.03739325e-02 -1.29504720e-01 1.79325963e+01] [ 5.97918472e-02 9.98175678e-01 -8.38163324e-03 1.25021148e+00] [ 1.29774494e-01 5.52303808e-04 9.91543381e-01 1.71382947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.897105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.96, Y:1.25, Z:1.72 [[ 9.90568207e-01 -5.24506119e-02 -1.26584202e-01 1.79641623e+01] [ 5.14455771e-02 9.98613015e-01 -1.11981641e-02 1.25432541e+00] [ 1.26995983e-01 4.58034797e-03 9.91892656e-01 1.71850192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.927105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.00, Y:1.25, Z:1.72 [[ 9.89964889e-01 -4.84266118e-02 -1.32756850e-01 1.79971284e+01] [ 5.11779975e-02 9.98538137e-01 1.73897004e-02 1.25322057e+00] [ 1.31720654e-01 -2.40094226e-02 9.90996073e-01 1.71709891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.957105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.02, Y:1.26, Z:1.75 [[ 0.99157909 -0.05937296 -0.11509025 18.02475366] [ 0.05557161 0.99780679 -0.03596391 1.26404988] [ 0.11697312 0.02926531 0.9927038 1.74631226] [ 0. 0. 0. 1. ]] SLAMing on 17.987105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.06, Y:1.25, Z:1.72 [[ 0.99113995 -0.05981204 -0.11859224 18.06121243] [ 0.06369826 0.99754043 0.02925117 1.25181999] [ 0.11655098 -0.03654613 0.99251209 1.7217265 ] [ 0. 0. 0. 1. ]] SLAMing on 18.017105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.09, Y:1.26, Z:1.76 [[ 0.99124167 -0.07233975 -0.1104849 18.08772622] [ 0.06821328 0.99684074 -0.0406876 1.2599567 ] [ 0.11307918 0.03279471 0.99304461 1.75530765] [ 0. 0. 0. 1. ]] SLAMing on 18.047105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.12, Y:1.25, Z:1.74 [[ 9.90823378e-01 -7.20153676e-02 -1.14380158e-01 1.81230350e+01] [ 7.12631780e-02 9.97400616e-01 -1.06569987e-02 1.25450002e+00] [ 1.14850308e-01 2.40810986e-03 9.93379891e-01 1.74153615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.077105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.16, Y:1.26, Z:1.74 [[ 9.90778632e-01 -7.14621560e-02 -1.15112396e-01 1.81566027e+01] [ 7.10276420e-02 9.97443243e-01 -7.87729793e-03 1.25612806e+00] [ 1.15381010e-01 -3.71503561e-04 9.93321239e-01 1.74447225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.107105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.19, Y:1.25, Z:1.75 [[ 9.90049320e-01 -7.38025651e-02 -1.19814547e-01 1.81903016e+01] [ 7.28479678e-02 9.97266791e-01 -1.23337802e-02 1.25383560e+00] [ 1.20397333e-01 3.48280445e-03 9.92719675e-01 1.74919240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.137105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.22, Y:1.25, Z:1.75 [[ 0.98941316 -0.06438 -0.13006462 18.22240482] [ 0.06762832 0.99749563 0.0207096 1.24685407] [ 0.12840561 -0.0292864 0.99128921 1.74546902] [ 0. 0. 0. 1. ]] SLAMing on 18.167105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.25, Y:1.25, Z:1.77 [[ 0.9905829 -0.06685326 -0.11948288 18.25079239] [ 0.0629275 0.99735639 -0.03633676 1.25484239] [ 0.12159625 0.02847581 0.99217109 1.77231464] [ 0. 0. 0. 1. ]] SLAMing on 18.197105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.29, Y:1.24, Z:1.75 [[ 0.98978548 -0.05068002 -0.13325253 18.28519364] [ 0.0538085 0.99835136 0.01998013 1.24428825] [ 0.13202026 -0.02694616 0.9908807 1.75242727] [ 0. 0. 0. 1. ]] SLAMing on 18.227105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.31, Y:1.25, Z:1.77 [[ 9.89726094e-01 -4.64496173e-02 -1.35220903e-01 1.83144374e+01] [ 4.56802931e-02 9.98917453e-01 -8.78825157e-03 1.24675108e+00] [ 1.35482731e-01 2.52103139e-03 9.90776500e-01 1.76817520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.257105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.34, Y:1.25, Z:1.77 [[ 9.89625360e-01 -4.36158122e-02 -1.36891594e-01 1.83424865e+01] [ 4.28003331e-02 9.99044037e-01 -8.89625120e-03 1.24739944e+00] [ 1.37148748e-01 2.94494996e-03 9.90546086e-01 1.77090860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.287105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.37, Y:1.25, Z:1.77 [[ 9.89156978e-01 -4.03928004e-02 -1.41198069e-01 1.83705532e+01] [ 3.94852540e-02 9.99177574e-01 -9.22438808e-03 1.24517919e+00] [ 1.41454543e-01 3.54912623e-03 9.89938390e-01 1.77131108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.317105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.40, Y:1.24, Z:1.77 [[ 9.88832246e-01 -4.16099037e-02 -1.43106274e-01 1.83986325e+01] [ 4.06830289e-02 9.99127903e-01 -9.39808554e-03 1.24153054e+00] [ 1.43372525e-01 3.47113337e-03 9.89662705e-01 1.77240319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.347105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.43, Y:1.24, Z:1.78 [[ 9.88841783e-01 -4.43441887e-02 -1.42216456e-01 1.84252448e+01] [ 4.34505065e-02 9.99011501e-01 -9.38483591e-03 1.24049885e+00] [ 1.42492038e-01 3.10074084e-03 9.89791091e-01 1.77640248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.377105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.45, Y:1.24, Z:1.78 [[ 9.88701812e-01 -5.39557669e-02 -1.39848143e-01 1.84530309e+01] [ 5.31840482e-02 9.98541862e-01 -9.25237265e-03 1.23637089e+00] [ 1.40143444e-01 1.71014724e-03 9.90129734e-01 1.78338947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.407105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.48, Y:1.23, Z:1.79 [[ 9.88441654e-01 -5.95167523e-02 -1.39430457e-01 1.84814071e+01] [ 5.87986703e-02 9.98226843e-01 -9.26745008e-03 1.23368155e+00] [ 1.39734793e-01 9.62008221e-04 9.90188498e-01 1.78609166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.437105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.51, Y:1.23, Z:1.79 [[ 9.87859643e-01 -7.03369480e-02 -1.38513678e-01 1.85130469e+01] [ 6.97330213e-02 9.97523135e-01 -9.21421830e-03 1.22540180e+00] [ 1.38818698e-01 -5.56622858e-04 9.90317656e-01 1.78732267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.467105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.55, Y:1.22, Z:1.80 [[ 0.98867343 -0.08019404 -0.12686121 18.54636939] [ 0.07655772 0.99650917 -0.03329235 1.22032327] [ 0.12908821 0.02320305 0.99136162 1.79717501] [ 0. 0. 0. 1. ]] SLAMing on 18.497105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.58, Y:1.21, Z:1.79 [[ 9.88661634e-01 -8.05911901e-02 -1.26701353e-01 1.85815600e+01] [ 8.03188876e-02 9.96742743e-01 -7.26496753e-03 1.21442989e+00] [ 1.26874146e-01 -2.99391704e-03 9.91914304e-01 1.79032545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.527105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.61, Y:1.21, Z:1.80 [[ 9.88452650e-01 -8.44486529e-02 -1.25816468e-01 1.86129947e+01] [ 8.41611861e-02 9.96423108e-01 -7.60823868e-03 1.21276664e+00] [ 1.26008942e-01 -3.06847948e-03 9.92024360e-01 1.79658104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.557105680999996 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:18.65, Y:1.20, Z:1.80 [[ 9.87984918e-01 -9.28121245e-02 -1.23578763e-01 1.86457747e+01] [ 9.22654940e-02 9.95682693e-01 -1.01514973e-02 1.20178507e+00] [ 1.23987417e-01 -1.37252934e-03 9.92282841e-01 1.80062350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.587105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.68, Y:1.20, Z:1.80 [[ 9.86602841e-01 -9.32203327e-02 -1.33883547e-01 1.86766213e+01] [ 9.65395305e-02 9.95157146e-01 1.85033550e-02 1.19631293e+00] [ 1.31510280e-01 -3.11805174e-02 9.90824314e-01 1.79935574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.617105680999998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:18.71, Y:1.20, Z:1.82 [[ 0.98630449 -0.10712125 -0.12541329 18.70861699] [ 0.10356771 0.99402253 -0.03453887 1.20027166] [ 0.12836349 0.02107708 0.99150319 1.81975801] [ 0. 0. 0. 1. ]] SLAMing on 18.647105680999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:18.74, Y:1.19, Z:1.81 [[ 9.86470671e-01 -1.04938400e-01 -1.25950574e-01 1.87411985e+01] [ 1.05390301e-01 9.94426138e-01 -3.08888646e-03 1.19496918e+00] [ 1.25572686e-01 -1.02268730e-02 9.92031709e-01 1.80804669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.677105680999997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:18.78, Y:1.19, Z:1.82 [[ 9.85073652e-01 -1.11936867e-01 -1.30767111e-01 1.87752203e+01] [ 1.11607178e-01 9.93703381e-01 -9.87062429e-03 1.19324225e+00] [ 1.31048607e-01 -4.87125623e-03 9.91363976e-01 1.81818426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.707105680999998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:18.81, Y:1.19, Z:1.82 [[ 9.85494173e-01 -1.11025338e-01 -1.28353452e-01 1.88081095e+01] [ 1.09485747e-01 9.93806545e-01 -1.90111142e-02 1.19425413e+00] [ 1.29669216e-01 4.68246866e-03 9.91546251e-01 1.82328744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.737105681 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:18.84, Y:1.19, Z:1.82 [[ 9.85774751e-01 -1.04832727e-01 -1.31370619e-01 1.88394037e+01] [ 1.05785707e-01 9.94388912e-01 2.76911253e-04 1.19312246e+00] [ 1.30604457e-01 -1.41701059e-02 9.91333286e-01 1.82011495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.767105680999997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:18.87, Y:1.20, Z:1.83 [[ 9.86636186e-01 -9.43315346e-02 -1.32855550e-01 1.88703109e+01] [ 9.40085165e-02 9.95533239e-01 -8.71603795e-03 1.19914627e+00] [ 1.33084313e-01 -3.88999469e-03 9.91097086e-01 1.82867070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.797105680999998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:18.90, Y:1.20, Z:1.83 [[ 0.98618485 -0.08439533 -0.14253724 18.89939489] [ 0.08806284 0.99592189 0.01960952 1.1993992 ] [ 0.14030101 -0.03189084 0.98959517 1.83084588] [ 0. 0. 0. 1. ]] SLAMing on 18.827105681 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:18.93, Y:1.21, Z:1.85 [[ 9.87281004e-01 -7.33383966e-02 -1.41059206e-01 1.89291082e+01] [ 7.27599795e-02 9.97306485e-01 -9.26074227e-03 1.20980680e+00] [ 1.41358429e-01 -1.12050999e-03 9.89957847e-01 1.84937140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.857105680999997 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:18.96, Y:1.21, Z:1.85 [[ 9.88172408e-01 -6.02357195e-02 -1.41021099e-01 1.89593675e+01] [ 5.95263591e-02 9.98183904e-01 -9.24698544e-03 1.21279811e+00] [ 1.41321990e-01 7.43143277e-04 9.89963405e-01 1.85088425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.887105680999998 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:18.99, Y:1.21, Z:1.85 [[ 9.88463053e-01 -5.64485635e-02 -1.40550178e-01 1.89872974e+01] [ 5.57056639e-02 9.98404686e-01 -9.21748857e-03 1.21386417e+00] [ 1.40846270e-01 1.28170593e-03 9.90030649e-01 1.85297863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.917105681 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:19.01, Y:1.21, Z:1.86 [[ 9.88678768e-01 -5.45415618e-02 -1.39783801e-01 1.90148315e+01] [ 5.37812213e-02 9.98510232e-01 -9.21391373e-03 1.21489280e+00] [ 1.40078097e-01 1.59185735e-03 9.90139179e-01 1.85586838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.947105680999996 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:19.04, Y:1.22, Z:1.86 [[ 9.88917372e-01 -5.37828789e-02 -1.38382920e-01 1.90419751e+01] [ 5.30238428e-02 9.98551156e-01 -9.16844818e-03 1.21580524e+00] [ 1.38675530e-01 1.72924349e-03 9.90336361e-01 1.86117030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.977105680999998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:19.07, Y:1.22, Z:1.87 [[ 9.88990996e-01 -5.52042330e-02 -1.37292765e-01 1.90693853e+01] [ 5.44643686e-02 9.98473858e-01 -9.14260378e-03 1.21529504e+00] [ 1.37587947e-01 1.56438905e-03 9.90488319e-01 1.86587046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.007105681 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:19.10, Y:1.21, Z:1.87 [[ 9.88452122e-01 -5.93752944e-02 -1.39416560e-01 1.90959421e+01] [ 5.86469843e-02 9.98235183e-01 -9.33010996e-03 1.21301513e+00] [ 1.39724493e-01 1.04600619e-03 9.90189867e-01 1.86919089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.037105680999996 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:19.12, Y:1.21, Z:1.87 [[ 9.88005774e-01 -6.24760620e-02 -1.41213783e-01 1.91248541e+01] [ 6.17569352e-02 9.98046258e-01 -9.47351812e-03 1.21145889e+00] [ 1.41529756e-01 6.38960169e-04 9.89933796e-01 1.87114702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.067105680999997 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:19.15, Y:1.21, Z:1.87 [[ 9.86992524e-01 -6.89756966e-02 -1.45217462e-01 1.91523175e+01] [ 6.82783390e-02 9.97618308e-01 -9.78675378e-03 1.20605311e+00] [ 1.45546647e-01 -2.55754305e-04 9.89351357e-01 1.87027864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.097105681 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:19.18, Y:1.20, Z:1.87 [[ 9.86136923e-01 -7.54534741e-02 -1.47786137e-01 1.91811379e+01] [ 7.47977900e-02 9.97148607e-01 -9.99731192e-03 1.20425783e+00] [ 1.48119073e-01 -1.19535802e-03 9.88968812e-01 1.87493338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.127105680999996 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:19.21, Y:1.21, Z:1.88 [[ 9.85951192e-01 -7.83379243e-02 -1.47524293e-01 1.92103438e+01] [ 7.77108473e-02 9.96925600e-01 -1.00185511e-02 1.20506560e+00] [ 1.47855577e-01 -1.58643535e-03 9.89007690e-01 1.88013417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.157105680999997 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:19.24, Y:1.20, Z:1.89 [[ 9.85932966e-01 -8.29980048e-02 -1.45077628e-01 1.92414073e+01] [ 8.24414890e-02 9.96547185e-01 -9.85435355e-03 1.20493025e+00] [ 1.45394594e-01 -2.24468368e-03 9.89371201e-01 1.88727248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.187105681 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:19.27, Y:1.21, Z:1.89 [[ 9.85930804e-01 -8.51385797e-02 -1.43846699e-01 1.92727710e+01] [ 8.46150448e-02 9.96365871e-01 -9.76453355e-03 1.20538701e+00] [ 1.44155280e-01 -2.54444045e-03 9.89551808e-01 1.89178762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.217105680999996 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:19.31, Y:1.20, Z:1.89 [[ 9.85468511e-01 -9.11995791e-02 -1.43298468e-01 1.93051739e+01] [ 9.07447072e-02 9.95826747e-01 -9.72047195e-03 1.20216760e+00] [ 1.43586950e-01 -3.42435848e-03 9.89631781e-01 1.89301389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.247105680999997 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:19.33, Y:1.20, Z:1.90 [[ 9.85025635e-01 -9.62042406e-02 -1.43070758e-01 1.93340724e+01] [ 9.50428120e-02 9.95360980e-01 -1.49460373e-02 1.20050959e+00] [ 1.43844922e-01 1.12438269e-03 9.89599603e-01 1.89998220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.277105681 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:19.37, Y:1.20, Z:1.90 [[ 9.84993612e-01 -1.00700807e-01 -1.40167513e-01 1.93670795e+01] [ 1.00925685e-01 9.94878646e-01 -5.52144620e-03 1.20205371e+00] [ 1.40005679e-01 -8.70791296e-03 9.90112409e-01 1.90355588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.307105680999996 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:19.40, Y:1.20, Z:1.92 [[ 9.84608329e-01 -1.09585714e-01 -1.36152158e-01 1.93983333e+01] [ 1.09353834e-01 9.93960273e-01 -9.20404215e-03 1.20435310e+00] [ 1.36338468e-01 -5.82638397e-03 9.90645181e-01 1.91596412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.337105680999997 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:19.43, Y:1.20, Z:1.92 [[ 9.84302685e-01 -1.17072254e-01 -1.32069342e-01 1.94316774e+01] [ 1.16922276e-01 9.93101036e-01 -8.91703115e-03 1.20184102e+00] [ 1.32202137e-01 -6.66479034e-03 9.91200371e-01 1.91988142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.367105680999998 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:19.46, Y:1.20, Z:1.92 [[ 9.84128938e-01 -1.20357748e-01 -1.30400330e-01 1.94643871e+01] [ 1.20242333e-01 9.92705679e-01 -8.78725188e-03 1.20194318e+00] [ 1.30506762e-01 -7.03185097e-03 9.91422482e-01 1.92317484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.397105680999996 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:19.50, Y:1.21, Z:1.93 [[ 0.98429946 -0.12934639 -0.12010032 19.49877563] [ 0.12447455 0.99109718 -0.04724894 1.20660338] [ 0.12514257 0.03155767 0.99163675 1.93072909] [ 0. 0. 0. 1. ]] SLAMing on 19.427105680999997 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:19.53, Y:1.20, Z:1.91 [[ 0.9821982 -0.12665979 -0.13872276 19.52951131] [ 0.13225257 0.9907048 0.03183164 1.20190202] [ 0.13340152 -0.04961142 0.98981955 1.91456383] [ 0. 0. 0. 1. ]] SLAMing on 19.457105680999998 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:19.56, Y:1.21, Z:1.94 [[ 9.81327911e-01 -1.35140602e-01 -1.36866901e-01 1.95594586e+01] [ 1.35161771e-01 9.90780998e-01 -9.18207370e-03 1.21161769e+00] [ 1.36845996e-01 -9.48854757e-03 9.90546890e-01 1.93575728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.487105680999996 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:19.59, Y:1.22, Z:1.95 [[ 0.98168353 -0.14353114 -0.1252847 19.59356525] [ 0.13782922 0.98903178 -0.05309653 1.22038614] [ 0.13153156 0.03485609 0.990699 1.94522732] [ 0. 0. 0. 1. ]] SLAMing on 19.517105680999997 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:19.63, Y:1.22, Z:1.93 [[ 9.82001302e-01 -1.37257120e-01 -1.29745620e-01 1.96289816e+01] [ 1.37763936e-01 9.90451941e-01 -5.10395895e-03 1.21700559e+00] [ 1.29207356e-01 -1.28621730e-02 9.91534177e-01 1.92962202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.547105680999998 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:19.66, Y:1.22, Z:1.93 [[ 0.98127415 -0.12707666 -0.14475004 19.65584589] [ 0.13345712 0.99042867 0.03521698 1.2205316 ] [ 0.13888934 -0.05387544 0.98884134 1.92794421] [ 0. 0. 0. 1. ]] SLAMing on 19.577105681 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:19.68, Y:1.24, Z:1.96 [[ 9.82533605e-01 -1.17080084e-01 -1.44637372e-01 1.96792568e+01] [ 1.16922611e-01 9.93094451e-01 -9.61844788e-03 1.24145883e+00] [ 1.44764701e-01 -7.46093094e-03 9.89437980e-01 1.95556474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.607105680999997 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:19.71, Y:1.26, Z:1.97 [[ 0.98386309 -0.11602852 -0.13620134 19.71439341] [ 0.10970441 0.99254597 -0.05307964 1.25628243] [ 0.14134484 0.03728121 0.98925818 1.97159268] [ 0. 0. 0. 1. ]] SLAMing on 19.637105680999998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:19.75, Y:1.26, Z:1.96 [[ 9.85433190e-01 -9.44012782e-02 -1.41456096e-01 1.97496788e+01] [ 9.28608351e-02 9.95525882e-01 -1.74666685e-02 1.26473658e+00] [ 1.42472080e-01 4.07650369e-03 9.89790427e-01 1.95953829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.667105681 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:19.78, Y:1.26, Z:1.95 [[ 0.98433302 -0.08074311 -0.1567452 19.77821058] [ 0.08830114 0.99521395 0.04185805 1.26470471] [ 0.15261526 -0.05504304 0.98675166 1.95066624] [ 0. 0. 0. 1. ]] SLAMing on 19.697105680999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.81, Y:1.28, Z:1.98 [[ 9.85284797e-01 -7.52639320e-02 -1.53457517e-01 1.98059782e+01] [ 7.45519095e-02 9.97162930e-01 -1.03972751e-02 1.28428141e+00] [ 1.53804687e-01 -1.19627385e-03 9.88100545e-01 1.97767200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.727105680999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:19.84, Y:1.30, Z:1.98 [[ 9.86055927e-01 -6.53805629e-02 -1.53032970e-01 1.98356286e+01] [ 6.45561134e-02 9.97860347e-01 -1.03554997e-02 1.29651182e+00] [ 1.53382581e-01 3.31888124e-04 9.88166825e-01 1.98426212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.757105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.86, Y:1.30, Z:1.99 [[ 9.86215395e-01 -6.26257676e-02 -1.53157464e-01 1.98648455e+01] [ 6.17683362e-02 9.98036797e-01 -1.03549405e-02 1.30286122e+00] [ 1.53505271e-01 7.51919997e-04 9.88147543e-01 1.98894122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.787105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.89, Y:1.31, Z:1.99 [[ 9.86454886e-01 -6.06348796e-02 -1.52414463e-01 1.98926709e+01] [ 5.97620873e-02 9.98159453e-01 -1.03052899e-02 1.30710788e+00] [ 1.52758797e-01 1.05709713e-03 9.88262937e-01 1.99213480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.817105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.92, Y:1.31, Z:2.00 [[ 9.86584385e-01 -6.10648476e-02 -1.51401238e-01 1.99204018e+01] [ 6.02068161e-02 9.98133304e-01 -1.02492781e-02 1.30934581e+00] [ 1.51744488e-01 9.96391230e-04 9.88419252e-01 1.99668328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.847105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.95, Y:1.31, Z:2.00 [[ 9.86676687e-01 -6.56966255e-02 -1.48839068e-01 1.99491020e+01] [ 6.49139034e-02 9.97839592e-01 -1.01160184e-02 1.31112689e+00] [ 1.49182103e-01 3.19514614e-04 9.88809687e-01 2.00310025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.877105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.98, Y:1.31, Z:2.01 [[ 9.85842160e-01 -7.39631472e-02 -1.50481519e-01 1.99806119e+01] [ 7.32578182e-02 9.97260536e-01 -1.02330310e-02 1.31065129e+00] [ 1.50826147e-01 -9.35794377e-04 9.88559860e-01 2.00812154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.907105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.01, Y:1.31, Z:2.01 [[ 9.84713296e-01 -8.35076067e-02 -1.52860078e-01 2.00116590e+01] [ 8.28949942e-02 9.96504147e-01 -1.03877566e-02 1.30949815e+00] [ 1.53193159e-01 -2.44237325e-03 9.88193246e-01 2.01147727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.937105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.04, Y:1.31, Z:2.02 [[ 9.84141359e-01 -8.86816719e-02 -1.53627295e-01 2.00437645e+01] [ 8.81271011e-02 9.96054636e-01 -1.04295612e-02 1.30968822e+00] [ 1.53946090e-01 -3.27456560e-03 9.88073822e-01 2.01534778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.967105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.08, Y:1.31, Z:2.02 [[ 9.83195722e-01 -9.72026871e-02 -1.54524466e-01 2.00761156e+01] [ 9.67482308e-02 9.95253747e-01 -1.04766061e-02 1.30584873e+00] [ 1.54809408e-01 -4.64941439e-03 9.87933414e-01 2.01644134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.997105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.11, Y:1.31, Z:2.02 [[ 9.83210151e-01 -9.70547535e-02 -1.54525642e-01 2.01093043e+01] [ 9.66012105e-02 9.95268210e-01 -1.04592355e-02 1.30796735e+00] [ 1.54809578e-01 -4.64373753e-03 9.87933414e-01 2.02107172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.14, Y:1.31, Z:2.02 [[ 9.82926968e-01 -9.99103447e-02 -1.54507276e-01 2.01416129e+01] [ 9.94954477e-02 9.94983294e-01 -1.04355290e-02 1.30725274e+00] [ 1.54774775e-01 -5.11540773e-03 9.87936537e-01 2.02477366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.057105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.18, Y:1.31, Z:2.04 [[ 0.9846804 -0.10423035 -0.13978747 20.17619155] [ 0.0969906 0.99361376 -0.05765873 1.30925342] [ 0.14490455 0.04321735 0.98850136 2.03833579] [ 0. 0. 0. 1. ]] SLAMing on 20.087105680999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.21, Y:1.30, Z:2.01 [[ 0.98298032 -0.09417565 -0.15773599 20.20667296] [ 0.10174095 0.99398307 0.04057631 1.30133772] [ 0.1529656 -0.05593392 0.98664731 2.0133637 ] [ 0. 0. 0. 1. ]] SLAMing on 20.117105680999998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:20.24, Y:1.31, Z:2.05 [[ 0.98466665 -0.1034681 -0.14044907 20.23870094] [ 0.09546249 0.99346234 -0.06260585 1.31197538] [ 0.14600856 0.04823827 0.98810656 2.04983588] [ 0. 0. 0. 1. ]] SLAMing on 20.147105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.27, Y:1.30, Z:2.02 [[ 0.98314518 -0.09005412 -0.15910946 20.26848294] [ 0.09843968 0.99409697 0.04561621 1.30040227] [ 0.15406231 -0.06051004 0.98620654 2.02162514] [ 0. 0. 0. 1. ]] SLAMing on 20.177105680999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:20.30, Y:1.31, Z:2.05 [[ 9.83277247e-01 -9.72007325e-02 -1.54006081e-01 2.02973853e+01] [ 9.67500867e-02 9.95253990e-01 -1.04363277e-02 1.30917990e+00] [ 1.54289585e-01 -4.63829814e-03 9.88014782e-01 2.05196148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.207105680999998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:20.33, Y:1.31, Z:2.06 [[ 9.83938382e-01 -9.51939662e-02 -1.51007846e-01 2.03290248e+01] [ 9.47401341e-02 9.95449641e-01 -1.02136758e-02 1.30862750e+00] [ 1.51292986e-01 -4.25687597e-03 9.88479798e-01 2.05773752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.237105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.36, Y:1.31, Z:2.06 [[ 9.84431456e-01 -9.41165815e-02 -1.48447895e-01 2.03612847e+01] [ 9.36682385e-02 9.95552999e-01 -1.00242892e-02 1.30833763e+00] [ 1.48731199e-01 -4.03662721e-03 9.88869423e-01 2.06372481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.267105680999997 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:20.39, Y:1.31, Z:2.07 [[ 9.84716020e-01 -9.36767600e-02 -1.46829917e-01 2.03943954e+01] [ 9.32360872e-02 9.95594848e-01 -9.89601387e-03 1.30798183e+00] [ 1.47110135e-01 -3.94508355e-03 9.89112251e-01 2.06692924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.297105680999998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:20.43, Y:1.31, Z:2.07 [[ 9.85301147e-01 -9.33780771e-02 -1.43046095e-01 2.04274552e+01] [ 9.29592815e-02 9.95623409e-01 -9.62286141e-03 1.30633508e+00] [ 1.43318605e-01 -3.81604584e-03 9.89669245e-01 2.07296530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.327105680999995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:20.46, Y:1.30, Z:2.08 [[ 9.85612761e-01 -9.25821990e-02 -1.41407294e-01 2.04594961e+01] [ 9.21673995e-02 9.95698261e-01 -9.49434447e-03 1.30479004e+00] [ 1.41678004e-01 -3.67539547e-03 9.89905973e-01 2.08027398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.357105680999997 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:20.49, Y:1.30, Z:2.08 [[ 9.85572677e-01 -9.08021415e-02 -1.42833712e-01 2.04925645e+01] [ 9.03630762e-02 9.95862895e-01 -9.57130151e-03 1.30483527e+00] [ 1.43111889e-01 -3.47368036e-03 9.89700420e-01 2.08452932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.387105680999998 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:20.53, Y:1.30, Z:2.09 [[ 9.85375926e-01 -8.22351923e-02 -1.49236916e-01 2.05256957e+01] [ 8.16612675e-02 9.96610173e-01 -9.97998438e-03 1.30246136e+00] [ 1.49551735e-01 -2.35283937e-03 9.88751103e-01 2.08518939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.417105681 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:20.56, Y:1.30, Z:2.09 [[ 9.85914377e-01 -6.79431497e-02 -1.52828564e-01 2.05570141e+01] [ 6.71724047e-02 9.97689174e-01 -1.02068967e-02 1.30234875e+00] [ 1.53168892e-01 -2.02735961e-04 9.88200005e-01 2.08822050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.447105680999996 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:20.58, Y:1.30, Z:2.09 [[ 9.86239000e-01 -6.03044512e-02 -1.53935076e-01 2.05836750e+01] [ 5.94300430e-02 9.98179539e-01 -1.02799385e-02 1.30357148e+00] [ 1.54274769e-01 9.90108129e-04 9.88027487e-01 2.09333641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.477105680999998 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:20.61, Y:1.30, Z:2.10 [[ 9.86887231e-01 -4.89110587e-02 -1.53822304e-01 2.06112615e+01] [ 4.78915401e-02 9.98799139e-01 -1.03286319e-02 1.30243291e+00] [ 1.54142770e-01 2.82640790e-03 9.88044543e-01 2.09819942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.507105681 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:20.64, Y:1.30, Z:2.10 [[ 9.87013533e-01 -4.67089551e-02 -1.53696321e-01 2.06391278e+01] [ 4.56561646e-02 9.98903344e-01 -1.03742180e-02 1.30128454e+00] [ 1.54012338e-01 3.22230899e-03 9.88063670e-01 2.10176668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.537105680999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:20.66, Y:1.30, Z:2.11 [[ 9.86349696e-01 -4.50967975e-02 -1.58368417e-01 2.06612494e+01] [ 4.21810837e-02 9.98873735e-01 -2.17259700e-02 1.29557469e+00] [ 1.59169824e-01 1.47492524e-02 9.87141037e-01 2.11055757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.567105680999997 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:20.69, Y:1.29, Z:2.11 [[ 9.85556543e-01 -5.16213517e-02 -1.61287126e-01 2.06918861e+01] [ 5.01721695e-02 9.98655351e-01 -1.30477198e-02 1.29101968e+00] [ 1.61743793e-01 4.76714057e-03 9.86821271e-01 2.11037905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.597105681 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:20.72, Y:1.29, Z:2.11 [[ 9.85523378e-01 -5.76301808e-02 -1.59444141e-01 2.07246274e+01] [ 5.78272386e-02 9.98320790e-01 -3.40753905e-03 1.28989647e+00] [ 1.59372778e-01 -5.86200498e-03 9.87201071e-01 2.10849132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.627105680999996 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:20.75, Y:1.28, Z:2.11 [[ 9.84871788e-01 -6.67399342e-02 -1.59916671e-01 2.07513948e+01] [ 6.58486611e-02 9.97770389e-01 -1.08721719e-02 1.28360992e+00] [ 1.60285728e-01 1.77396707e-04 9.87070643e-01 2.11172396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.657105680999997 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:20.78, Y:1.28, Z:2.12 [[ 9.84970399e-01 -7.42011619e-02 -1.55972758e-01 2.07798565e+01] [ 7.34421128e-02 9.97242810e-01 -1.06317802e-02 1.27629428e+00] [ 1.56331601e-01 -9.82980075e-04 9.87704138e-01 2.11663788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.687105681 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:20.81, Y:1.28, Z:2.12 [[ 9.85014902e-01 -7.76618811e-02 -1.53994399e-01 2.08071204e+01] [ 7.69553464e-02 9.96978692e-01 -1.05528362e-02 1.27519535e+00] [ 1.54348688e-01 -1.45599143e-03 9.88015366e-01 2.12357886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.717105680999996 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:20.83, Y:1.27, Z:2.14 [[ 9.84416752e-01 -8.39564178e-02 -1.54515304e-01 2.08293290e+01] [ 8.09702785e-02 9.96389496e-01 -2.55301201e-02 1.26994001e+00] [ 1.56100843e-01 1.26211307e-02 9.87660485e-01 2.13911086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.747105680999997 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:20.86, Y:1.26, Z:2.13 [[ 9.84754206e-01 -8.68660782e-02 -1.50709782e-01 2.08643678e+01] [ 8.82085018e-02 9.96099532e-01 2.23232560e-03 1.26460907e+00] [ 1.49928030e-01 -1.54921761e-02 9.88575530e-01 2.13038566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.777105681 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:20.89, Y:1.26, Z:2.14 [[ 9.84189404e-01 -9.61713529e-02 -1.48735629e-01 2.08918248e+01] [ 9.57040230e-02 9.95356411e-01 -1.03128443e-02 1.25611473e+00] [ 1.49036762e-01 -4.08480605e-03 9.88823219e-01 2.13810104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.807105680999996 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:20.92, Y:1.25, Z:2.14 [[ 9.83807984e-01 -1.00002639e-01 -1.48732387e-01 2.09209172e+01] [ 9.95764445e-02 9.94976310e-01 -1.03283168e-02 1.25414567e+00] [ 1.49018061e-01 -4.64916176e-03 9.88823545e-01 2.14382891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.837105680999997 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:20.95, Y:1.25, Z:2.15 [[ 9.82688125e-01 -1.06860780e-01 -1.51343396e-01 2.09497883e+01] [ 1.06499221e-01 9.94257171e-01 -1.05163293e-02 1.25157535e+00] [ 1.51598040e-01 -5.78368199e-03 9.88425305e-01 2.15092506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.867105680999998 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:20.98, Y:1.25, Z:2.15 [[ 9.81688014e-01 -1.11303262e-01 -1.54596985e-01 2.09790682e+01] [ 1.10979655e-01 9.93764542e-01 -1.07494863e-02 1.24740009e+00] [ 1.54829455e-01 -6.60447827e-03 9.87919137e-01 2.15353129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.897105680999996 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:21.01, Y:1.24, Z:2.15 [[ 9.81029967e-01 -1.14832936e-01 -1.56184510e-01 2.10069491e+01] [ 1.14545389e-01 9.93358538e-01 -1.08705915e-02 1.24319825e+00] [ 1.56395518e-01 -7.22583944e-03 9.87668076e-01 2.15426209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.927105680999997 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:21.04, Y:1.24, Z:2.16 [[ 9.80900474e-01 -1.15811083e-01 -1.56275570e-01 2.10359632e+01] [ 1.15532448e-01 9.93243940e-01 -1.08962843e-02 1.24357622e+00] [ 1.56481673e-01 -7.36672871e-03 9.87653389e-01 2.15783617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.957105680999998 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:21.06, Y:1.25, Z:2.18 [[ 9.79936419e-01 -1.13207843e-01 -1.64038407e-01 2.10571867e+01] [ 1.08321792e-01 9.93371624e-01 -3.84604434e-02 1.24943914e+00] [ 1.67305123e-01 1.99198550e-02 9.85703909e-01 2.17718298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.987105680999996 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:21.09, Y:1.25, Z:2.17 [[ 9.82421636e-01 -9.86670823e-02 -1.58469353e-01 2.10917805e+01] [ 1.01802681e-01 9.94734952e-01 1.17723789e-02 1.25187246e+00] [ 1.56473458e-01 -2.76980448e-02 9.87293713e-01 2.16531386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.017105680999997 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:21.11, Y:1.26, Z:2.18 [[ 9.83090707e-01 -9.29767011e-02 -1.57759292e-01 2.11145381e+01] [ 9.06749582e-02 9.95643190e-01 -2.17414166e-02 1.25880212e+00] [ 1.59093410e-01 7.06896745e-03 9.87238227e-01 2.18177454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.047105680999998 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:21.15, Y:1.26, Z:2.18 [[ 9.84190451e-01 -8.16430630e-02 -1.57173682e-01 2.11470967e+01] [ 8.22613275e-02 9.96607458e-01 -2.57850103e-03 1.26434076e+00] [ 1.56850981e-01 -1.03915796e-02 9.87567610e-01 2.17533468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.077105680999995 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:21.17, Y:1.27, Z:2.18 [[ 9.84566096e-01 -7.49446975e-02 -1.58154658e-01 2.11732382e+01] [ 7.41346140e-02 9.97187311e-01 -1.10238543e-02 1.27337828e+00] [ 1.58535997e-01 -8.71021294e-04 9.87352814e-01 2.18215278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.107105680999997 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:21.20, Y:1.28, Z:2.19 [[ 9.84975792e-01 -7.22253875e-02 -1.56863578e-01 2.11997853e+01] [ 7.13856931e-02 9.97388266e-01 -1.09877287e-02 1.27804626e+00] [ 1.57247485e-01 -3.75168482e-04 9.87559157e-01 2.18635763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.137105680999998 meters Centerline goodness : 0.998645 Centerline is valid? [True, True] Translation: X:21.23, Y:1.28, Z:2.19 [[ 9.85397500e-01 -6.91364865e-02 -1.55601779e-01 2.12263692e+01] [ 6.82681813e-02 9.97607200e-01 -1.09237927e-02 1.28202166e+00] [ 1.55984687e-01 1.41627591e-04 9.87759463e-01 2.19043250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.167105680999995 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:21.25, Y:1.28, Z:2.19 [[ 9.85461992e-01 -6.88584858e-02 -1.55316360e-01 2.12540097e+01] [ 6.79857000e-02 9.97626415e-01 -1.09307285e-02 1.28444000e+00] [ 1.55700377e-01 2.12525995e-04 9.87804306e-01 2.19393377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.197105680999996 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:21.28, Y:1.29, Z:2.20 [[ 9.85760950e-01 -7.06278661e-02 -1.52600961e-01 2.12817705e+01] [ 6.97982060e-02 9.97502734e-01 -1.07937961e-02 1.28548369e+00] [ 1.52982218e-01 -1.11705561e-05 9.88228941e-01 2.19834619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.227105680999998 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:21.31, Y:1.29, Z:2.20 [[ 9.85752761e-01 -7.26418650e-02 -1.51705813e-01 2.13094961e+01] [ 7.18371099e-02 9.97358055e-01 -1.07861371e-02 1.28540478e+00] [ 1.52088540e-01 -2.65642771e-04 9.88366838e-01 2.20139504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.257105681 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:21.34, Y:1.29, Z:2.21 [[ 9.85516378e-01 -7.45235619e-02 -1.52327634e-01 2.13361892e+01] [ 7.37257694e-02 9.97219127e-01 -1.08868502e-02 1.28727475e+00] [ 1.52715357e-01 -5.01302887e-04 9.88270089e-01 2.20733461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.287105680999996 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:21.36, Y:1.29, Z:2.21 [[ 9.85223441e-01 -7.53360563e-02 -1.53815637e-01 2.13632777e+01] [ 7.45279687e-02 9.97158018e-01 -1.10213163e-02 1.28945314e+00] [ 1.54208798e-01 -6.05107780e-04 9.88038097e-01 2.21176120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.317105680999997 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:21.39, Y:1.29, Z:2.22 [[ 9.83907168e-01 -7.79944057e-02 -1.60759316e-01 2.13863660e+01] [ 7.38262609e-02 9.96765610e-01 -3.17490408e-02 1.29189393e+00] [ 1.62715606e-01 1.93698496e-02 9.86482864e-01 2.22196718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.347105681 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:21.42, Y:1.29, Z:2.21 [[ 9.84376832e-01 -7.48932257e-02 -1.59352621e-01 2.14196185e+01] [ 7.69281659e-02 9.97014587e-01 6.63099046e-03 1.28910106e+00] [ 1.58380272e-01 -1.87860983e-02 9.87199459e-01 2.21060156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.377105680999996 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:21.45, Y:1.29, Z:2.22 [[ 9.84274209e-01 -7.70193103e-02 -1.58972660e-01 2.14455162e+01] [ 7.61626790e-02 9.97029276e-01 -1.14833997e-02 1.29259280e+00] [ 1.59384840e-01 -8.04969485e-04 9.87216200e-01 2.21996424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.407105680999997 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:21.47, Y:1.30, Z:2.23 [[ 9.84209350e-01 -7.35542368e-02 -1.61002265e-01 2.14718139e+01] [ 7.26247746e-02 9.97291194e-01 -1.16582860e-02 1.29668972e+00] [ 1.61423657e-01 -2.18559060e-04 9.86885178e-01 2.22568844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.437105681 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:21.50, Y:1.30, Z:2.23 [[ 9.84374326e-01 -7.12691803e-02 -1.61021399e-01 2.14992438e+01] [ 7.03021745e-02 9.97457099e-01 -1.17021352e-02 1.29974142e+00] [ 1.61445939e-01 1.99126919e-04 9.86881538e-01 2.23068017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.467105680999996 meters Centerline goodness : 0.998486 Centerline is valid? [True, True] Translation: X:21.53, Y:1.30, Z:2.23 [[ 9.85180688e-01 -6.41974717e-02 -1.59052495e-01 2.15267772e+01] [ 6.31529982e-02 9.97936231e-01 -1.16179800e-02 1.30118806e+00] [ 1.59470093e-01 1.40116756e-03 9.87201766e-01 2.23427041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.497105680999997 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:21.55, Y:1.30, Z:2.24 [[ 9.85728659e-01 -5.70949503e-02 -1.58364069e-01 2.15539345e+01] [ 5.59587729e-02 9.98365367e-01 -1.16279839e-02 1.30110836e+00] [ 1.58769101e-01 2.60017797e-03 9.87312317e-01 2.23908818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.527105681 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:21.58, Y:1.30, Z:2.24 [[ 9.86158540e-01 -5.38645581e-02 -1.56811808e-01 2.15809808e+01] [ 5.27009529e-02 9.98543290e-01 -1.15718220e-02 1.30143649e+00] [ 1.57206690e-01 3.14751935e-03 9.87560707e-01 2.24350354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.557105680999996 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:21.61, Y:1.30, Z:2.25 [[ 9.86704941e-01 -5.03482894e-02 -1.54526404e-01 2.16081142e+01] [ 4.91717470e-02 9.98724945e-01 -1.14290295e-02 1.29902894e+00] [ 1.54904806e-01 3.67874668e-03 9.87922552e-01 2.24895611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.587105680999997 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:21.63, Y:1.30, Z:2.26 [[ 9.86640636e-01 -4.79726582e-02 -1.55688404e-01 2.16329638e+01] [ 4.55464751e-02 9.98779309e-01 -1.91157149e-02 1.29684624e+00] [ 1.56415389e-01 1.17692831e-02 9.87621238e-01 2.25516997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.617105680999998 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:21.66, Y:1.29, Z:2.26 [[ 9.86301505e-01 -5.14926188e-02 -1.56709447e-01 2.16643557e+01] [ 4.88334787e-02 9.98590868e-01 -2.07742760e-02 1.29023857e+00] [ 1.57558344e-01 1.28370322e-02 9.87426240e-01 2.25948410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.647105680999996 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:21.69, Y:1.28, Z:2.26 [[ 9.86490164e-01 -5.27118131e-02 -1.55108420e-01 2.16941448e+01] [ 5.35594710e-02 9.98563831e-01 1.28801068e-03 1.28065273e+00] [ 1.54817765e-01 -9.57813479e-03 9.87896614e-01 2.25635970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.677105680999997 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:21.72, Y:1.28, Z:2.27 [[ 9.86209449e-01 -5.57555725e-02 -1.55827596e-01 2.17208039e+01] [ 5.46096920e-02 9.98440066e-01 -1.16282565e-02 1.27867876e+00] [ 1.56232855e-01 2.95819944e-03 9.87715821e-01 2.26505459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.707105680999998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:21.75, Y:1.27, Z:2.27 [[ 9.85858919e-01 -5.69729152e-02 -1.57595298e-01 2.17482412e+01] [ 5.46881974e-02 9.98326488e-01 -1.87995654e-02 1.26643056e+00] [ 1.58402627e-01 9.91511650e-03 9.87324819e-01 2.26922029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.737105680999996 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:21.78, Y:1.26, Z:2.27 [[ 9.85506634e-01 -5.87198079e-02 -1.59149798e-01 2.17775665e+01] [ 5.62220824e-02 9.98214823e-01 -2.01555231e-02 1.25719882e+00] [ 1.60049215e-01 1.09156687e-02 9.87048680e-01 2.27409842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.767105680999997 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:21.81, Y:1.25, Z:2.27 [[ 9.86018410e-01 -5.64278558e-02 -1.56791560e-01 2.18072149e+01] [ 5.74481630e-02 9.98346528e-01 1.97965017e-03 1.25163227e+00] [ 1.56420602e-01 -1.09593586e-02 9.87629732e-01 2.27060322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.797105680999998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:21.83, Y:1.25, Z:2.28 [[ 9.85650088e-01 -6.06339547e-02 -1.57535482e-01 2.18328485e+01] [ 5.73397265e-02 9.98032153e-01 -2.53766958e-02 1.24716892e+00] [ 1.58764165e-01 1.59795010e-02 9.87187214e-01 2.28277647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.827105680999995 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:21.86, Y:1.24, Z:2.28 [[ 9.85981811e-01 -5.86356472e-02 -1.56210531e-01 2.18633360e+01] [ 5.95501420e-02 9.98224622e-01 1.17668213e-03 1.24264784e+00] [ 1.55864203e-01 -1.04625465e-02 9.87723081e-01 2.27792704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.857105680999997 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:21.89, Y:1.24, Z:2.29 [[ 9.85961141e-01 -6.28552511e-02 -1.54692748e-01 2.18911835e+01] [ 6.17722058e-02 9.98020483e-01 -1.18029680e-02 1.23925530e+00] [ 1.55128409e-01 2.08155559e-03 9.87892122e-01 2.28504326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.887105680999998 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:21.92, Y:1.24, Z:2.29 [[ 9.85939651e-01 -6.32021916e-02 -1.54688355e-01 2.19191806e+01] [ 6.21144011e-02 9.97998565e-01 -1.18602688e-02 1.24161997e+00] [ 1.55128352e-01 2.08513475e-03 9.87892123e-01 2.28912688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.917105680999995 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:21.95, Y:1.24, Z:2.29 [[ 9.86115112e-01 -6.62390752e-02 -1.52280566e-01 2.19478100e+01] [ 6.52129901e-02 9.97802442e-01 -1.17283247e-02 1.23535483e+00] [ 1.52722794e-01 1.63480722e-03 9.88267715e-01 2.29283495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.947105680999996 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:21.98, Y:1.23, Z:2.30 [[ 9.86000269e-01 -6.87877268e-02 -1.51893771e-01 2.19755130e+01] [ 6.77881013e-02 9.97630479e-01 -1.17558912e-02 1.23433499e+00] [ 1.52342517e-01 1.29472152e-03 9.88326910e-01 2.29730387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.977105680999998 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:22.00, Y:1.23, Z:2.30 [[ 9.85303519e-01 -7.50142094e-02 -1.53459586e-01 2.20029914e+01] [ 7.40596762e-02 9.97182387e-01 -1.19353172e-02 1.23053021e+00] [ 1.53922515e-01 3.94742791e-04 9.88082843e-01 2.30104090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.007105680999995 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:22.03, Y:1.23, Z:2.30 [[ 9.84504753e-01 -8.25612370e-02 -1.54706279e-01 2.20303016e+01] [ 8.16773816e-02 9.96585710e-01 -1.20717693e-02 1.22510682e+00] [ 1.55174727e-01 -7.51289480e-04 9.87886754e-01 2.30421326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.037105680999996 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:22.06, Y:1.22, Z:2.31 [[ 9.83682831e-01 -8.88905073e-02 -1.56417921e-01 2.20577199e+01] [ 8.61976542e-02 9.95990641e-01 -2.39292324e-02 1.22434166e+00] [ 1.57917867e-01 1.00559173e-02 9.87401046e-01 2.31219474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.067105680999997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:22.09, Y:1.22, Z:2.31 [[ 9.83962542e-01 -9.33794158e-02 -1.51980267e-01 2.20867134e+01] [ 9.43699055e-02 9.95536957e-01 -6.98823864e-04 1.21684079e+00] [ 1.51367228e-01 -1.36547469e-02 9.88383281e-01 2.31148086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.097105681 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:22.11, Y:1.22, Z:2.32 [[ 9.83630450e-01 -9.69899633e-02 -1.51868641e-01 2.21141414e+01] [ 9.62936561e-02 9.95281224e-01 -1.19505723e-02 1.21813558e+00] [ 1.52311092e-01 -2.86903984e-03 9.88328437e-01 2.31970921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.127105680999996 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:22.14, Y:1.22, Z:2.33 [[ 9.83122906e-01 -9.77690133e-02 -1.54630434e-01 2.21414250e+01] [ 9.58610872e-02 9.95198462e-01 -1.97654563e-02 1.22046462e+00] [ 1.55820420e-01 4.60883129e-03 9.87774648e-01 2.32566304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.157105680999997 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:22.17, Y:1.22, Z:2.33 [[ 9.82293845e-01 -9.91575020e-02 -1.58954683e-01 2.21678380e+01] [ 9.71293734e-02 9.95060674e-01 -2.04973203e-02 1.22198033e+00] [ 1.60202017e-01 4.69522286e-03 9.87073082e-01 2.32830741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.187105681 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:22.20, Y:1.23, Z:2.33 [[ 9.81714745e-01 -1.00258869e-01 -1.61815693e-01 2.21958033e+01] [ 9.97338752e-02 9.94949013e-01 -1.13848496e-02 1.22518915e+00] [ 1.62139796e-01 -4.96183144e-03 9.86755323e-01 2.32894855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.217105680999996 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:22.22, Y:1.23, Z:2.33 [[ 9.81499482e-01 -1.02592867e-01 -1.61658500e-01 2.22228582e+01] [ 1.01641269e-01 9.94720225e-01 -1.41678106e-02 1.22892271e+00] [ 1.62258496e-01 -2.52547622e-03 9.86745055e-01 2.33364617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.247105680999997 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:22.25, Y:1.23, Z:2.33 [[ 9.81914471e-01 -1.07359962e-01 -1.55941686e-01 2.22523879e+01] [ 1.08792089e-01 9.94064311e-01 6.52938866e-04 1.23369026e+00] [ 1.54945965e-01 -1.76063520e-02 9.87766047e-01 2.33438324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.277105681 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:22.28, Y:1.24, Z:2.35 [[ 9.81079326e-01 -1.12182793e-01 -1.57792194e-01 2.22787711e+01] [ 1.09671717e-01 9.93664388e-01 -2.45601005e-02 1.24169634e+00] [ 1.59547705e-01 6.79006601e-03 9.87166868e-01 2.34589260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.307105680999996 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:22.31, Y:1.25, Z:2.34 [[ 9.81362119e-01 -1.10035313e-01 -1.57545614e-01 2.23071613e+01] [ 1.11209562e-01 9.93796034e-01 -1.36980736e-03 1.25020360e+00] [ 1.56718933e-01 -1.61763016e-02 9.87510761e-01 2.34365623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.337105680999997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:22.33, Y:1.26, Z:2.36 [[ 9.80816699e-01 -1.10916739e-01 -1.60299968e-01 2.23303009e+01] [ 1.07635330e-01 9.93766286e-01 -2.90379757e-02 1.26067189e+00] [ 1.62521501e-01 1.12269916e-02 9.86641128e-01 2.35615721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.367105680999998 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:22.36, Y:1.27, Z:2.36 [[ 9.81699165e-01 -1.03472719e-01 -1.59875408e-01 2.23595540e+01] [ 1.03415051e-01 9.94600207e-01 -8.70376879e-03 1.27157313e+00] [ 1.59912716e-01 -7.98904082e-03 9.87098829e-01 2.35571137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.397105680999996 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:22.39, Y:1.28, Z:2.36 [[ 9.83167387e-01 -9.66283215e-02 -1.55064040e-01 2.23866852e+01] [ 9.72155151e-02 9.95256061e-01 -3.81003023e-03 1.28157336e+00] [ 1.54696582e-01 -1.13287330e-02 9.87897073e-01 2.35637384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.427105680999997 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:22.41, Y:1.29, Z:2.36 [[ 9.83700554e-01 -9.46303198e-02 -1.52899715e-01 2.24137833e+01] [ 9.38472820e-02 9.95510043e-01 -1.23467237e-02 1.28864181e+00] [ 1.53381576e-01 -2.20374374e-03 9.88164579e-01 2.36214818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.457105680999998 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:22.44, Y:1.30, Z:2.37 [[ 9.83883098e-01 -8.82375658e-02 -1.55525502e-01 2.24394368e+01] [ 8.52993023e-02 9.96029535e-01 -2.54792934e-02 1.29952183e+00] [ 1.57156225e-01 1.18024292e-02 9.87503227e-01 2.37018359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.487105680999996 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:22.47, Y:1.30, Z:2.36 [[ 9.84518004e-01 -7.96765234e-02 -1.56127995e-01 2.24685674e+01] [ 8.05660469e-02 9.96749072e-01 -6.32666476e-04 1.30456398e+00] [ 1.55670843e-01 -1.19557439e-02 9.87736629e-01 2.36486893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.517105680999997 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:22.49, Y:1.31, Z:2.38 [[ 9.84535198e-01 -7.68336152e-02 -1.57439001e-01 2.24934950e+01] [ 7.40494535e-02 9.96978048e-01 -2.34829638e-02 1.31387257e+00] [ 1.58767509e-01 1.14615324e-02 9.87249468e-01 2.37727696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.547105680999998 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:22.52, Y:1.32, Z:2.38 [[ 9.84873032e-01 -7.21258689e-02 -1.57553071e-01 2.25216956e+01] [ 7.12212093e-02 9.97395538e-01 -1.13877277e-02 1.31639368e+00] [ 1.57964079e-01 -5.65435507e-06 9.87444859e-01 2.37816700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.577105680999995 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:22.55, Y:1.32, Z:2.38 [[ 9.85907785e-01 -6.47156751e-02 -1.54265097e-01 2.25515524e+01] [ 6.46552285e-02 9.97892974e-01 -5.41421488e-03 1.32018886e+00] [ 1.54290441e-01 -4.63612851e-03 9.88014659e-01 2.37925265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.607105680999997 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:22.58, Y:1.33, Z:2.39 [[ 9.85373514e-01 -6.43249707e-02 -1.57801573e-01 2.25774624e+01] [ 6.00426490e-02 9.97690386e-01 -3.17612090e-02 1.32553488e+00] [ 1.59480151e-01 2.18218297e-02 9.86959923e-01 2.39319539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.637105680999998 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:22.61, Y:1.32, Z:2.38 [[ 9.85864288e-01 -5.75994704e-02 -1.57333746e-01 2.26095876e+01] [ 5.91172446e-02 9.98238623e-01 4.98026805e-03 1.32378782e+00] [ 1.56769761e-01 -1.42110059e-02 9.87532931e-01 2.38176719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.667105680999995 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:22.64, Y:1.32, Z:2.39 [[ 9.85627156e-01 -6.38811971e-02 -1.56391505e-01 2.26365151e+01] [ 6.26181050e-02 9.97952955e-01 -1.29951086e-02 1.32475946e+00] [ 1.56901508e-01 3.01539228e-03 9.87609652e-01 2.38923851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.697105680999996 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:22.66, Y:1.33, Z:2.40 [[ 9.85068238e-01 -6.78635328e-02 -1.58224866e-01 2.26618728e+01] [ 6.47023206e-02 9.97590109e-01 -2.50516132e-02 1.32718408e+00] [ 1.59543653e-01 1.44400324e-02 9.87085259e-01 2.39891910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.727105680999998 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:22.69, Y:1.33, Z:2.40 [[ 9.84863888e-01 -6.81438271e-02 -1.59372333e-01 2.26887139e+01] [ 6.67837114e-02 9.97670914e-01 -1.38810079e-02 1.32526352e+00] [ 1.59947046e-01 3.02742752e-03 9.87120954e-01 2.40148394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.757105680999995 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:22.72, Y:1.32, Z:2.40 [[ 9.84723050e-01 -7.09203974e-02 -1.59030850e-01 2.27175808e+01] [ 7.03559081e-02 9.97479672e-01 -9.18419466e-03 1.32387554e+00] [ 1.59281387e-01 -2.14487170e-03 9.87230895e-01 2.40294485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.787105680999996 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:22.75, Y:1.32, Z:2.41 [[ 9.84977493e-01 -7.27910523e-02 -1.56591191e-01 2.27450009e+01] [ 7.26703532e-02 9.97334811e-01 -6.50348249e-03 1.32403228e+00] [ 1.56647241e-01 -4.97375326e-03 9.87642093e-01 2.40563480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.817105680999997 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:22.77, Y:1.32, Z:2.41 [[ 9.84840219e-01 -7.85261993e-02 -1.54671843e-01 2.27711307e+01] [ 7.74373191e-02 9.96911656e-01 -1.30618281e-02 1.32298021e+00] [ 1.55219859e-01 8.86440716e-04 9.87879552e-01 2.41297096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.847105680999995 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:22.80, Y:1.32, Z:2.42 [[ 9.83883708e-01 -8.70777084e-02 -1.56174013e-01 2.27987712e+01] [ 8.46352168e-02 9.96163895e-01 -2.22345458e-02 1.32229171e+00] [ 1.57511046e-01 8.65838588e-03 9.87479267e-01 2.42034359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.877105680999996 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:22.83, Y:1.32, Z:2.42 [[ 9.83695829e-01 -9.07929838e-02 -1.55239009e-01 2.28277619e+01] [ 9.08795465e-02 9.95840323e-01 -6.55430254e-03 1.31744669e+00] [ 1.55188349e-01 -7.66061064e-03 9.87855198e-01 2.41815951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.907105680999997 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:22.85, Y:1.32, Z:2.42 [[ 9.83325768e-01 -9.44821894e-02 -1.55381945e-01 2.28539132e+01] [ 9.32733451e-02 9.95526499e-01 -1.50689290e-02 1.31730658e+00] [ 1.56110589e-01 3.24672360e-04 9.87739530e-01 2.42271989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.937105681 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:22.88, Y:1.31, Z:2.43 [[ 9.82963550e-01 -9.88081015e-02 -1.54982636e-01 2.28830707e+01] [ 9.83008517e-02 9.95096471e-01 -1.09524457e-02 1.31445174e+00] [ 1.55304865e-01 -4.46907025e-03 9.87856481e-01 2.42620687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.967105680999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:22.91, Y:1.32, Z:2.43 [[ 9.83122826e-01 -1.00304741e-01 -1.52998259e-01 2.29103627e+01] [ 9.94713534e-02 9.94954037e-01 -1.31115833e-02 1.31649578e+00] [ 1.53541389e-01 -2.32864702e-03 9.88139474e-01 2.43345018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.997105680999997 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:22.94, Y:1.32, Z:2.44 [[ 9.83325751e-01 -9.60529735e-02 -1.54415978e-01 2.29357013e+01] [ 9.39121292e-02 9.95356520e-01 -2.11165875e-02 1.32028231e+00] [ 1.55727261e-01 6.26295098e-03 9.87780236e-01 2.44296741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.027105681 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:22.97, Y:1.32, Z:2.44 [[ 9.83536757e-01 -9.14567254e-02 -1.55856071e-01 2.29655770e+01] [ 9.15492296e-02 9.95778681e-01 -6.59983869e-03 1.32314114e+00] [ 1.55801752e-01 -7.77731929e-03 9.87757727e-01 2.44297000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.057105680999996 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:22.99, Y:1.33, Z:2.45 [[ 9.83925416e-01 -8.33120725e-02 -1.57955290e-01 2.29924924e+01] [ 8.21851933e-02 9.96523399e-01 -1.36641773e-02 1.32759356e+00] [ 1.58544534e-01 4.62945320e-04 9.87351719e-01 2.44622722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.087105680999997 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:23.02, Y:1.33, Z:2.45 [[ 9.84297454e-01 -7.91593902e-02 -1.57772976e-01 2.30198200e+01] [ 7.79776017e-02 9.96861298e-01 -1.36764718e-02 1.32997144e+00] [ 1.58360395e-01 1.15895803e-03 9.87380698e-01 2.44981551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.117105680999998 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:23.05, Y:1.33, Z:2.45 [[ 9.84991419e-01 -7.42376743e-02 -1.55822566e-01 2.30470409e+01] [ 7.30149598e-02 9.97238605e-01 -1.35639273e-02 1.33342342e+00] [ 1.56399233e-01 1.98297360e-03 9.87691930e-01 2.45386266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.147105680999996 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:23.07, Y:1.34, Z:2.46 [[ 9.85505643e-01 -7.22334408e-02 -1.53495788e-01 2.30734540e+01] [ 7.10147421e-02 9.97385055e-01 -1.34148644e-02 1.33709443e+00] [ 1.54063407e-01 2.31996076e-03 9.88058239e-01 2.45914573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.177105680999997 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:23.10, Y:1.34, Z:2.46 [[ 9.85734642e-01 -7.13899307e-02 -1.52416183e-01 2.31005849e+01] [ 7.01744518e-02 9.97445450e-01 -1.33461769e-02 1.33950748e+00] [ 1.52979610e-01 2.46006689e-03 9.88226283e-01 2.46360355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.207105680999998 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:23.13, Y:1.34, Z:2.46 [[ 9.88054487e-01 -6.51603067e-02 -1.39651228e-01 2.31271399e+01] [ 6.53523815e-02 9.97857069e-01 -3.21485842e-03 1.33897711e+00] [ 1.39561446e-01 -5.95008503e-03 9.90195536e-01 2.46187256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.237105680999996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:23.15, Y:1.34, Z:2.48 [[ 9.86613505e-01 -6.63895477e-02 -1.48950394e-01 2.31549841e+01] [ 6.35925322e-02 9.97699971e-01 -2.34682078e-02 1.34311344e+00] [ 1.50165848e-01 1.36819180e-02 9.88566145e-01 2.47608154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.267105680999997 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:23.18, Y:1.34, Z:2.48 [[ 9.86366448e-01 -6.32477082e-02 -1.51924182e-01 2.31824045e+01] [ 6.19227919e-02 9.97990432e-01 -1.34412001e-02 1.34266849e+00] [ 1.52469005e-01 3.85037931e-03 9.88300752e-01 2.47627911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.297105680999998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:23.21, Y:1.34, Z:2.48 [[ 9.85947951e-01 -6.15250168e-02 -1.55310370e-01 2.32108575e+01] [ 6.01140938e-02 9.98096537e-01 -1.37694513e-02 1.34063542e+00] [ 1.55861908e-01 4.23962013e-03 9.87769756e-01 2.47680508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.327105680999995 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:23.24, Y:1.34, Z:2.48 [[ 9.85770544e-01 -6.10187073e-02 -1.56630620e-01 2.32370100e+01] [ 5.85870564e-02 9.98079946e-01 -2.00992222e-02 1.34160100e+00] [ 1.57556309e-01 1.06366942e-02 9.87452718e-01 2.48234390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.357105680999997 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:23.27, Y:1.34, Z:2.48 [[ 9.86037933e-01 -6.24383016e-02 -1.54371801e-01 2.32665710e+01] [ 6.18486296e-02 9.98048280e-01 -8.62427350e-03 1.34154332e+00] [ 1.54608996e-01 -1.04382354e-03 9.87975186e-01 2.48439868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.387105680999998 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:23.29, Y:1.34, Z:2.49 [[ 9.85446947e-01 -6.59023715e-02 -1.56688202e-01 2.32905017e+01] [ 6.24690277e-02 9.97688576e-01 -2.67418380e-02 1.34207954e+00] [ 1.58088380e-01 1.65645030e-02 9.87286018e-01 2.49374949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.417105680999995 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:23.32, Y:1.34, Z:2.49 [[ 9.85453627e-01 -6.67443601e-02 -1.56289280e-01 2.33210640e+01] [ 6.71690682e-02 9.97738302e-01 -2.56833140e-03 1.33942782e+00] [ 1.56107222e-01 -7.96683381e-03 9.87707986e-01 2.48946518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.447105680999996 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:23.35, Y:1.34, Z:2.49 [[ 9.85253258e-01 -7.58388862e-02 -1.53376923e-01 2.33488363e+01] [ 7.46021417e-02 9.97117734e-01 -1.38110422e-02 1.33614530e+00] [ 1.53982264e-01 2.16512743e-03 9.88071240e-01 2.49490725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.477105680999998 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:23.38, Y:1.34, Z:2.50 [[ 9.84833541e-01 -8.62650395e-02 -1.50536507e-01 2.33763621e+01] [ 8.51866284e-02 9.96272055e-01 -1.36099833e-02 1.33555885e+00] [ 1.51149381e-01 5.79870528e-04 9.88510763e-01 2.50220622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.507105680999995 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:23.40, Y:1.34, Z:2.51 [[ 9.84503088e-01 -9.10546057e-02 -1.49875711e-01 2.34024408e+01] [ 9.00324075e-02 9.95845896e-01 -1.36057551e-02 1.33688080e+00] [ 1.50491979e-01 -9.87632235e-05 9.88611225e-01 2.50734934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.537105680999996 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:23.43, Y:1.33, Z:2.51 [[ 9.83578881e-01 -1.00258840e-01 -1.50069149e-01 2.34292861e+01] [ 9.93365929e-02 9.94960283e-01 -1.36483002e-02 1.33393570e+00] [ 1.50681206e-01 -1.48317813e-03 9.88581294e-01 2.51069663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.567105680999997 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:23.46, Y:1.33, Z:2.51 [[ 9.82974725e-01 -1.04810032e-01 -1.50915696e-01 2.34569786e+01] [ 1.03924695e-01 9.94489927e-01 -1.37637940e-02 1.33452151e+00] [ 1.51526724e-01 -2.15440604e-03 9.88450813e-01 2.51388798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.597105680999995 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:23.49, Y:1.34, Z:2.52 [[ 9.81697068e-01 -1.13612669e-01 -1.52849689e-01 2.34851493e+01] [ 1.12801731e-01 9.93518945e-01 -1.39955141e-02 1.33604625e+00] [ 1.53449129e-01 -3.50235430e-03 9.88150342e-01 2.51698956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.627105680999996 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:23.51, Y:1.34, Z:2.52 [[ 9.81131720e-01 -1.18037579e-01 -1.53126346e-01 2.35114420e+01] [ 1.17268168e-01 9.93000484e-01 -1.40789249e-02 1.33817391e+00] [ 1.53716377e-01 -4.14356620e-03 9.88106323e-01 2.52024770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.657105680999997 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:23.54, Y:1.34, Z:2.52 [[ 9.80592134e-01 -1.23345782e-01 -1.52397129e-01 2.35387729e+01] [ 1.22641003e-01 9.92351605e-01 -1.40526402e-02 1.34047682e+00] [ 1.52964869e-01 -4.91022823e-03 9.88219428e-01 2.52405810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.687105681 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:23.56, Y:1.35, Z:2.53 [[ 9.80026011e-01 -1.23354164e-01 -1.55989638e-01 2.35629685e+01] [ 1.21116245e-01 9.92352781e-01 -2.38078406e-02 1.34692300e+00] [ 1.57733548e-01 4.43942379e-03 9.87471731e-01 2.53091626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.717105680999996 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:23.59, Y:1.35, Z:2.54 [[ 9.80159069e-01 -1.20474800e-01 -1.57397655e-01 2.35910265e+01] [ 1.18993580e-01 9.92716350e-01 -1.88355209e-02 1.35106221e+00] [ 1.58520431e-01 -2.67503907e-04 9.87355661e-01 2.53557477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.747105680999997 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:23.62, Y:1.36, Z:2.54 [[ 9.82124039e-01 -1.10799322e-01 -1.52170567e-01 2.36202080e+01] [ 1.11748178e-01 9.93733827e-01 -2.32937545e-03 1.35883855e+00] [ 1.51475133e-01 -1.47170479e-02 9.88351503e-01 2.53987655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.777105681 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:23.65, Y:1.37, Z:2.55 [[ 9.83076561e-01 -1.05775166e-01 -1.49573023e-01 2.36460081e+01] [ 1.04870069e-01 9.94388113e-01 -1.39481035e-02 1.36667112e+00] [ 1.50208999e-01 -1.97367977e-03 9.88652295e-01 2.54741469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.807105680999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:23.67, Y:1.37, Z:2.55 [[ 9.83042231e-01 -1.06097023e-01 -1.49570696e-01 2.36739690e+01] [ 1.05191840e-01 9.94353776e-01 -1.39730199e-02 1.36950375e+00] [ 1.50208682e-01 -1.99754800e-03 9.88652296e-01 2.55155954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.837105680999997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:23.70, Y:1.38, Z:2.56 [[ 9.84264022e-01 -9.25160279e-02 -1.50549395e-01 2.36994773e+01] [ 9.03716290e-02 9.95685866e-01 -2.10386655e-02 1.37851363e+00] [ 1.51846318e-01 7.10220748e-03 9.88378599e-01 2.55690857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.867105680999998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:23.73, Y:1.39, Z:2.55 [[ 9.84643676e-01 -8.44364729e-02 -1.52798276e-01 2.37300304e+01] [ 8.41402869e-02 9.96418383e-01 -8.41535908e-03 1.38552028e+00] [ 1.52961574e-01 -4.57036064e-03 9.88221569e-01 2.55305729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.897105680999996 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:23.76, Y:1.39, Z:2.56 [[ 9.84807052e-01 -8.11372524e-02 -1.53531157e-01 2.37560230e+01] [ 7.98644458e-02 9.96700994e-01 -1.44499050e-02 1.39325559e+00] [ 1.54197082e-01 1.96868763e-03 9.88038149e-01 2.55622683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.927105680999997 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:23.78, Y:1.40, Z:2.56 [[ 9.85074870e-01 -7.93098662e-02 -1.52765983e-01 2.37832544e+01] [ 7.80216592e-02 9.96847394e-01 -1.44185086e-02 1.39903613e+00] [ 1.53427902e-01 2.28425509e-03 9.88157205e-01 2.56057570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.957105680999998 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:23.81, Y:1.40, Z:2.57 [[ 9.85163652e-01 -7.77885677e-02 -1.52975548e-01 2.38094954e+01] [ 7.55241658e-02 9.96931844e-01 -2.05669292e-02 1.40497143e+00] [ 1.54106067e-01 8.70844039e-03 9.88015933e-01 2.56575593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.987105680999996 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:23.84, Y:1.41, Z:2.57 [[ 9.85336968e-01 -7.68333548e-02 -1.52340719e-01 2.38384112e+01] [ 7.63404668e-02 9.97040367e-01 -9.09062410e-03 1.40580719e+00] [ 1.52588309e-01 -2.67243358e-03 9.88286227e-01 2.56516639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.017105680999997 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:23.86, Y:1.41, Z:2.57 [[ 9.84746026e-01 -8.11745116e-02 -1.53902445e-01 2.38628908e+01] [ 7.75902592e-02 9.96558675e-01 -2.91643471e-02 1.40788938e+00] [ 1.55740218e-01 1.67781443e-02 9.87655546e-01 2.57479674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.047105680999998 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:23.89, Y:1.41, Z:2.57 [[ 9.85012285e-01 -8.27149164e-02 -1.51357329e-01 2.38939276e+01] [ 8.35224532e-02 9.96505368e-01 -1.02549185e-03 1.40766383e+00] [ 1.50913214e-01 -1.16316133e-02 9.88478582e-01 2.57159707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.077105680999995 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:23.92, Y:1.41, Z:2.59 [[ 9.83746758e-01 -9.68207699e-02 -1.51221872e-01 2.39172224e+01] [ 9.40138694e-02 9.95241202e-01 -2.56191788e-02 1.41269516e+00] [ 1.52982706e-01 1.09858308e-02 9.88167801e-01 2.58659090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.107105680999997 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:23.95, Y:1.41, Z:2.58 [[ 9.82994859e-01 -1.05274777e-01 -1.50460391e-01 2.39479295e+01] [ 1.05879038e-01 9.94370924e-01 -4.01187033e-03 1.41003261e+00] [ 1.50035787e-01 -1.19869536e-02 9.88607898e-01 2.58353958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.137105680999998 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:23.98, Y:1.41, Z:2.59 [[ 9.82076831e-01 -1.12120755e-01 -1.51505890e-01 2.39759504e+01] [ 1.11197173e-01 9.93691378e-01 -1.45820041e-02 1.40979933e+00] [ 1.52185042e-01 -2.52637834e-03 9.88348790e-01 2.58692641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.167105680999995 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:24.00, Y:1.41, Z:2.59 [[ 9.81865503e-01 -1.11442375e-01 -1.53364699e-01 2.40025912e+01] [ 1.09166097e-01 9.93752496e-01 -2.32107742e-02 1.41236965e+00] [ 1.54993216e-01 6.04763282e-03 9.87897023e-01 2.59312854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.197105680999996 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:24.03, Y:1.42, Z:2.60 [[ 9.83125950e-01 -1.01147082e-01 -1.52422554e-01 2.40323392e+01] [ 1.01206099e-01 9.94838023e-01 -7.39143664e-03 1.41659418e+00] [ 1.52383374e-01 -8.15937887e-03 9.88287778e-01 2.59560973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.227105680999998 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:24.06, Y:1.42, Z:2.60 [[ 9.83840094e-01 -9.59166909e-02 -1.51190798e-01 2.40581669e+01] [ 9.47891531e-02 9.95389361e-01 -1.46641487e-02 1.42300894e+00] [ 1.51900248e-01 9.59297973e-05 9.88395824e-01 2.60309410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.257105680999995 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:24.09, Y:1.43, Z:2.61 [[ 9.84604458e-01 -8.60514305e-02 -1.52148655e-01 2.40854309e+01] [ 8.47880849e-02 9.96289320e-01 -1.47841907e-02 1.42801016e+00] [ 1.52856281e-01 1.65618702e-03 9.88247041e-01 2.60573239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.287105680999996 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:24.11, Y:1.43, Z:2.61 [[ 9.84071086e-01 -8.54654495e-02 -1.55883787e-01 2.41118411e+01] [ 8.23460275e-02 9.96254803e-01 -2.63723372e-02 1.42879287e+00] [ 1.57553895e-01 1.31158439e-02 9.87423286e-01 2.61067991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.317105680999997 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:24.14, Y:1.43, Z:2.61 [[ 9.83628635e-01 -8.70584709e-02 -1.57783175e-01 2.41425466e+01] [ 8.73437458e-02 9.96164979e-01 -5.13863615e-03 1.42725947e+00] [ 1.57625435e-01 -8.72686388e-03 9.87460411e-01 2.60802217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.347105680999995 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:24.17, Y:1.43, Z:2.62 [[ 9.83236535e-01 -9.02873753e-02 -1.58411192e-01 2.41688708e+01] [ 8.89501892e-02 9.95915061e-01 -1.55259299e-02 1.43139061e+00] [ 1.59165888e-01 1.17495598e-03 9.87251153e-01 2.61516569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.377105680999996 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:24.19, Y:1.44, Z:2.62 [[ 9.82341442e-01 -9.33864113e-02 -1.62124239e-01 2.41933664e+01] [ 9.00596450e-02 9.95549266e-01 -2.77654450e-02 1.43560421e+00] [ 1.63995582e-01 1.26742960e-02 9.86379649e-01 2.62343439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.407105680999997 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:24.22, Y:1.44, Z:2.62 [[ 9.82266114e-01 -9.39087488e-02 -1.62278862e-01 2.42217829e+01] [ 9.23457616e-02 9.95579044e-01 -1.71647127e-02 1.43540609e+00] [ 1.63173351e-01 1.87455053e-03 9.86595633e-01 2.62490031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.437105680999995 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:24.25, Y:1.43, Z:2.63 [[ 9.82266737e-01 -1.00813573e-01 -1.58078085e-01 2.42523927e+01] [ 1.01256475e-01 9.94846394e-01 -5.27050936e-03 1.43392181e+00] [ 1.57794752e-01 -1.08293836e-02 9.87412548e-01 2.62627136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.467105680999996 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:24.28, Y:1.44, Z:2.63 [[ 9.82000067e-01 -1.09696080e-01 -1.53761627e-01 2.42794187e+01] [ 1.08652191e-01 9.93963585e-01 -1.52017769e-02 1.43776417e+00] [ 1.54501033e-01 -1.77839164e-03 9.87991026e-01 2.63472269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.497105680999997 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:24.31, Y:1.44, Z:2.64 [[ 9.81782252e-01 -1.12982994e-01 -1.52769277e-01 2.43063354e+01] [ 1.11983365e-01 9.93594433e-01 -1.51600735e-02 1.44222836e+00] [ 1.53503534e-01 -2.22372667e-03 9.88145597e-01 2.63922752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.527105681 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:24.33, Y:1.45, Z:2.64 [[ 9.81406143e-01 -1.16531705e-01 -1.52519982e-01 2.43333942e+01] [ 1.15569052e-01 9.93183257e-01 -1.51925064e-02 1.44740742e+00] [ 1.53250701e-01 -2.71657070e-03 9.88183608e-01 2.64435883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.557105680999996 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:24.36, Y:1.45, Z:2.65 [[ 9.80828878e-01 -1.18434655e-01 -1.54751233e-01 2.43594765e+01] [ 1.16232542e-01 9.92950240e-01 -2.32339693e-02 1.45162176e+00] [ 1.56411981e-01 4.80141886e-03 9.87680231e-01 2.65077050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.587105680999997 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:24.39, Y:1.46, Z:2.65 [[ 9.80579724e-01 -1.20342422e-01 -1.54858340e-01 2.43860522e+01] [ 1.18961185e-01 9.92732269e-01 -1.81900458e-02 1.45528457e+00] [ 1.55921906e-01 -5.85341517e-04 9.87769212e-01 2.65281155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.617105680999998 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:24.41, Y:1.46, Z:2.65 [[ 9.80853130e-01 -1.21980595e-01 -1.51815254e-01 2.44139696e+01] [ 1.22526227e-01 9.92448379e-01 -5.79131661e-03 1.46108391e+00] [ 1.51375231e-01 -1.29209192e-02 9.88391921e-01 2.65492058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.647105680999996 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:24.44, Y:1.47, Z:2.66 [[ 9.80718187e-01 -1.22228477e-01 -1.52486189e-01 2.44383465e+01] [ 1.19639217e-01 9.92474917e-01 -2.60767349e-02 1.47073258e+00] [ 1.54526038e-01 7.33059984e-03 9.87961520e-01 2.66466304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.677105680999997 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:24.47, Y:1.48, Z:2.67 [[ 0.98242967 -0.12373812 -0.13971696 24.47141793] [ 0.11790426 0.99179947 -0.04931942 1.47755547] [ 0.1446739 0.03197964 0.98896247 2.6659848 ] [ 0. 0. 0. 1. ]] SLAMing on 24.707105680999998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:24.50, Y:1.48, Z:2.66 [[ 0.98166516 -0.10960362 -0.15595053 24.49823925] [ 0.11579701 0.99278366 0.03117148 1.47683208] [ 0.15140863 -0.04865856 0.9872729 2.66230312] [ 0. 0. 0. 1. ]] SLAMing on 24.737105680999996 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:24.52, Y:1.49, Z:2.68 [[ 9.81527589e-01 -1.14248900e-01 -1.53462638e-01 2.45224963e+01] [ 1.13217556e-01 9.93449747e-01 -1.54720842e-02 1.49210634e+00] [ 1.54225087e-01 -2.18838730e-03 9.88033316e-01 2.67840579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.767105680999997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:24.55, Y:1.50, Z:2.68 [[ 9.81319008e-01 -1.12996512e-01 -1.55707392e-01 2.45491834e+01] [ 1.11909981e-01 9.93593443e-01 -1.57552076e-02 1.49667296e+00] [ 1.56490128e-01 -1.96432660e-03 9.87677570e-01 2.68106839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.797105680999998 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:24.58, Y:1.50, Z:2.68 [[ 9.81299362e-01 -1.09002564e-01 -1.58650571e-01 2.45767110e+01] [ 1.07818004e-01 9.94040585e-01 -1.60808348e-02 1.50126664e+00] [ 1.59457959e-01 -1.32527494e-03 9.87203831e-01 2.68145382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.827105680999995 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:24.60, Y:1.51, Z:2.69 [[ 9.81226253e-01 -1.05865357e-01 -1.61206597e-01 2.46033849e+01] [ 1.04196814e-01 9.94379115e-01 -1.87935894e-02 1.50672575e+00] [ 1.62290064e-01 1.64354946e-03 9.86741726e-01 2.68538848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.857105680999997 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:24.63, Y:1.52, Z:2.69 [[ 9.81333747e-01 -1.00658608e-01 -1.63865560e-01 2.46317449e+01] [ 9.95400221e-02 9.94919821e-01 -1.50444164e-02 1.51780052e+00] [ 1.64547443e-01 -1.54758788e-03 9.86367956e-01 2.68715177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.887105680999998 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:24.66, Y:1.53, Z:2.69 [[ 9.82183281e-01 -9.43774089e-02 -1.62508173e-01 2.46582484e+01] [ 9.29107074e-02 9.95535738e-01 -1.66191022e-02 1.52608496e+00] [ 1.63351162e-01 1.22425499e-03 9.86567230e-01 2.69124120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.917105680999995 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:24.69, Y:1.53, Z:2.69 [[ 9.82426786e-01 -8.96707562e-02 -1.63697174e-01 2.46861692e+01] [ 8.81070163e-02 9.95969281e-01 -1.68031344e-02 1.53117650e+00] [ 1.64544107e-01 2.08497974e-03 9.86367523e-01 2.69358520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.947105680999996 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:24.71, Y:1.53, Z:2.70 [[ 9.82416689e-01 -8.81555609e-02 -1.64578392e-01 2.47124191e+01] [ 8.65437270e-02 9.96103800e-01 -1.69529395e-02 1.53498219e+00] [ 1.65431657e-01 2.41162325e-03 9.86218308e-01 2.69715139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.977105680999998 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:24.74, Y:1.54, Z:2.70 [[ 9.82757304e-01 -8.66299288e-02 -1.63350347e-01 2.47382390e+01] [ 8.50166843e-02 9.96236966e-01 -1.68543875e-02 1.53989470e+00] [ 1.64195749e-01 2.67626753e-03 9.86424145e-01 2.70277850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.007105680999995 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:24.77, Y:1.54, Z:2.71 [[ 9.82883560e-01 -8.85188638e-02 -1.61568311e-01 2.47656438e+01] [ 8.69593034e-02 9.96071665e-01 -1.67128214e-02 1.54249727e+00] [ 1.62413016e-01 2.37688961e-03 9.86720002e-01 2.70792997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.037105680999996 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:24.79, Y:1.54, Z:2.71 [[ 9.82895446e-01 -9.63042025e-02 -1.56977841e-01 2.47926484e+01] [ 9.49226461e-02 9.95351326e-01 -1.62919752e-02 1.54182113e+00] [ 1.57817088e-01 1.11255621e-03 9.87467736e-01 2.71423889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.067105680999997 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:24.82, Y:1.54, Z:2.72 [[ 9.82196862e-01 -1.06928834e-01 -1.54452416e-01 2.48202671e+01] [ 1.05718157e-01 9.94266519e-01 -1.60548999e-02 1.54143751e+00] [ 1.55283598e-01 -5.59352430e-04 9.87869775e-01 2.72067007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.097105680999995 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:24.85, Y:1.54, Z:2.72 [[ 9.81498659e-01 -1.12548560e-01 -1.54897396e-01 2.48470073e+01] [ 1.11391654e-01 9.93645244e-01 -1.61563863e-02 1.54236534e+00] [ 1.55731439e-01 -1.39680561e-03 9.87798445e-01 2.72416733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.127105680999996 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:24.88, Y:1.54, Z:2.73 [[ 9.80196896e-01 -1.25372969e-01 -1.53282950e-01 2.48760394e+01] [ 1.24389759e-01 9.92103998e-01 -1.60263603e-02 1.53727361e+00] [ 1.54081900e-01 -3.35784062e-03 9.88052374e-01 2.72632089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.157105680999997 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:24.90, Y:1.53, Z:2.73 [[ 9.78662468e-01 -1.38744817e-01 -1.51557415e-01 2.49038815e+01] [ 1.37933860e-01 9.90313762e-01 -1.59029485e-02 1.53421085e+00] [ 1.52295846e-01 -5.34128057e-03 9.88320518e-01 2.73258569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.187105680999995 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:24.93, Y:1.54, Z:2.74 [[ 9.77442762e-01 -1.43984375e-01 -1.54512609e-01 2.49280326e+01] [ 1.41260535e-01 9.89561443e-01 -2.85238770e-02 1.53741154e+00] [ 1.57006713e-01 6.05392339e-03 9.87578980e-01 2.74267684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.217105680999996 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:24.96, Y:1.54, Z:2.74 [[ 9.77068138e-01 -1.45577511e-01 -1.55386752e-01 2.49600281e+01] [ 1.46545025e-01 9.89189948e-01 -5.27288163e-03 1.53706668e+00] [ 1.54474627e-01 -1.76191909e-02 9.87839640e-01 2.74063645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.247105680999997 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:24.99, Y:1.54, Z:2.75 [[ 9.77112693e-01 -1.45344417e-01 -1.55324778e-01 2.49859019e+01] [ 1.44295560e-01 9.89369676e-01 -1.80675295e-02 1.54002541e+00] [ 1.56299640e-01 -4.75866345e-03 9.87698222e-01 2.74681864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.277105680999995 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:25.01, Y:1.54, Z:2.75 [[ 9.77787056e-01 -1.39312899e-01 -1.56602650e-01 2.50148939e+01] [ 1.38576767e-01 9.90227820e-01 -1.56634568e-02 1.54294078e+00] [ 1.57254423e-01 -6.38596370e-03 9.87537476e-01 2.74924201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.307105680999996 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:25.04, Y:1.55, Z:2.75 [[ 9.78855060e-01 -1.32472201e-01 -1.55864962e-01 2.50414587e+01] [ 1.31501785e-01 9.91177483e-01 -1.65673838e-02 1.54882424e+00] [ 1.56684559e-01 -4.27945333e-03 9.87639426e-01 2.75474669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.337105680999997 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:25.07, Y:1.55, Z:2.76 [[ 9.80277310e-01 -1.25219841e-01 -1.52893383e-01 2.50679907e+01] [ 1.24189602e-01 9.92124480e-01 -1.63082323e-02 1.55440437e+00] [ 1.53731383e-01 -3.00117826e-03 9.88108119e-01 2.76055595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.367105680999998 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:25.10, Y:1.56, Z:2.76 [[ 9.80646422e-01 -1.22352630e-01 -1.52847732e-01 2.50957048e+01] [ 1.21279459e-01 9.92483561e-01 -1.63607659e-02 1.55844980e+00] [ 1.53700644e-01 -2.49316368e-03 9.88114313e-01 2.76443512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.397105680999996 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:25.12, Y:1.56, Z:2.77 [[ 9.81105335e-01 -1.15828690e-01 -1.54971079e-01 2.51200870e+01] [ 1.14393645e-01 9.93269200e-01 -1.81766525e-02 1.56206061e+00] [ 1.56033378e-01 1.05504190e-04 9.87751777e-01 2.76610792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.427105680999997 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:25.15, Y:1.57, Z:2.77 [[ 9.81732147e-01 -1.06477157e-01 -1.57685151e-01 2.51472723e+01] [ 1.04968863e-01 9.94314638e-01 -1.78868362e-02 1.56901747e+00] [ 1.58693193e-01 1.00805100e-03 9.87327430e-01 2.77001035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.457105680999998 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:25.17, Y:1.58, Z:2.77 [[ 9.83204100e-01 -9.34496106e-02 -1.56770111e-01 2.51747730e+01] [ 9.19191046e-02 9.95621343e-01 -1.70006020e-02 1.57666939e+00] [ 1.57672368e-01 2.30489341e-03 9.87488791e-01 2.77370435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.487105680999996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:25.20, Y:1.58, Z:2.78 [[ 9.83834462e-01 -8.75182500e-02 -1.56237986e-01 2.52017438e+01] [ 8.59246823e-02 9.96157650e-01 -1.69376911e-02 1.58101845e+00] [ 1.57120022e-01 3.23918492e-03 9.87574203e-01 2.77770906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.517105680999997 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:25.23, Y:1.59, Z:2.78 [[ 9.84428609e-01 -7.87310308e-02 -1.57167870e-01 2.52288269e+01] [ 7.69972870e-02 9.96884667e-01 -1.70990756e-02 1.58555339e+00] [ 1.58024468e-01 4.73131961e-03 9.87423861e-01 2.78024283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.547105680999998 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:25.26, Y:1.59, Z:2.78 [[ 9.84525724e-01 -7.64631247e-02 -1.57678437e-01 2.52552703e+01] [ 7.46796557e-02 9.97058997e-01 -1.72135412e-02 1.58873140e+00] [ 1.58530905e-01 5.17180271e-03 9.87340470e-01 2.78325185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.577105680999995 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:25.28, Y:1.59, Z:2.79 [[ 9.84421715e-01 -7.65377537e-02 -1.58290424e-01 2.52835217e+01] [ 7.47366311e-02 9.97053076e-01 -1.73089444e-02 1.59036634e+00] [ 1.59148742e-01 5.20920773e-03 9.87240873e-01 2.78532086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.607105680999997 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:25.31, Y:1.59, Z:2.79 [[ 9.83877785e-01 -8.06592680e-02 -1.59620131e-01 2.53111931e+01] [ 7.88713080e-02 9.96730915e-01 -1.75156991e-02 1.58936642e+00] [ 1.60511122e-01 4.64385874e-03 9.87023107e-01 2.78828263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.637105680999998 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:25.34, Y:1.59, Z:2.79 [[ 9.83541342e-01 -8.29828102e-02 -1.60500099e-01 2.53374323e+01] [ 8.07439151e-02 9.96525420e-01 -2.04330161e-02 1.58943951e+00] [ 1.61638018e-01 7.13730975e-03 9.86824306e-01 2.79323092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.667105680999995 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:25.37, Y:1.59, Z:2.80 [[ 9.83135025e-01 -9.09689608e-02 -1.58651095e-01 2.53670502e+01] [ 8.96158103e-02 9.95853011e-01 -1.56776200e-02 1.58788013e+00] [ 1.59419347e-01 1.19557090e-03 9.87210232e-01 2.79780128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.697105680999996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:25.39, Y:1.59, Z:2.80 [[ 9.83110727e-01 -9.15846279e-02 -1.58447324e-01 2.53948217e+01] [ 8.99419201e-02 9.95792850e-01 -1.75228657e-02 1.59142934e+00] [ 1.59385538e-01 2.97586066e-03 9.87211930e-01 2.80255841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.727105680999998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:25.42, Y:1.59, Z:2.81 [[ 9.82762720e-01 -9.58926237e-02 -1.58057080e-01 2.54222106e+01] [ 9.43046991e-02 9.95388967e-01 -1.75336471e-02 1.59058885e+00] [ 1.59009621e-01 2.32588935e-03 9.87274293e-01 2.80670744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.757105680999995 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:25.45, Y:1.59, Z:2.81 [[ 9.82434192e-01 -9.80399568e-02 -1.58780433e-01 2.54501713e+01] [ 9.64606732e-02 9.95180437e-01 -1.76418687e-02 1.59208686e+00] [ 1.59744789e-01 2.01590757e-03 9.87156289e-01 2.81017120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.787105680999996 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:25.48, Y:1.59, Z:2.81 [[ 9.82020743e-01 -1.01913274e-01 -1.58899166e-01 2.54765339e+01] [ 1.00372634e-01 9.94792238e-01 -1.77126493e-02 1.59300985e+00] [ 1.59876811e-01 1.44506123e-03 9.87135916e-01 2.81443360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.817105680999997 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:25.50, Y:1.60, Z:2.83 [[ 9.81401409e-01 -1.03585051e-01 -1.61621200e-01 2.54997330e+01] [ 9.93367222e-02 9.94466981e-01 -3.41707287e-02 1.59510947e+00] [ 1.64266524e-01 1.74802811e-02 9.86261096e-01 2.82590419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.847105680999995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:25.53, Y:1.59, Z:2.82 [[ 9.82067821e-01 -1.05049811e-01 -1.56548175e-01 2.55313940e+01] [ 1.05810376e-01 9.94380198e-01 -3.49085534e-03 1.59428473e+00] [ 1.56035119e-01 -1.31361646e-02 9.87664155e-01 2.82127497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.877105680999996 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:25.56, Y:1.60, Z:2.83 [[ 9.81640253e-01 -1.07064433e-01 -1.57859500e-01 2.55576088e+01] [ 1.05592130e-01 9.94251827e-01 -1.77089305e-02 1.59786982e+00] [ 1.58848092e-01 7.15078209e-04 9.87302776e-01 2.82897720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.907105680999997 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:25.58, Y:1.60, Z:2.83 [[ 0.98171697 -0.10926346 -0.15586303 25.58203537] [ 0.10331656 0.99359427 -0.04578336 1.6021396 ] [ 0.15986706 0.02884307 0.98671708 2.83179257] [ 0. 0. 0. 1. ]] SLAMing on 25.937105680999995 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:25.61, Y:1.60, Z:2.83 [[ 9.80636305e-01 -1.02716526e-01 -1.66738574e-01 2.56127663e+01] [ 1.03659957e-01 9.94608093e-01 -3.05850368e-03 1.59719032e+00] [ 1.66153694e-01 -1.42848337e-02 9.85996396e-01 2.83208278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.967105680999996 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:25.64, Y:1.60, Z:2.84 [[ 9.80996604e-01 -1.05612282e-01 -1.62762738e-01 2.56382434e+01] [ 1.03450962e-01 9.94397332e-01 -2.17219834e-02 1.59964604e+00] [ 1.64144940e-01 4.47123016e-03 9.86426098e-01 2.84372470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.997105680999997 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:25.67, Y:1.60, Z:2.85 [[ 0.98249058 -0.10588212 -0.15330116 25.6683894 ] [ 0.09990134 0.99392296 -0.04622632 1.60267613] [ 0.15726408 0.03010193 0.98709771 2.84913855] [ 0. 0. 0. 1. ]] SLAMing on 26.027105680999995 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:25.70, Y:1.60, Z:2.85 [[ 9.81357425e-01 -9.76718827e-02 -1.65522831e-01 2.56960252e+01] [ 1.00471538e-01 9.94902713e-01 8.60587355e-03 1.59829694e+00] [ 1.63838561e-01 -2.50757712e-02 9.86168409e-01 2.84853649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.057105680999996 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:25.73, Y:1.60, Z:2.86 [[ 9.82118675e-01 -9.94621190e-02 -1.59844281e-01 2.57268264e+01] [ 9.93489088e-02 9.95014451e-01 -8.71990565e-03 1.60356777e+00] [ 1.59914670e-01 -7.31637274e-03 9.87103728e-01 2.85785736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.087105680999997 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:25.75, Y:1.61, Z:2.86 [[ 9.82347322e-01 -9.82951725e-02 -1.59159662e-01 2.57527249e+01] [ 9.66693331e-02 9.95154778e-01 -1.79445602e-02 1.60794928e+00] [ 1.60152361e-01 2.24193236e-03 9.87089760e-01 2.86357091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.117105680999995 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:25.78, Y:1.61, Z:2.86 [[ 9.83661723e-01 -8.83923701e-02 -1.56832407e-01 2.57775018e+01] [ 8.82614057e-02 9.96066705e-01 -7.81299224e-03 1.60586234e+00] [ 1.56906147e-01 -6.15690726e-03 9.87594326e-01 2.86111853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.147105680999996 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:25.80, Y:1.61, Z:2.87 [[ 9.82707113e-01 -9.19613654e-02 -1.60716638e-01 2.58029051e+01] [ 8.66875114e-02 9.95450626e-01 -3.95389350e-02 1.61078796e+00] [ 1.63621533e-01 2.49230672e-02 9.86208312e-01 2.87488228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.177105680999997 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:25.84, Y:1.61, Z:2.87 [[ 9.82646857e-01 -9.16112306e-02 -1.61284025e-01 2.58370612e+01] [ 9.09656212e-02 9.95788801e-01 -1.13982507e-02 1.61241582e+00] [ 1.61649034e-01 -3.47084626e-03 9.86842208e-01 2.87134674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.207105680999998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:25.86, Y:1.61, Z:2.88 [[ 9.82448937e-01 -9.18981939e-02 -1.62323158e-01 2.58618102e+01] [ 8.83604898e-02 9.95669336e-01 -2.88963348e-02 1.61417301e+00] [ 1.64275712e-01 1.40462197e-02 9.86314450e-01 2.88037475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.237105680999996 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:25.89, Y:1.61, Z:2.88 [[ 9.82567763e-01 -9.43626487e-02 -1.60175784e-01 2.58938582e+01] [ 9.40038982e-02 9.95523269e-01 -9.83302523e-03 1.61092865e+00] [ 1.60386591e-01 -5.39553454e-03 9.87039528e-01 2.87959399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.267105680999997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:25.92, Y:1.61, Z:2.89 [[ 9.82135036e-01 -9.76534636e-02 -1.60855752e-01 2.59175221e+01] [ 9.40885176e-02 9.95122194e-01 -2.96507852e-02 1.60986443e+00] [ 1.62966631e-01 1.39863957e-02 9.86532441e-01 2.88966283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.297105680999998 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:25.95, Y:1.61, Z:2.89 [[ 9.82077628e-01 -9.73775405e-02 -1.61372699e-01 2.59463042e+01] [ 9.60748278e-02 9.95247510e-01 -1.58751500e-02 1.60904497e+00] [ 1.62151660e-01 8.67754187e-05 9.86765844e-01 2.89072531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.327105680999995 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:25.97, Y:1.61, Z:2.90 [[ 9.81525974e-01 -1.00230161e-01 -1.62974470e-01 2.59736223e+01] [ 9.76705665e-02 9.94937436e-01 -2.36634692e-02 1.60852331e+00] [ 1.64521194e-01 7.30850083e-03 9.86346472e-01 2.89597390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.357105680999997 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:26.00, Y:1.61, Z:2.90 [[ 9.81137845e-01 -9.90209018e-02 -1.66022257e-01 2.60008210e+01] [ 9.62912679e-02 9.95053327e-01 -2.44308846e-02 1.60856462e+00] [ 1.67620168e-01 7.98357185e-03 9.85819325e-01 2.90013755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.387105680999998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:26.03, Y:1.61, Z:2.90 [[ 9.80948434e-01 -9.83265613e-02 -1.67547178e-01 2.60302269e+01] [ 9.62433645e-02 9.95146115e-01 -2.05286520e-02 1.60693294e+00] [ 1.68752435e-01 4.01224487e-03 9.85650302e-01 2.90182560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.417105680999995 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:26.06, Y:1.61, Z:2.91 [[ 9.81238300e-01 -9.79665792e-02 -1.66054053e-01 2.60582834e+01] [ 9.65081722e-02 9.95189576e-01 -1.68487525e-02 1.60539330e+00] [ 1.66905877e-01 5.07068062e-04 9.85972703e-01 2.90569266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.447105680999996 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:26.09, Y:1.61, Z:2.91 [[ 9.81030683e-01 -1.02624543e-01 -1.64459729e-01 2.60888513e+01] [ 1.01700667e-01 9.94715814e-01 -1.40507394e-02 1.60751177e+00] [ 1.65032644e-01 -2.94145763e-03 9.86283719e-01 2.90961471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.477105680999998 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:26.12, Y:1.61, Z:2.91 [[ 9.80275963e-01 -1.10220154e-01 -1.64044367e-01 2.61156687e+01] [ 1.08580364e-01 9.93906898e-01 -1.89573763e-02 1.60591071e+00] [ 1.65134313e-01 7.71463281e-04 9.86270786e-01 2.91413830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.507105680999995 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:26.14, Y:1.61, Z:2.92 [[ 9.78847361e-01 -1.20260031e-01 -1.65515466e-01 2.61385362e+01] [ 1.16457438e-01 9.92662934e-01 -3.25263818e-02 1.60570164e+00] [ 1.68212692e-01 1.25628558e-02 9.85670668e-01 2.92176714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.537105680999996 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:26.17, Y:1.61, Z:2.93 [[ 9.77696525e-01 -1.25442385e-01 -1.68444984e-01 2.61662710e+01] [ 1.22286788e-01 9.92070444e-01 -2.90202464e-02 1.60744783e+00] [ 1.70749659e-01 7.77439802e-03 9.85283773e-01 2.92664466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.567105680999997 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:26.20, Y:1.61, Z:2.93 [[ 9.76212371e-01 -1.35198195e-01 -1.69501786e-01 2.61961787e+01] [ 1.34314889e-01 9.90797622e-01 -1.67207365e-02 1.60661476e+00] [ 1.70202580e-01 -6.44362374e-03 9.85388026e-01 2.92761260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.597105680999995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:26.22, Y:1.61, Z:2.93 [[ 9.75407022e-01 -1.41434007e-01 -1.69048997e-01 2.62220588e+01] [ 1.39381237e-01 9.89947676e-01 -2.40097792e-02 1.60903933e+00] [ 1.70745461e-01 -1.42951087e-04 9.85315161e-01 2.93329827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.627105680999996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:26.25, Y:1.61, Z:2.94 [[ 9.73939836e-01 -1.50157213e-01 -1.69982374e-01 2.62479795e+01] [ 1.47361903e-01 9.88656916e-01 -2.90167700e-02 1.61056702e+00] [ 1.72411327e-01 3.21166213e-03 9.85019807e-01 2.93911353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.657105680999997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:26.28, Y:1.62, Z:2.94 [[ 9.73071930e-01 -1.56808341e-01 -1.68944259e-01 2.62818867e+01] [ 1.59070572e-01 9.87267204e-01 -1.45755793e-04 1.61576442e+00] [ 1.66815982e-01 -2.67322290e-02 9.85625596e-01 2.93882764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.687105680999995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:26.31, Y:1.63, Z:2.95 [[ 9.73263915e-01 -1.61280594e-01 -1.63541803e-01 2.63068970e+01] [ 1.60385820e-01 9.86876314e-01 -1.87491350e-02 1.62732560e+00] [ 1.64419404e-01 -7.98192975e-03 9.86358225e-01 2.94905212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.717105680999996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:26.33, Y:1.63, Z:2.96 [[ 9.73800096e-01 -1.60211447e-01 -1.61386693e-01 2.63293477e+01] [ 1.56759716e-01 9.87051950e-01 -3.39829416e-02 1.63324051e+00] [ 1.64741506e-01 7.79365962e-03 9.86305984e-01 2.95782773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.747105680999997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:26.36, Y:1.64, Z:2.96 [[ 9.76109140e-01 -1.53785206e-01 -1.53496115e-01 2.63612051e+01] [ 1.54886610e-01 9.87920449e-01 -4.82953014e-03 1.64013479e+00] [ 1.52384661e-01 -1.90603444e-02 9.88137449e-01 2.95772733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.777105680999995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:26.38, Y:1.66, Z:2.97 [[ 9.77331392e-01 -1.48107277e-01 -1.51286433e-01 2.63818616e+01] [ 1.44883796e-01 9.88925420e-01 -3.21745208e-02 1.65570997e+00] [ 1.54376280e-01 9.52621650e-03 9.87966202e-01 2.96981736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.807105680999996 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:26.41, Y:1.66, Z:2.97 [[ 9.77972608e-01 -1.44479808e-01 -1.50649140e-01 2.64145504e+01] [ 1.45388484e-01 9.89361889e-01 -5.02400367e-03 1.66180002e+00] [ 1.49772385e-01 -1.69893120e-02 9.88574527e-01 2.96703063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.837105680999997 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:26.44, Y:1.67, Z:2.97 [[ 9.78164710e-01 -1.39635634e-01 -1.53934041e-01 2.64411180e+01] [ 1.38549941e-01 9.90195256e-01 -1.78120421e-02 1.67391009e+00] [ 1.54911953e-01 -3.90444131e-03 9.87920565e-01 2.96931200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.867105680999995 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:26.46, Y:1.69, Z:2.97 [[ 9.78456832e-01 -1.30167696e-01 -1.60245433e-01 2.64613157e+01] [ 1.26459657e-01 9.91417057e-01 -3.31688645e-02 1.68525494e+00] [ 1.63187571e-01 1.21897195e-02 9.86519755e-01 2.97369083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.897105680999996 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:26.49, Y:1.69, Z:2.98 [[ 9.78523306e-01 -1.25956341e-01 -1.63178243e-01 2.64893342e+01] [ 1.22741212e-01 9.91994846e-01 -2.96786163e-02 1.69214640e+00] [ 1.65610185e-01 9.01252241e-03 9.86150111e-01 2.97813962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.927105680999997 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:26.52, Y:1.70, Z:2.97 [[ 9.79830661e-01 -1.17020294e-01 -1.61981872e-01 2.65214740e+01] [ 1.18603313e-01 9.92941712e-01 1.03908873e-04 1.69920502e+00] [ 1.60826398e-01 -1.93133997e-02 9.86793728e-01 2.97292938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.957105680999994 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:26.55, Y:1.71, Z:2.98 [[ 9.79919137e-01 -1.16726744e-01 -1.61658132e-01 2.65463134e+01] [ 1.15198178e-01 9.93164054e-01 -1.88292810e-02 1.70762891e+00] [ 1.62750927e-01 -1.71549547e-04 9.86667171e-01 2.98157737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.987105680999996 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:26.57, Y:1.71, Z:2.99 [[ 9.80766262e-01 -1.07829762e-01 -1.62696905e-01 2.65704788e+01] [ 1.05510941e-01 9.94155530e-01 -2.28522023e-02 1.71485540e+00] [ 1.64210175e-01 5.24636545e-03 9.86411422e-01 2.98662068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.017105680999997 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:26.60, Y:1.72, Z:2.99 [[ 9.81513518e-01 -1.02972183e-01 -1.61331780e-01 2.66014572e+01] [ 1.01537986e-01 9.94684141e-01 -1.71317257e-02 1.72022110e+00] [ 1.62238255e-01 4.33716233e-04 9.86751519e-01 2.98716892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.047105680999998 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:26.63, Y:1.72, Z:2.99 [[ 9.82131671e-01 -9.92043817e-02 -1.59924580e-01 2.66289703e+01] [ 9.74581866e-02 9.95063070e-01 -1.87453666e-02 1.72349821e+00] [ 1.60994666e-01 2.82445867e-03 9.86951235e-01 2.99059405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.077105680999995 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:26.66, Y:1.73, Z:2.99 [[ 9.82091545e-01 -9.85539342e-02 -1.60571849e-01 2.66552239e+01] [ 9.67749175e-02 9.95127176e-01 -1.88817030e-02 1.72705508e+00] [ 1.61650277e-01 3.00423345e-03 9.86843535e-01 2.99460453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.107105680999997 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:26.68, Y:1.73, Z:3.00 [[ 9.81378158e-01 -1.00191214e-01 -1.63886033e-01 2.66805869e+01] [ 9.59447694e-02 9.94817888e-01 -3.36447889e-02 1.73021118e+00] [ 1.66407669e-01 1.72942534e-02 9.85905369e-01 3.00245901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.137105680999998 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:26.71, Y:1.73, Z:3.00 [[ 9.81518047e-01 -9.89906731e-02 -1.63777809e-01 2.67116202e+01] [ 9.92905268e-02 9.95038066e-01 -6.37475865e-03 1.72817784e+00] [ 1.63596196e-01 -1.00046443e-02 9.86476655e-01 2.99847484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.167105680999995 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:26.74, Y:1.73, Z:3.01 [[ 9.81285676e-01 -1.05098835e-01 -1.61346391e-01 2.67395451e+01] [ 1.03371957e-01 9.94459672e-01 -1.90839845e-02 1.72667857e+00] [ 1.62458184e-01 2.04814837e-03 9.86713304e-01 3.00564815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.197105680999996 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:26.77, Y:1.72, Z:3.01 [[ 9.80366324e-01 -1.13974485e-01 -1.60908939e-01 2.67671414e+01] [ 1.12366050e-01 9.93483474e-01 -1.90907723e-02 1.72388698e+00] [ 1.62036233e-01 6.35248336e-04 9.86784604e-01 3.01135292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.227105680999998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:26.79, Y:1.72, Z:3.02 [[ 9.79824766e-01 -1.18542327e-01 -1.60907254e-01 2.67936315e+01] [ 1.16985007e-01 9.92948998e-01 -1.91518880e-02 1.72420734e+00] [ 1.62043006e-01 -5.82421785e-05 9.86783695e-01 3.01588785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.257105680999995 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:26.82, Y:1.72, Z:3.02 [[ 9.78456128e-01 -1.27069280e-01 -1.62717560e-01 2.68210569e+01] [ 1.25588776e-01 9.91892773e-01 -1.93955271e-02 1.72183193e+00] [ 1.63862948e-01 -1.45782691e-03 9.86482037e-01 3.02098590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.287105680999996 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:26.85, Y:1.72, Z:3.03 [[ 9.77699509e-01 -1.31414739e-01 -1.63810369e-01 2.68488501e+01] [ 1.29967347e-01 9.91325131e-01 -1.95697122e-02 1.72245422e+00] [ 1.64961084e-01 -2.15670106e-03 9.86297718e-01 3.02550534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.317105680999997 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:26.88, Y:1.72, Z:3.03 [[ 9.76726337e-01 -1.37422359e-01 -1.64683811e-01 2.68772570e+01] [ 1.36034022e-01 9.90507603e-01 -1.97340562e-02 1.72039596e+00] [ 1.65832467e-01 -3.12782870e-03 9.86148979e-01 3.02891561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.347105680999995 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:26.90, Y:1.72, Z:3.03 [[ 9.76583182e-01 -1.41931784e-01 -1.61680729e-01 2.69049639e+01] [ 1.40645166e-01 9.89869300e-01 -1.94346741e-02 1.71941884e+00] [ 1.62801188e-01 -3.76003709e-03 9.86651729e-01 3.03416942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.377105680999996 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:26.93, Y:1.72, Z:3.04 [[ 9.76080852e-01 -1.43431409e-01 -1.63381765e-01 2.69298061e+01] [ 1.40055852e-01 9.89624552e-01 -3.20562657e-02 1.72273026e+00] [ 1.66284482e-01 8.40693480e-03 9.86041984e-01 3.04330586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.407105680999997 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:26.96, Y:1.73, Z:3.04 [[ 9.76328136e-01 -1.40305570e-01 -1.64613845e-01 2.69596994e+01] [ 1.40758263e-01 9.90003351e-01 -8.97088421e-03 1.72588361e+00] [ 1.64226923e-01 -1.44122322e-02 9.86317294e-01 3.04411885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.437105680999995 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:26.98, Y:1.73, Z:3.05 [[ 9.76564021e-01 -1.37319030e-01 -1.65729289e-01 2.69828736e+01] [ 1.33844155e-01 9.90485268e-01 -3.20105731e-02 1.73464797e+00] [ 1.68548080e-01 9.07847722e-03 9.85651625e-01 3.05372968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.467105680999996 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:27.01, Y:1.74, Z:3.05 [[ 9.76843533e-01 -1.35338279e-01 -1.65711380e-01 2.70141818e+01] [ 1.35540014e-01 9.90719944e-01 -1.01438154e-02 1.73677051e+00] [ 1.65546416e-01 -1.25516023e-02 9.86122123e-01 3.05043410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.497105680999997 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:27.04, Y:1.74, Z:3.06 [[ 9.76542503e-01 -1.35889668e-01 -1.67029152e-01 2.70408134e+01] [ 1.34388116e-01 9.90720540e-01 -2.03136904e-02 1.74390550e+00] [ 1.68239633e-01 -2.60955089e-03 9.85742672e-01 3.05529548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.527105680999995 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:27.07, Y:1.75, Z:3.06 [[ 9.76348664e-01 -1.39013466e-01 -1.65585455e-01 2.70665091e+01] [ 1.37572376e-01 9.90285763e-01 -2.01977338e-02 1.75190276e+00] [ 1.66784675e-01 -3.05995400e-03 9.85988595e-01 3.06211397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.557105680999996 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:27.09, Y:1.76, Z:3.07 [[ 9.76150265e-01 -1.40686852e-01 -1.65341678e-01 2.70898573e+01] [ 1.37269259e-01 9.90017507e-01 -3.19763469e-02 1.75716963e+00] [ 1.68189808e-01 8.51738986e-03 9.85717831e-01 3.07134734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.587105680999997 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:27.12, Y:1.76, Z:3.08 [[ 9.76074095e-01 -1.43493047e-01 -1.63368011e-01 2.71183951e+01] [ 1.41811038e-01 9.89649831e-01 -2.19736378e-02 1.76326427e+00] [ 1.64830189e-01 -1.71948855e-03 9.86320461e-01 3.07686130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.617105680999995 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:27.15, Y:1.77, Z:3.08 [[ 9.76012764e-01 -1.43592694e-01 -1.63646642e-01 2.71462956e+01] [ 1.42014274e-01 9.89633994e-01 -2.13659583e-02 1.76668524e+00] [ 1.65018275e-01 -2.38671102e-03 9.86287622e-01 3.08136058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.647105680999996 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:27.18, Y:1.77, Z:3.08 [[ 9.76417981e-01 -1.44728138e-01 -1.60192674e-01 2.71756659e+01] [ 1.44974293e-01 9.89382713e-01 -1.02127767e-02 1.77274099e+00] [ 1.59969938e-01 -1.32518808e-02 9.87032931e-01 3.08315357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.677105680999997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:27.20, Y:1.78, Z:3.09 [[ 9.76487709e-01 -1.46887972e-01 -1.57783645e-01 2.72020138e+01] [ 1.45663523e-01 9.89144730e-01 -1.93608390e-02 1.78230269e+00] [ 1.58914735e-01 -4.07770031e-03 9.87283890e-01 3.08794307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.707105680999994 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:27.23, Y:1.79, Z:3.09 [[ 9.76350893e-01 -1.47252145e-01 -1.58290049e-01 2.72286005e+01] [ 1.46015002e-01 9.89090525e-01 -1.94821069e-02 1.78844792e+00] [ 1.59431970e-01 -4.09134943e-03 9.87200440e-01 3.09019329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.737105680999996 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:27.25, Y:1.80, Z:3.10 [[ 9.75924071e-01 -1.48595095e-01 -1.59661221e-01 2.72530120e+01] [ 1.45877900e-01 9.88886993e-01 -2.86732294e-02 1.79522428e+00] [ 1.62147605e-01 4.69185125e-03 9.86755360e-01 3.09727114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.767105680999997 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:27.28, Y:1.80, Z:3.10 [[ 9.75263215e-01 -1.52852355e-01 -1.59680368e-01 2.72831205e+01] [ 1.52853431e-01 9.88171699e-01 -1.23499367e-02 1.80362706e+00] [ 1.59679338e-01 -1.23632532e-02 9.87091515e-01 3.09876555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.797105680999994 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:27.31, Y:1.81, Z:3.10 [[ 9.74806461e-01 -1.56076963e-01 -1.59349754e-01 2.73082211e+01] [ 1.54919272e-01 9.87729897e-01 -1.97400722e-02 1.81119995e+00] [ 1.60475487e-01 -5.44359803e-03 9.87024815e-01 3.10493071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.827105680999995 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:27.34, Y:1.82, Z:3.11 [[ 9.74805520e-01 -1.56113854e-01 -1.59319376e-01 2.73358216e+01] [ 1.54952754e-01 9.87724186e-01 -1.97630034e-02 1.81648049e+00] [ 1.60448880e-01 -5.42189120e-03 9.87029260e-01 3.10885779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.857105680999997 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:27.36, Y:1.83, Z:3.11 [[ 9.75291070e-01 -1.51576523e-01 -1.60723012e-01 2.73614878e+01] [ 1.50323753e-01 9.88434555e-01 -1.99975044e-02 1.82577868e+00] [ 1.61895331e-01 -4.65709888e-03 9.86796946e-01 3.11185209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.887105680999998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:27.39, Y:1.84, Z:3.12 [[ 9.76472768e-01 -1.42888077e-01 -1.61505203e-01 2.73857551e+01] [ 1.40476770e-01 9.89734291e-01 -2.63117829e-02 1.83611468e+00] [ 1.63606878e-01 3.00501023e-03 9.86521038e-01 3.11666608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.917105680999995 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:27.42, Y:1.85, Z:3.12 [[ 9.78094113e-01 -1.32323944e-01 -1.60693125e-01 2.74151507e+01] [ 1.31593022e-01 9.91186823e-01 -1.52302050e-02 1.84737149e+00] [ 1.61292229e-01 -6.24952015e-03 9.86886904e-01 3.11884686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.947105680999996 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:27.44, Y:1.86, Z:3.12 [[ 9.78456896e-01 -1.27913235e-01 -1.62050324e-01 2.74407724e+01] [ 1.26303700e-01 9.91785139e-01 -2.02388996e-02 1.85621654e+00] [ 1.63307926e-01 -6.64664568e-04 9.86574923e-01 3.12420744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.977105680999998 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:27.46, Y:1.86, Z:3.13 [[ 9.78570335e-01 -1.16409952e-01 -1.69849408e-01 2.74642404e+01] [ 1.13268577e-01 9.93166886e-01 -2.81027810e-02 1.86437817e+00] [ 1.71960251e-01 8.26194706e-03 9.85069242e-01 3.12621953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.007105680999995 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:27.50, Y:1.87, Z:3.12 [[ 9.78982852e-01 -1.11966256e-01 -1.70458596e-01 2.74970423e+01] [ 1.10769837e-01 9.93708380e-01 -1.65438198e-02 1.86685090e+00] [ 1.71238485e-01 -2.68555487e-03 9.85225948e-01 3.12204333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.037105680999996 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:27.52, Y:1.87, Z:3.13 [[ 9.79236770e-01 -1.11977747e-01 -1.68986187e-01 2.75239349e+01] [ 1.09970625e-01 9.93708288e-01 -2.12202918e-02 1.87192941e+00] [ 1.70299175e-01 2.19617342e-03 9.85389957e-01 3.12818538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.067105680999997 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:27.55, Y:1.88, Z:3.14 [[ 9.79312472e-01 -1.12183933e-01 -1.68409758e-01 2.75510251e+01] [ 1.10182856e-01 9.93684988e-01 -2.12104407e-02 1.87737402e+00] [ 1.69725719e-01 2.21578105e-03 9.85488849e-01 3.13526956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.097105680999995 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:27.58, Y:1.88, Z:3.14 [[ 9.79265552e-01 -1.13765036e-01 -1.67620093e-01 2.75779390e+01] [ 1.11795230e-01 9.93505681e-01 -2.11728287e-02 1.87975318e+00] [ 1.68940242e-01 1.99469492e-03 9.85624277e-01 3.14014160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.127105680999996 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:27.61, Y:1.88, Z:3.14 [[ 9.78687789e-01 -1.20295734e-01 -1.66430609e-01 2.76059695e+01] [ 1.18442625e-01 9.92737701e-01 -2.10523771e-02 1.87817753e+00] [ 1.67754451e-01 8.91226302e-04 9.85828408e-01 3.14497497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.157105680999997 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:27.63, Y:1.87, Z:3.15 [[ 9.78044897e-01 -1.25833460e-01 -1.66114778e-01 2.76308339e+01] [ 1.22713008e-01 9.92019619e-01 -2.89584665e-02 1.87377240e+00] [ 1.68433063e-01 7.93823632e-03 9.85681129e-01 3.15112861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.187105680999995 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:27.66, Y:1.87, Z:3.16 [[ 9.77846095e-01 -1.27455880e-01 -1.66048228e-01 2.76595335e+01] [ 1.24874008e-01 9.91833429e-01 -2.59409034e-02 1.87433939e+00] [ 1.67998504e-01 4.63110332e-03 9.85776372e-01 3.15621230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.217105680999996 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:27.69, Y:1.88, Z:3.16 [[ 9.78907092e-01 -1.27257191e-01 -1.59832765e-01 2.76885796e+01] [ 1.27262223e-01 9.91816173e-01 -1.02472584e-02 1.87521681e+00] [ 1.59828759e-01 -1.03095590e-02 9.87090918e-01 3.16056110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.247105680999997 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:27.72, Y:1.88, Z:3.17 [[ 9.79259593e-01 -1.28793776e-01 -1.56405923e-01 2.77154493e+01] [ 1.27243102e-01 9.91671324e-01 -1.99293328e-02 1.87992724e+00] [ 1.57670042e-01 -3.85584478e-04 9.87491777e-01 3.16913796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.277105680999995 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:27.74, Y:1.88, Z:3.17 [[ 9.78966839e-01 -1.29021744e-01 -1.58042138e-01 2.77432133e+01] [ 1.27431850e-01 9.91641696e-01 -2.01957854e-02 1.87625399e+00] [ 1.59326869e-01 -3.68597821e-04 9.87225817e-01 3.17010828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.307105680999996 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:27.77, Y:1.88, Z:3.19 [[ 0.97820449 -0.13520004 -0.15759733 27.76680855] [ 0.12696427 0.99001435 -0.06125079 1.88285665] [ 0.16430473 0.03990656 0.98560206 3.1850992 ] [ 0. 0. 0. 1. ]] SLAMing on 28.337105680999997 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:27.80, Y:1.87, Z:3.17 [[ 9.77770244e-01 -1.29885413e-01 -1.64605984e-01 2.78018926e+01] [ 1.34654889e-01 9.90727103e-01 1.81071460e-02 1.87258347e+00] [ 1.60727755e-01 -3.98696290e-02 9.86193187e-01 3.16899724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.367105680999995 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:27.83, Y:1.88, Z:3.18 [[ 9.77802170e-01 -1.37545678e-01 -1.58063604e-01 2.78267959e+01] [ 1.36049987e-01 9.90494037e-01 -2.02968990e-02 1.87978834e+00] [ 1.59352808e-01 -1.65819930e-03 9.87220306e-01 3.18466539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.397105680999996 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:27.85, Y:1.88, Z:3.19 [[ 9.77672347e-01 -1.40471336e-01 -1.56283673e-01 2.78547012e+01] [ 1.39037809e-01 9.90082611e-01 -2.01224268e-02 1.87849501e+00] [ 1.57560371e-01 -2.05619917e-03 9.87507216e-01 3.19065803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.427105680999997 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:27.88, Y:1.88, Z:3.20 [[ 9.77036562e-01 -1.43765196e-01 -1.57261325e-01 2.78786405e+01] [ 1.39036630e-01 9.89449473e-01 -4.07253764e-02 1.87901839e+00] [ 1.61457027e-01 1.79250970e-02 9.86716940e-01 3.20246228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.457105680999994 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:27.91, Y:1.88, Z:3.20 [[ 9.77726341e-01 -1.38169237e-01 -1.57988811e-01 2.79120245e+01] [ 1.39675773e-01 9.90196029e-01 -1.58205995e-03 1.87617475e+00] [ 1.56658485e-01 -2.05203875e-02 9.87439635e-01 3.19705366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.487105680999996 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:27.94, Y:1.88, Z:3.21 [[ 9.78111261e-01 -1.34790218e-01 -1.58524314e-01 2.79371638e+01] [ 1.33222402e-01 9.90873609e-01 -2.05251720e-02 1.88146405e+00] [ 1.59844152e-01 -1.04308794e-03 9.87141712e-01 3.20596924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.517105680999997 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:27.96, Y:1.89, Z:3.21 [[ 9.78250014e-01 -1.28762160e-01 -1.62626002e-01 2.79622391e+01] [ 1.25566386e-01 9.91636866e-01 -2.98229419e-02 1.88592439e+00] [ 1.65106006e-01 8.75393385e-03 9.86236977e-01 3.21100525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.547105680999994 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:27.99, Y:1.89, Z:3.21 [[ 9.78589702e-01 -1.18256197e-01 -1.68456720e-01 2.79890685e+01] [ 1.14277138e-01 9.92895420e-01 -3.31575119e-02 1.88809745e+00] [ 1.71180987e-01 1.31968478e-02 9.85151213e-01 3.21129868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.577105680999995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:28.02, Y:1.88, Z:3.20 [[ 9.80032221e-01 -1.09130588e-01 -1.66214805e-01 2.80202183e+01] [ 1.10862777e-01 9.93835057e-01 1.15086206e-03 1.88269057e+00] [ 1.65064506e-01 -1.95549169e-02 9.86088898e-01 3.20282860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.607105680999997 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:28.05, Y:1.89, Z:3.22 [[ 9.79419714e-01 -1.18317666e-01 -1.63517444e-01 2.80482844e+01] [ 1.15070495e-01 9.92927376e-01 -2.92234121e-02 1.89132637e+00] [ 1.65818592e-01 9.80595269e-03 9.86107518e-01 3.21569139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.637105680999994 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:28.08, Y:1.89, Z:3.22 [[ 9.78554510e-01 -1.21766427e-01 -1.66144542e-01 2.80762378e+01] [ 1.19814268e-01 9.92557813e-01 -2.17607319e-02 1.89135836e+00] [ 1.67557790e-01 1.38757562e-03 9.85861279e-01 3.21871705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.667105680999995 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:28.10, Y:1.89, Z:3.22 [[ 9.77727355e-01 -1.26461504e-01 -1.67501365e-01 2.81003504e+01] [ 1.24339632e-01 9.91969890e-01 -2.31385822e-02 1.89132537e+00] [ 1.69082451e-01 1.79616658e-03 9.85600273e-01 3.22404620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.697105680999996 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:28.13, Y:1.89, Z:3.23 [[ 9.77218930e-01 -1.30930860e-01 -1.67033750e-01 2.81305017e+01] [ 1.29050446e-01 9.91391500e-01 -2.21105226e-02 1.89451858e+00] [ 1.68490790e-01 5.10413599e-05 9.85703227e-01 3.22932211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.727105680999998 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:28.16, Y:1.89, Z:3.23 [[ 9.77335265e-01 -1.33600924e-01 -1.64215020e-01 2.81575998e+01] [ 1.31712356e-01 9.91035181e-01 -2.23858062e-02 1.89384312e+00] [ 1.65733627e-01 2.49290630e-04 9.86170524e-01 3.23440537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.757105680999995 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:28.19, Y:1.90, Z:3.25 [[ 0.97708387 -0.14170866 -0.15882619 28.18613587] [ 0.13440152 0.9893492 -0.05589624 1.89733097] [ 0.16505554 0.03326883 0.98572301 3.24511305] [ 0. 0. 0. 1. ]] SLAMing on 28.787105680999996 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:28.21, Y:1.89, Z:3.25 [[ 9.76145454e-01 -1.36357199e-01 -1.68957887e-01 2.82132255e+01] [ 1.36466492e-01 9.90583384e-01 -1.10206752e-02 1.89354227e+00] [ 1.68869624e-01 -1.22993082e-02 9.85561656e-01 3.24530977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.817105680999997 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:28.24, Y:1.90, Z:3.25 [[ 9.76120034e-01 -1.42144806e-01 -1.64269697e-01 2.82424454e+01] [ 1.42606754e-01 9.89738153e-01 -9.03896971e-03 1.89629748e+00] [ 1.63868829e-01 -1.46028489e-02 9.86374048e-01 3.25058203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.847105680999995 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:28.27, Y:1.90, Z:3.26 [[ 9.75869460e-01 -1.48147216e-01 -1.60409473e-01 2.82698751e+01] [ 1.46812188e-01 9.88957911e-01 -2.02097191e-02 1.90156690e+00] [ 1.61632231e-01 -3.82801801e-03 9.86843639e-01 3.25866454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.877105680999996 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:28.29, Y:1.91, Z:3.27 [[ 9.75058173e-01 -1.54817445e-01 -1.59038102e-01 2.82942683e+01] [ 1.51559724e-01 9.87914064e-01 -3.24877078e-02 1.90560860e+00] [ 1.62145641e-01 7.57363414e-03 9.86737772e-01 3.26697241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.907105680999997 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:28.33, Y:1.91, Z:3.26 [[ 9.74830147e-01 -1.54630611e-01 -1.60609956e-01 2.83280067e+01] [ 1.55577179e-01 9.87800729e-01 -6.74246004e-03 1.90661945e+00] [ 1.59693223e-01 -1.84144906e-02 9.86994925e-01 3.26377570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.937105680999995 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:28.35, Y:1.92, Z:3.28 [[ 9.74886876e-01 -1.52597177e-01 -1.62202595e-01 2.83517274e+01] [ 1.49368829e-01 9.88263984e-01 -3.19882854e-02 1.91564928e+00] [ 1.65180304e-01 6.95694805e-03 9.86238849e-01 3.27528609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.967105680999996 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:28.38, Y:1.92, Z:3.28 [[ 9.75702323e-01 -1.47411649e-01 -1.62094982e-01 2.83823770e+01] [ 1.47426523e-01 9.89000167e-01 -1.20037281e-02 1.91904441e+00] [ 1.62081454e-01 -1.21850343e-02 9.86702147e-01 3.27510657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.997105680999997 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:28.41, Y:1.93, Z:3.29 [[ 9.75888693e-01 -1.41827947e-01 -1.65909890e-01 2.84054208e+01] [ 1.36877913e-01 9.89740823e-01 -4.09577847e-02 1.92769829e+00] [ 1.70016749e-01 1.72608397e-02 9.85289992e-01 3.28680177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.027105680999995 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:28.44, Y:1.93, Z:3.28 [[ 9.76781723e-01 -1.33164564e-01 -1.67823315e-01 2.84382865e+01] [ 1.34144424e-01 9.90946327e-01 -5.53626286e-03 1.92798443e+00] [ 1.67041132e-01 -1.71048417e-02 9.85801544e-01 3.28173481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.057105680999996 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:28.46, Y:1.94, Z:3.29 [[ 9.77330830e-01 -1.27788230e-01 -1.68803485e-01 2.84620079e+01] [ 1.24079912e-01 9.91743735e-01 -3.23811633e-02 1.93556454e+00] [ 1.71547730e-01 1.07019876e-02 9.85117680e-01 3.29112769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.087105680999997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:28.49, Y:1.94, Z:3.29 [[ 9.78258775e-01 -1.19920568e-01 -1.69200551e-01 2.84921819e+01] [ 1.19321820e-01 9.92760555e-01 -1.37398651e-02 1.93674013e+00] [ 1.69623325e-01 -6.74817403e-03 9.85485865e-01 3.28935063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.117105680999995 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:28.52, Y:1.94, Z:3.30 [[ 9.78999215e-01 -1.14857705e-01 -1.68428754e-01 2.85194160e+01] [ 1.12657294e-01 9.93376975e-01 -2.25947038e-02 1.94176006e+00] [ 1.69908422e-01 3.14546965e-03 9.85454836e-01 3.29527165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.147105680999996 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:28.55, Y:1.94, Z:3.30 [[ 9.79288092e-01 -1.13350959e-01 -1.67768866e-01 2.85474285e+01] [ 1.11135058e-01 9.93548996e-01 -2.25696965e-02 1.94450707e+00] [ 1.69244885e-01 3.45723233e-03 9.85567966e-01 3.29919575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.177105680999997 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:28.57, Y:1.95, Z:3.31 [[ 9.78375190e-01 -1.17656296e-01 -1.70114622e-01 2.85728824e+01] [ 1.11593103e-01 9.92743261e-01 -4.48084441e-02 1.94705055e+00] [ 1.74152140e-01 2.48558515e-02 9.84405007e-01 3.31041852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.207105680999994 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:28.60, Y:1.94, Z:3.30 [[ 9.78646549e-01 -1.15621646e-01 -1.69948717e-01 2.86040107e+01] [ 1.16932582e-01 9.93137170e-01 -2.30943864e-03 1.94419763e+00] [ 1.69049409e-01 -1.76124182e-02 9.85450202e-01 3.30409286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.237105680999996 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:28.63, Y:1.95, Z:3.32 [[ 9.76788860e-01 -1.29621099e-01 -1.70534144e-01 2.86272874e+01] [ 1.24707339e-01 9.91416395e-01 -3.92633570e-02 1.95062894e+00] [ 1.74159706e-01 1.70851503e-02 9.84569192e-01 3.31803808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.267105680999997 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:28.66, Y:1.95, Z:3.32 [[ 9.75437981e-01 -1.36765802e-01 -1.72672700e-01 2.86571615e+01] [ 1.35801676e-01 9.90582502e-01 -1.74416517e-02 1.94743132e+00] [ 1.73431977e-01 -6.43599260e-03 9.84824821e-01 3.31751650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.297105680999994 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:28.68, Y:1.95, Z:3.33 [[ 9.74136175e-01 -1.43916738e-01 -1.74203000e-01 2.86834994e+01] [ 1.40491504e-01 9.89567769e-01 -3.19024892e-02 1.95134410e+00] [ 1.76976976e-01 6.60332730e-03 9.84192840e-01 3.32584366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.327105680999995 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:28.71, Y:1.95, Z:3.32 [[ 9.73323290e-01 -1.49700519e-01 -1.73872161e-01 2.87133411e+01] [ 1.50682264e-01 9.88552903e-01 -7.61666621e-03 1.95012014e+00] [ 1.73022048e-01 -1.87859723e-02 9.84738777e-01 3.32319587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.357105680999997 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:28.74, Y:1.96, Z:3.33 [[ 9.72379723e-01 -1.56493095e-01 -1.73169237e-01 2.87377408e+01] [ 1.52851105e-01 9.87655369e-01 -3.42551080e-02 1.95691125e+00] [ 1.76392214e-01 6.83986331e-03 9.84296197e-01 3.33433246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.387105680999994 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:28.76, Y:1.96, Z:3.34 [[ 9.71301215e-01 -1.61123751e-01 -1.74965956e-01 2.87648558e+01] [ 1.58848243e-01 9.86933007e-01 -2.70272999e-02 1.96142114e+00] [ 1.77034417e-01 -1.54138540e-03 9.84203454e-01 3.34033692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.417105680999995 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:28.79, Y:1.97, Z:3.35 [[ 9.70678857e-01 -1.66494900e-01 -1.73383981e-01 2.87913461e+01] [ 1.64412881e-01 9.86038122e-01 -2.64050426e-02 1.96674324e+00] [ 1.75359520e-01 -2.87574329e-03 9.84500263e-01 3.34694370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.447105680999996 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:28.82, Y:1.97, Z:3.35 [[ 9.70350767e-01 -1.71234603e-01 -1.70581652e-01 2.88173624e+01] [ 1.69613083e-01 9.85214910e-01 -2.41450303e-02 1.96903541e+00] [ 1.72194051e-01 -5.50373116e-03 9.85047673e-01 3.35173706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.477105680999994 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:28.85, Y:1.97, Z:3.35 [[ 9.70663247e-01 -1.72357598e-01 -1.67647606e-01 2.88475644e+01] [ 1.73431913e-01 9.84810677e-01 -8.32471866e-03 1.97180097e+00] [ 1.66535981e-01 -2.09949466e-02 9.85811838e-01 3.35208636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.507105680999995 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:28.87, Y:1.98, Z:3.36 [[ 9.70566401e-01 -1.74862699e-01 -1.65601625e-01 2.88735941e+01] [ 1.73397691e-01 9.84574390e-01 -2.33775596e-02 1.97777166e+00] [ 1.67134982e-01 -6.02546544e-03 9.85915611e-01 3.35970148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.537105680999996 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:28.90, Y:1.99, Z:3.36 [[ 9.69384473e-01 -1.81625821e-01 -1.65244678e-01 2.89017760e+01] [ 1.80268144e-01 9.83341379e-01 -2.33051121e-02 1.98691076e+00] [ 1.66724740e-01 -7.19673760e-03 9.85977215e-01 3.36483624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.567105680999997 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:28.93, Y:2.00, Z:3.37 [[ 9.67929806e-01 -1.86402043e-01 -1.68422588e-01 2.89273192e+01] [ 1.85179267e-01 9.82433699e-01 -2.30795429e-02 1.99708942e+00] [ 1.69766100e-01 -8.84899407e-03 9.85444654e-01 3.36876531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.597105680999995 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:28.95, Y:2.00, Z:3.37 [[ 9.67776038e-01 -1.85738706e-01 -1.70031388e-01 2.89524412e+01] [ 1.84400034e-01 9.82563721e-01 -2.37731386e-02 2.00308653e+00] [ 1.71482266e-01 -8.34671995e-03 9.85151849e-01 3.37212987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.627105680999996 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:28.98, Y:2.01, Z:3.37 [[ 9.67281054e-01 -1.86252478e-01 -1.72271229e-01 2.89818693e+01] [ 1.84776673e-01 9.82469896e-01 -2.47079996e-02 2.01341511e+00] [ 1.73853223e-01 -7.93212467e-03 9.84739630e-01 3.37485045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.657105680999997 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:29.01, Y:2.02, Z:3.38 [[ 9.67264868e-01 -1.84781544e-01 -1.73938083e-01 2.90084939e+01] [ 1.83450970e-01 9.82739766e-01 -2.38389049e-02 2.02023960e+00] [ 1.75340861e-01 -8.85057485e-03 9.84468003e-01 3.37799294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.687105680999995 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:29.03, Y:2.03, Z:3.38 [[ 9.67811027e-01 -1.80593672e-01 -1.75293299e-01 2.90337690e+01] [ 1.79514959e-01 9.83506399e-01 -2.21256300e-02 2.02977276e+00] [ 1.76397830e-01 -1.00543408e-02 9.84267604e-01 3.38260072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.717105680999996 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:29.06, Y:2.05, Z:3.39 [[ 9.69123319e-01 -1.75718871e-01 -1.72982286e-01 2.90599581e+01] [ 1.73769701e-01 9.84430525e-01 -2.64694762e-02 2.04592109e+00] [ 1.74940229e-01 -4.40689355e-03 9.84569193e-01 3.39203046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.747105680999997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:29.09, Y:2.05, Z:3.39 [[ 9.70314706e-01 -1.70564410e-01 -1.71455982e-01 2.90865863e+01] [ 1.70341605e-01 9.85253180e-01 -1.61217070e-02 2.05351258e+00] [ 1.71677341e-01 -1.35629577e-02 9.85059865e-01 3.39401452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.777105680999995 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:29.11, Y:2.07, Z:3.40 [[ 9.71071909e-01 -1.66277242e-01 -1.71380357e-01 2.91127946e+01] [ 1.63416673e-01 9.86077269e-01 -3.07670487e-02 2.06642121e+00] [ 1.74110135e-01 1.87060893e-03 9.84724409e-01 3.40131469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.807105680999996 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:29.14, Y:2.08, Z:3.40 [[ 9.72745860e-01 -1.55921960e-01 -1.71621195e-01 2.91383185e+01] [ 1.54148608e-01 9.87763506e-01 -2.36952190e-02 2.07720059e+00] [ 1.73215759e-01 -3.40574213e-03 9.84878014e-01 3.40220272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.837105680999997 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:29.16, Y:2.08, Z:3.41 [[ 9.73323483e-01 -1.52021475e-01 -1.71845477e-01 2.91649918e+01] [ 1.50177638e-01 9.88373547e-01 -2.37572898e-02 2.08421935e+00] [ 1.73459142e-01 -2.68381978e-03 9.84837410e-01 3.40573138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.867105680999995 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:29.19, Y:2.09, Z:3.41 [[ 9.74412496e-01 -1.45307110e-01 -1.71482160e-01 2.91916061e+01] [ 1.43356238e-01 9.89385583e-01 -2.37730287e-02 2.09251166e+00] [ 1.73116367e-01 -1.41830108e-03 9.84900356e-01 3.40946392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.897105680999996 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:29.22, Y:2.11, Z:3.42 [[ 0.9767261 -0.14766604 -0.15556631 29.2161661 ] [ 0.13937679 0.98823531 -0.06296893 2.10846733] [ 0.16303449 0.03982107 0.98581643 3.41849029] [ 0. 0. 0. 1. ]] SLAMing on 29.927105680999997 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:29.24, Y:2.10, Z:3.41 [[ 9.75916978e-01 -1.34713700e-01 -1.71575846e-01 2.92447416e+01] [ 1.37277646e-01 9.90527720e-01 3.11192487e-03 2.10390370e+00] [ 1.69531413e-01 -2.65905086e-02 9.85165999e-01 3.41377120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.957105680999994 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:29.27, Y:2.11, Z:3.42 [[ 9.77299710e-01 -1.34762858e-01 -1.63475529e-01 2.92714811e+01] [ 1.34462771e-01 9.90834008e-01 -1.29511507e-02 2.11156448e+00] [ 1.63722447e-01 -9.32421669e-03 9.86462376e-01 3.42192664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.987105680999996 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:29.30, Y:2.12, Z:3.43 [[ 9.77756791e-01 -1.33349962e-01 -1.61893314e-01 2.92970509e+01] [ 1.31412162e-01 9.91068614e-01 -2.26681846e-02 2.11545692e+00] [ 1.63470184e-01 8.89220973e-04 9.86547874e-01 3.42780533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.017105680999997 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:29.33, Y:2.12, Z:3.43 [[ 9.78455345e-01 -1.27408990e-01 -1.62456416e-01 2.93251073e+01] [ 1.25371499e-01 9.91848413e-01 -2.27752865e-02 2.11694484e+00] [ 1.64033914e-01 1.91719640e-03 9.86452837e-01 3.43214762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.047105680999994 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:29.35, Y:2.13, Z:3.44 [[ 0.98061351 -0.12713367 -0.14911131 29.35139654] [ 0.11872265 0.99085949 -0.06404994 2.12524763] [ 0.15589126 0.04510535 0.98674385 3.43956472] [ 0. 0. 0. 1. ]] SLAMing on 30.077105680999995 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:29.38, Y:2.12, Z:3.43 [[ 9.78715893e-01 -1.12558432e-01 -1.71597785e-01 2.93836434e+01] [ 1.17526465e-01 9.92887212e-01 1.90398227e-02 2.11523008e+00] [ 1.68234153e-01 -3.88018580e-02 9.84983089e-01 3.43159159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.107105680999997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:29.41, Y:2.12, Z:3.44 [[ 9.78019224e-01 -1.18482030e-01 -1.71582066e-01 2.94094273e+01] [ 1.16043388e-01 9.92949053e-01 -2.42097321e-02 2.11666864e+00] [ 1.73240668e-01 3.76661926e-03 9.84872318e-01 3.44302925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.137105680999994 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:29.44, Y:2.12, Z:3.45 [[ 9.77636840e-01 -1.19749880e-01 -1.72876185e-01 2.94377289e+01] [ 1.17284983e-01 9.92797498e-01 -2.44409678e-02 2.11574683e+00] [ 1.74557847e-01 3.61861011e-03 9.84640271e-01 3.44562032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.167105680999995 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:29.47, Y:2.11, Z:3.45 [[ 9.76844690e-01 -1.27242946e-01 -1.71999082e-01 2.94661365e+01] [ 1.24906973e-01 9.91868837e-01 -2.43815234e-02 2.10613292e+00] [ 1.73702907e-01 2.33307700e-03 9.84795338e-01 3.45010646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.197105680999996 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:29.49, Y:2.11, Z:3.46 [[ 9.76592896e-01 -1.31470162e-01 -1.70240746e-01 2.94939956e+01] [ 1.29237850e-01 9.91318820e-01 -2.41779941e-02 2.10611603e+00] [ 1.71941540e-01 1.61050939e-03 9.85105839e-01 3.45642693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.227105680999994 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:29.52, Y:2.11, Z:3.46 [[ 9.76187873e-01 -1.35655102e-01 -1.69277670e-01 2.95212062e+01] [ 1.33499610e-01 9.90755684e-01 -2.41045533e-02 2.10633533e+00] [ 1.70982720e-01 9.32069678e-04 9.85273587e-01 3.46253837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.257105680999995 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:29.55, Y:2.11, Z:3.47 [[ 9.74053796e-01 -1.45413459e-01 -1.73418940e-01 2.95472559e+01] [ 1.38752648e-01 9.89064128e-01 -4.99985320e-02 2.10565852e+00] [ 1.78792912e-01 2.46389228e-02 9.83578171e-01 3.47487556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.287105680999996 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:29.58, Y:2.09, Z:3.46 [[ 9.74021744e-01 -1.46598615e-01 -1.72599214e-01 2.95818007e+01] [ 1.48686974e-01 9.88883957e-01 -8.38198251e-04 2.09463694e+00] [ 1.70803472e-01 -2.48468315e-02 9.84991781e-01 3.46393747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.317105680999994 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:29.61, Y:2.10, Z:3.47 [[ 9.73569649e-01 -1.53834815e-01 -1.68810508e-01 2.96072222e+01] [ 1.51938416e-01 9.88094316e-01 -2.41731150e-02 2.09878018e+00] [ 1.70519370e-01 -2.11459010e-03 9.85352055e-01 3.47409900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.347105680999995 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:29.63, Y:2.10, Z:3.48 [[ 9.72346388e-01 -1.61076211e-01 -1.69106345e-01 2.96345446e+01] [ 1.59276621e-01 9.86936249e-01 -2.42445322e-02 2.09965968e+00] [ 1.70802400e-01 -3.36060405e-03 9.85299572e-01 3.48027298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.377105680999996 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:29.66, Y:2.10, Z:3.48 [[ 9.72000208e-01 -1.64315836e-01 -1.67975897e-01 2.96616075e+01] [ 1.62578277e-01 9.86400287e-01 -2.41407784e-02 2.09976488e+00] [ 1.69658185e-01 -3.84439028e-03 9.85495470e-01 3.48447386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.407105680999997 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:29.69, Y:2.10, Z:3.49 [[ 9.71967968e-01 -1.64597375e-01 -1.67886787e-01 2.96889261e+01] [ 1.62860906e-01 9.86353275e-01 -2.41566143e-02 2.10144733e+00] [ 1.69571798e-01 -3.86273897e-03 9.85510266e-01 3.48824060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.437105680999995 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:29.72, Y:2.10, Z:3.49 [[ 9.72214605e-01 -1.61643776e-01 -1.69322329e-01 2.97168366e+01] [ 1.59821744e-01 9.86843612e-01 -2.44273366e-02 2.10333277e+00] [ 1.71043185e-01 -3.31277645e-03 9.85257963e-01 3.49324933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.467105680999996 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:29.74, Y:2.11, Z:3.50 [[ 9.71926152e-01 -1.60862161e-01 -1.71705909e-01 2.97400310e+01] [ 1.54883992e-01 9.86777902e-01 -4.77527165e-02 2.11008816e+00] [ 1.77117202e-01 1.98176173e-02 9.83990223e-01 3.50466546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.497105680999997 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:29.77, Y:2.11, Z:3.50 [[ 9.74068618e-01 -1.47731016e-01 -1.71364743e-01 2.97712910e+01] [ 1.49458109e-01 9.88763947e-01 -2.85151187e-03 2.10889052e+00] [ 1.69860536e-01 -2.28342822e-02 9.85203529e-01 3.49825658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.527105680999995 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:29.80, Y:2.12, Z:3.51 [[ 9.74386651e-01 -1.46388621e-01 -1.70707426e-01 2.97964283e+01] [ 1.40920268e-01 9.89052064e-01 -4.37891873e-02 2.11801972e+00] [ 1.75248770e-01 1.86114635e-02 9.84348252e-01 3.51281277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.557105680999996 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:29.83, Y:2.12, Z:3.51 [[ 9.75544669e-01 -1.36477414e-01 -1.72297749e-01 2.98278169e+01] [ 1.37294318e-01 9.90503955e-01 -7.22399530e-03 2.11791632e+00] [ 1.71647514e-01 -1.66081718e-02 9.85018426e-01 3.50744691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.587105680999997 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:29.85, Y:2.13, Z:3.52 [[ 9.75381042e-01 -1.39049058e-01 -1.71164196e-01 2.98534495e+01] [ 1.33876894e-01 9.90130498e-01 -4.14556866e-02 2.12596011e+00] [ 1.75239265e-01 1.75201599e-02 9.84369973e-01 3.52057614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.617105680999995 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:29.88, Y:2.13, Z:3.52 [[ 9.76667617e-01 -1.30114655e-01 -1.70852401e-01 2.98836088e+01] [ 1.30470049e-01 9.91409609e-01 -9.19534404e-03 2.12588125e+00] [ 1.70581161e-01 -1.33103265e-02 9.85253725e-01 3.51615711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.647105680999996 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:29.91, Y:2.13, Z:3.52 [[ 9.76940497e-01 -1.29363044e-01 -1.69860141e-01 2.99099733e+01] [ 1.26985234e-01 9.91593642e-01 -2.48354541e-02 2.13227902e+00] [ 1.71645026e-01 2.69303103e-03 9.85155182e-01 3.52155366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.677105680999997 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:29.94, Y:2.14, Z:3.53 [[ 9.77060297e-01 -1.28147206e-01 -1.70092532e-01 2.99374345e+01] [ 1.25733263e-01 9.91750694e-01 -2.49340802e-02 2.13639452e+00] [ 1.71884619e-01 2.97581066e-03 9.85112594e-01 3.52550113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.707105680999994 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:29.96, Y:2.14, Z:3.54 [[ 9.77362978e-01 -1.26698509e-01 -1.69437588e-01 2.99624430e+01] [ 1.21996988e-01 9.91805852e-01 -3.79194672e-02 2.14246856e+00] [ 1.72853531e-01 1.63902081e-02 9.84811158e-01 3.53514509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.737105680999996 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:29.99, Y:2.14, Z:3.53 [[ 9.77900651e-01 -1.23239062e-01 -1.68885909e-01 2.99920540e+01] [ 1.22876280e-01 9.92341519e-01 -1.26383745e-02 2.14285742e+00] [ 1.69150041e-01 -8.39299764e-03 9.85554575e-01 3.53364807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.767105680999997 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:30.02, Y:2.15, Z:3.54 [[ 9.77861499e-01 -1.29808788e-01 -1.64123637e-01 3.00180483e+01] [ 1.27563336e-01 9.91535310e-01 -2.41934771e-02 2.14518032e+00] [ 1.65874908e-01 2.72171104e-03 9.86143046e-01 3.54064389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.797105680999994 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:30.05, Y:2.15, Z:3.55 [[ 9.76780446e-01 -1.39185409e-01 -1.62872289e-01 3.00458411e+01] [ 1.37098870e-01 9.90265671e-01 -2.40374659e-02 2.14635029e+00] [ 1.64632501e-01 1.14971991e-03 9.86354306e-01 3.54641470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.827105680999995 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:30.07, Y:2.15, Z:3.55 [[ 9.75805772e-01 -1.45010332e-01 -1.63630981e-01 3.00731898e+01] [ 1.42974732e-01 9.89430114e-01 -2.42131442e-02 2.14881381e+00] [ 1.65412577e-01 2.32230200e-04 9.86224430e-01 3.55077335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.857105680999997 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:30.10, Y:2.15, Z:3.55 [[ 9.73783759e-01 -1.55801620e-01 -1.65743917e-01 3.01014363e+01] [ 1.53856722e-01 9.87787141e-01 -2.45901038e-02 2.14742307e+00] [ 1.67550888e-01 -1.55537206e-03 9.85862202e-01 3.55243748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.887105680999994 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:30.13, Y:2.15, Z:3.56 [[ 9.72145647e-01 -1.65330003e-01 -1.66128961e-01 3.01290054e+01] [ 1.63502962e-01 9.86233306e-01 -2.47113003e-02 2.14723363e+00] [ 1.67927434e-01 -3.13959429e-03 9.85794360e-01 3.55659839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.917105680999995 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:30.15, Y:2.15, Z:3.57 [[ 9.71093903e-01 -1.70460132e-01 -1.67092716e-01 3.01534962e+01] [ 1.65431898e-01 9.85253971e-01 -4.36680573e-02 2.15240818e+00] [ 1.72072424e-01 1.47633191e-02 9.84973667e-01 3.56815868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.947105680999996 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:30.18, Y:2.15, Z:3.57 [[ 9.71545706e-01 -1.66941576e-01 -1.68016225e-01 3.01796964e+01] [ 1.64287748e-01 9.85966027e-01 -2.96737201e-02 2.15267571e+00] [ 1.70612067e-01 1.22636805e-03 9.85337515e-01 3.57355666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.977105680999994 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:30.21, Y:2.15, Z:3.58 [[ 9.72469405e-01 -1.62158524e-01 -1.67355519e-01 3.02100940e+01] [ 1.60982636e-01 9.86740951e-01 -2.06612143e-02 2.15436631e+00] [ 1.68486936e-01 -6.84893375e-03 9.85680092e-01 3.57778313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.007105680999995 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:30.24, Y:2.16, Z:3.58 [[ 9.73564818e-01 -1.56686934e-01 -1.66194912e-01 3.02383944e+01] [ 1.54271841e-01 9.87647751e-01 -2.74247906e-02 2.15967203e+00] [ 1.68439138e-01 1.06061612e-03 9.85711485e-01 3.58299859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.037105680999996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:30.27, Y:2.16, Z:3.58 [[ 9.74828622e-01 -1.50348285e-01 -1.64634601e-01 3.02665221e+01] [ 1.51338031e-01 9.88460114e-01 -6.58815675e-03 2.16200694e+00] [ 1.63725254e-01 -1.84931526e-02 9.86332624e-01 3.58103172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.067105680999994 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:30.29, Y:2.17, Z:3.59 [[ 9.75751837e-01 -1.45576274e-01 -1.63449993e-01 3.02924544e+01] [ 1.43489206e-01 9.89346895e-01 -2.45676274e-02 2.17070436e+00] [ 1.65285207e-01 5.18597770e-04 9.86245675e-01 3.58847158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.097105680999995 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:30.32, Y:2.18, Z:3.59 [[ 9.76011914e-01 -1.38586414e-01 -1.67912328e-01 3.03196209e+01] [ 1.36269276e-01 9.90348685e-01 -2.53015184e-02 2.17721157e+00] [ 1.69798200e-01 1.81329200e-03 9.85477186e-01 3.58913971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.127105680999996 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:30.35, Y:2.18, Z:3.59 [[ 9.75946592e-01 -1.36410510e-01 -1.70060052e-01 3.03456591e+01] [ 1.33989219e-01 9.90649762e-01 -2.56892612e-02 2.18276189e+00] [ 1.71974236e-01 2.28513321e-03 9.85098797e-01 3.59182706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.157105680999997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:30.37, Y:2.19, Z:3.60 [[ 9.75964173e-01 -1.34509119e-01 -1.71467867e-01 3.03726114e+01] [ 1.32012388e-01 9.90908745e-01 -2.59343127e-02 2.18960211e+00] [ 1.73397411e-01 2.67507748e-03 9.84848304e-01 3.59505917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.187105680999995 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:30.40, Y:2.19, Z:3.60 [[ 9.76309081e-01 -1.32867426e-01 -1.70782980e-01 3.03987766e+01] [ 1.30354705e-01 9.91129223e-01 -2.58943079e-02 2.19448974e+00] [ 1.72708512e-01 3.01848296e-03 9.84968354e-01 3.59908588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.217105680999996 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:30.42, Y:2.20, Z:3.60 [[ 9.76159870e-01 -1.33218977e-01 -1.71361057e-01 3.04249338e+01] [ 1.30686584e-01 9.91082053e-01 -2.60265571e-02 2.19915361e+00] [ 1.73300100e-01 3.01148942e-03 9.84864461e-01 3.60294915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.247105680999997 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:30.45, Y:2.20, Z:3.61 [[ 9.75577535e-01 -1.36109081e-01 -1.72402990e-01 3.04526155e+01] [ 1.33582111e-01 9.90690549e-01 -2.62308332e-02 2.20372265e+00] [ 1.74368268e-01 2.56025629e-03 9.84677182e-01 3.60608347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.277105680999995 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:30.48, Y:2.21, Z:3.61 [[ 9.75132786e-01 -1.42326928e-01 -1.69879652e-01 3.04794469e+01] [ 1.39956604e-01 9.89818582e-01 -2.59099053e-02 2.20524430e+00] [ 1.71837713e-01 1.48981909e-03 9.85124145e-01 3.61114916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.307105680999996 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:30.51, Y:2.21, Z:3.62 [[ 9.74860147e-01 -1.47280441e-01 -1.67200975e-01 3.05065962e+01] [ 1.45051994e-01 9.89094569e-01 -2.55314103e-02 2.20798303e+00] [ 1.69137854e-01 6.36719574e-04 9.85592198e-01 3.61716917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.337105680999997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:30.53, Y:2.21, Z:3.63 [[ 9.73206666e-01 -1.59934735e-01 -1.65195842e-01 3.05334010e+01] [ 1.56258031e-01 9.87092274e-01 -3.51036960e-02 2.20968728e+00] [ 1.68677840e-01 8.34997407e-03 9.85635868e-01 3.62676162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.367105680999995 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:30.56, Y:2.21, Z:3.63 [[ 9.71807677e-01 -1.68356516e-01 -1.65063388e-01 3.05631309e+01] [ 1.68089208e-01 9.85646929e-01 -1.56891280e-02 2.20690206e+00] [ 1.65335589e-01 -1.24985591e-02 9.86158166e-01 3.62559375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.397105680999996 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:30.59, Y:2.21, Z:3.63 [[ 9.70940326e-01 -1.74704497e-01 -1.63564120e-01 3.05895479e+01] [ 1.72933819e-01 9.84613185e-01 -2.51151203e-02 2.21179882e+00] [ 1.65435113e-01 -3.90048476e-03 9.86212964e-01 3.63193501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.427105680999997 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:30.62, Y:2.22, Z:3.64 [[ 9.70879064e-01 -1.75053494e-01 -1.63554633e-01 3.06172455e+01] [ 1.73277354e-01 9.84551212e-01 -2.51767562e-02 2.21627442e+00] [ 1.65435191e-01 -3.89672845e-03 9.86212965e-01 3.63646533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.457105680999994 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:30.64, Y:2.22, Z:3.64 [[ 9.68961982e-01 -1.83778070e-01 -1.65342970e-01 3.06437213e+01] [ 1.80164462e-01 9.82950671e-01 -3.67252565e-02 2.22316329e+00] [ 1.69273280e-01 5.79645017e-03 9.85552108e-01 3.64385162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.487105680999996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:30.67, Y:2.23, Z:3.64 [[ 9.68851284e-01 -1.83861882e-01 -1.65897555e-01 3.06724621e+01] [ 1.84034863e-01 9.82813294e-01 -1.44636778e-02 2.22506050e+00] [ 1.65705642e-01 -1.65177810e-02 9.86036918e-01 3.64379436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.517105680999997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:30.70, Y:2.23, Z:3.65 [[ 9.68718364e-01 -1.86910913e-01 -1.63245344e-01 3.06985262e+01] [ 1.85286066e-01 9.82359887e-01 -2.52611761e-02 2.23195948e+00] [ 1.65087267e-01 -5.77612232e-03 9.86262050e-01 3.65081678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.547105680999994 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:30.72, Y:2.24, Z:3.66 [[ 9.69321411e-01 -1.85421354e-01 -1.61353411e-01 3.07219445e+01] [ 1.81980279e-01 9.82643634e-01 -3.59814680e-02 2.24066099e+00] [ 1.65224635e-01 5.51446854e-03 9.86240544e-01 3.66156415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.577105680999995 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:30.75, Y:2.25, Z:3.67 [[ 9.70494923e-01 -1.79798407e-01 -1.60661562e-01 3.07491171e+01] [ 1.77546859e-01 9.83702990e-01 -2.83820508e-02 2.25087629e+00] [ 1.63146306e-01 -9.80319513e-04 9.86601400e-01 3.66802035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.607105680999997 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:30.78, Y:2.26, Z:3.67 [[ 9.71440659e-01 -1.76529232e-01 -1.58557488e-01 3.07783574e+01] [ 1.76794305e-01 9.84167861e-01 -1.25457351e-02 2.25711330e+00] [ 1.58261873e-01 -1.58446237e-02 9.87270038e-01 3.66931203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.637105680999994 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:30.80, Y:2.27, Z:3.67 [[ 9.72026952e-01 -1.73903651e-01 -1.57864260e-01 3.08040835e+01] [ 1.72188707e-01 9.84757187e-01 -2.45831805e-02 2.26836517e+00] [ 1.59733069e-01 -3.28692874e-03 9.87154771e-01 3.67496753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.667105680999995 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:30.83, Y:2.27, Z:3.68 [[ 9.72302555e-01 -1.69901539e-01 -1.60502987e-01 3.08305843e+01] [ 1.68064090e-01 9.85457580e-01 -2.50563274e-02 2.27498134e+00] [ 1.62425993e-01 -2.61245728e-03 9.86717270e-01 3.67672354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.697105680999996 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:30.86, Y:2.28, Z:3.68 [[ 9.73216726e-01 -1.57923640e-01 -1.67060852e-01 3.08575360e+01] [ 1.55751244e-01 9.87451140e-01 -2.61112192e-02 2.28466659e+00] [ 1.69088008e-01 -6.08060232e-04 9.85600769e-01 3.67693029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.727105680999994 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:30.88, Y:2.30, Z:3.68 [[ 9.74828329e-01 -1.44552798e-01 -1.69747513e-01 3.08838025e+01] [ 1.42096376e-01 9.89495439e-01 -2.65969244e-02 2.29622804e+00] [ 1.71809050e-01 1.80692896e-03 9.85128614e-01 3.68058535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.757105680999995 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:30.91, Y:2.31, Z:3.69 [[ 9.75137528e-01 -1.40737470e-01 -1.71171746e-01 3.09102856e+01] [ 1.36056027e-01 9.89939514e-01 -3.88396174e-02 2.30501338e+00] [ 1.74915865e-01 1.45850208e-02 9.84475351e-01 3.68827997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.787105680999996 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:30.94, Y:2.31, Z:3.68 [[ 9.76266020e-01 -1.30740432e-01 -1.72660352e-01 3.09394039e+01] [ 1.30058655e-01 9.91388160e-01 -1.53056052e-02 2.30616051e+00] [ 1.73174490e-01 -7.51363087e-03 9.84862499e-01 3.68403835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.817105680999994 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:30.97, Y:2.31, Z:3.69 [[ 9.76170809e-01 -1.34465841e-01 -1.70321723e-01 3.09659467e+01] [ 1.31813509e-01 9.90911140e-01 -2.68386225e-02 2.31112122e+00] [ 1.72382570e-01 3.74837589e-03 9.85022943e-01 3.69054624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.847105680999995 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:30.99, Y:2.31, Z:3.70 [[ 9.75815137e-01 -1.37398852e-01 -1.70018745e-01 3.09926940e+01] [ 1.34788756e-01 9.90510338e-01 -2.68563009e-02 2.31494871e+00] [ 1.72095350e-01 3.29016970e-03 9.85074802e-01 3.69526233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.877105680999996 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:31.02, Y:2.32, Z:3.70 [[ 9.74577049e-01 -1.43634932e-01 -1.71955173e-01 3.10210428e+01] [ 1.41048748e-01 9.89628108e-01 -2.72297312e-02 2.31732351e+00] [ 1.74082813e-01 2.28340917e-03 9.84728369e-01 3.69677722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.907105680999994 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:31.05, Y:2.32, Z:3.70 [[ 9.73480786e-01 -1.50556344e-01 -1.72243861e-01 3.10487449e+01] [ 1.48056801e-01 9.88600800e-01 -2.73430415e-02 2.31836322e+00] [ 1.74397087e-01 1.11605060e-03 9.84674774e-01 3.70230190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.937105680999995 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:31.08, Y:2.32, Z:3.71 [[ 9.73225499e-01 -1.53716368e-01 -1.70890040e-01 3.10760642e+01] [ 1.51292992e-01 9.88114823e-01 -2.71942360e-02 2.32133287e+00] [ 1.73039180e-01 6.11658558e-04 9.84914752e-01 3.70768393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.967105680999996 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:31.10, Y:2.33, Z:3.72 [[ 9.72153512e-01 -1.60297785e-01 -1.70944930e-01 3.10998997e+01] [ 1.54349787e-01 9.86867834e-01 -4.76237561e-02 2.32772327e+00] [ 1.76334036e-01 1.99122881e-02 9.84128959e-01 3.71998306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.997105680999997 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:31.13, Y:2.33, Z:3.72 [[ 9.72413673e-01 -1.56734868e-01 -1.72759458e-01 3.11313932e+01] [ 1.56779296e-01 9.87541737e-01 -1.34747663e-02 2.32783712e+00] [ 1.72719141e-01 -1.39820592e-02 9.84871870e-01 3.71698431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.027105680999995 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:31.16, Y:2.33, Z:3.72 [[ 9.72567914e-01 -1.56719539e-01 -1.71902994e-01 3.11590448e+01] [ 1.55066248e-01 9.87634215e-01 -2.30893097e-02 2.33380491e+00] [ 1.73395825e-01 -4.20043060e-03 9.84843259e-01 3.72226898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.05710568099999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:31.19, Y:2.34, Z:3.73 [[ 9.72438615e-01 -1.56819273e-01 -1.72542331e-01 3.11850470e+01] [ 1.54364843e-01 9.87627287e-01 -2.76376158e-02 2.33798534e+00] [ 1.74741625e-01 2.41414866e-04 9.84614293e-01 3.72637330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.08710568099999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:31.21, Y:2.34, Z:3.73 [[ 9.71882084e-01 -1.58010723e-01 -1.74578996e-01 3.12118871e+01] [ 1.55511272e-01 9.87437394e-01 -2.79935035e-02 2.34167751e+00] [ 1.76809103e-01 5.73827574e-05 9.84245162e-01 3.72961713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.11710568099999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:31.24, Y:2.35, Z:3.74 [[ 9.71466878e-01 -1.59858498e-01 -1.75206636e-01 3.12387383e+01] [ 1.57364807e-01 9.87139909e-01 -2.81268194e-02 2.34672048e+00] [ 1.77449774e-01 -2.47084928e-04 9.84129827e-01 3.73500548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.14710568099999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:31.26, Y:2.35, Z:3.74 [[ 9.71045108e-01 -1.62327889e-01 -1.75274229e-01 3.12648307e+01] [ 1.59860546e-01 9.86736669e-01 -2.82019756e-02 2.35157608e+00] [ 1.77527476e-01 -6.34043600e-04 9.84115640e-01 3.74129008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.17710568099999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:31.29, Y:2.35, Z:3.75 [[ 9.71063543e-01 -1.64554344e-01 -1.73082245e-01 3.12926064e+01] [ 1.62178140e-01 9.86367516e-01 -2.78814288e-02 2.35341383e+00] [ 1.75310714e-01 -9.95517478e-04 9.84512652e-01 3.74663939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.207105680999994 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:31.32, Y:2.36, Z:3.75 [[ 9.70753238e-01 -1.66002249e-01 -1.73439916e-01 3.13199135e+01] [ 1.63627090e-01 9.86124653e-01 -2.80061391e-02 2.35663546e+00] [ 1.75682459e-01 -1.19241853e-03 9.84446165e-01 3.75208579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.23710568099999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:31.35, Y:2.36, Z:3.76 [[ 9.70678112e-01 -1.67497097e-01 -1.72420203e-01 3.13453811e+01] [ 1.65162328e-01 9.85871587e-01 -2.79037599e-02 2.36086048e+00] [ 1.74657978e-01 -1.39175303e-03 9.84628181e-01 3.75828780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.26710568099999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:31.37, Y:2.37, Z:3.77 [[ 9.71011320e-01 -1.67825784e-01 -1.70210232e-01 3.13710828e+01] [ 1.65550605e-01 9.85815673e-01 -2.75763505e-02 2.36980344e+00] [ 1.72423937e-01 -1.40145838e-03 9.85021838e-01 3.76542753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.29710568099999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:31.40, Y:2.38, Z:3.77 [[ 9.71016275e-01 -1.68227083e-01 -1.69785285e-01 3.13978286e+01] [ 1.65958405e-01 9.85747266e-01 -2.75705583e-02 2.37621618e+00] [ 1.72003495e-01 -1.40583418e-03 9.85095336e-01 3.76907234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.32710568099999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:31.42, Y:2.38, Z:3.77 [[ 9.70415646e-01 -1.69788108e-01 -1.71655095e-01 3.14238061e+01] [ 1.67482183e-01 9.85479228e-01 -2.79357994e-02 2.38204482e+00] [ 1.73905697e-01 -1.63983322e-03 9.84760945e-01 3.77065838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.35710568099999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:31.45, Y:2.39, Z:3.77 [[ 9.69262233e-01 -1.75628387e-01 -1.72294493e-01 3.14506758e+01] [ 1.73391103e-01 9.84452924e-01 -2.80707256e-02 2.39125410e+00] [ 1.74545834e-01 -2.66643815e-03 9.84645440e-01 3.77389064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.387105680999994 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:31.48, Y:2.40, Z:3.78 [[ 9.68689093e-01 -1.79538094e-01 -1.71486190e-01 3.14777802e+01] [ 1.77371180e-01 9.83745521e-01 -2.80038206e-02 2.39887626e+00] [ 1.73726524e-01 -3.28971244e-03 9.84788440e-01 3.77873621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.417105680999995 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:31.50, Y:2.41, Z:3.78 [[ 9.67202542e-01 -1.86152418e-01 -1.72819327e-01 3.15027744e+01] [ 1.84044684e-01 9.82510807e-01 -2.82854726e-02 2.40842453e+00] [ 1.75062266e-01 -4.44869752e-03 9.84547313e-01 3.78265655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.44710568099999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:31.53, Y:2.42, Z:3.79 [[ 9.65858045e-01 -1.92144794e-01 -1.73777487e-01 3.15257427e+01] [ 1.88163798e-01 9.81352705e-01 -3.92587988e-02 2.41781225e+00] [ 1.78080380e-01 5.21979488e-03 9.84002100e-01 3.78934815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.47710568099999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:31.55, Y:2.42, Z:3.79 [[ 9.65581770e-01 -1.93285719e-01 -1.74047340e-01 3.15528092e+01] [ 1.90615152e-01 9.81140076e-01 -3.20938493e-02 2.42343210e+00] [ 1.76968104e-01 -2.18682436e-03 9.84214158e-01 3.79273183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.50710568099999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:31.58, Y:2.43, Z:3.80 [[ 9.66130151e-01 -1.93426103e-01 -1.70818247e-01 3.15794674e+01] [ 1.91900631e-01 9.81081511e-01 -2.55580874e-02 2.43011551e+00] [ 1.72530225e-01 -8.08769060e-03 9.84971020e-01 3.79638954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.53710568099999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:31.61, Y:2.44, Z:3.80 [[ 9.67284007e-01 -1.89594006e-01 -1.68569755e-01 3.16083992e+01] [ 1.88935708e-01 9.81784016e-01 -2.00859025e-02 2.44060833e+00] [ 1.69307258e-01 -1.24200737e-02 9.85485055e-01 3.80105221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.567105680999994 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:31.63, Y:2.45, Z:3.81 [[ 9.68196895e-01 -1.85589061e-01 -1.67784004e-01 3.16308984e+01] [ 1.82552254e-01 9.82625817e-01 -3.34839903e-02 2.44974391e+00] [ 1.71083156e-01 1.78974745e-03 9.85254967e-01 3.80972234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.597105680999995 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:31.66, Y:2.46, Z:3.81 [[ 9.71020680e-01 -1.72291795e-01 -1.65633258e-01 3.16565329e+01] [ 1.70122998e-01 9.85044546e-01 -2.73021522e-02 2.46266800e+00] [ 1.67860074e-01 -1.66707203e-03 9.85809422e-01 3.81427384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.62710568099999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:31.68, Y:2.48, Z:3.82 [[ 9.73486469e-01 -1.59154143e-01 -1.64298674e-01 3.16833326e+01] [ 1.57378297e-01 9.87250230e-01 -2.38548589e-02 2.47578140e+00] [ 1.66000504e-01 -2.63466320e-03 9.86122148e-01 3.81666715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.65710568099999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:31.71, Y:2.48, Z:3.82 [[ 9.74324527e-01 -1.53612209e-01 -1.64605603e-01 3.17097045e+01] [ 1.51192177e-01 9.88129879e-01 -2.72078681e-02 2.48333761e+00] [ 1.66831175e-01 1.62221384e-03 9.85984142e-01 3.82073941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.68710568099999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:31.74, Y:2.49, Z:3.82 [[ 9.74843782e-01 -1.45261961e-01 -1.69051955e-01 3.17358035e+01] [ 1.42576060e-01 9.89388122e-01 -2.79859132e-02 2.49175793e+00] [ 1.71323285e-01 3.17913179e-03 9.85209737e-01 3.82242841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.71710568099999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:31.76, Y:2.50, Z:3.82 [[ 9.74705140e-01 -1.40632018e-01 -1.73702403e-01 3.17620839e+01] [ 1.37713211e-01 9.90053218e-01 -2.88044771e-02 2.49856609e+00] [ 1.76025455e-01 4.15475606e-03 9.84376847e-01 3.82459369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.747105680999994 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:31.79, Y:2.50, Z:3.83 [[ 9.74615723e-01 -1.39220670e-01 -1.75333392e-01 3.17890569e+01] [ 1.36214869e-01 9.90251153e-01 -2.91232336e-02 2.50389686e+00] [ 1.77678650e-01 4.50094629e-03 9.84078269e-01 3.82868479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.777105680999995 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:31.82, Y:2.51, Z:3.83 [[ 9.74809485e-01 -1.36319609e-01 -1.76531676e-01 3.18166970e+01] [ 1.33212233e-01 9.90651597e-01 -2.93924022e-02 2.50827171e+00] [ 1.78888147e-01 5.13581370e-03 9.83856013e-01 3.83127794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.80710568099999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:31.84, Y:2.51, Z:3.84 [[ 9.75244291e-01 -1.33414236e-01 -1.76349692e-01 3.18414398e+01] [ 1.29963916e-01 9.91033192e-01 -3.10256808e-02 2.51079339e+00] [ 1.78907666e-01 7.33852158e-03 9.83838500e-01 3.83718237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.83710568099999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:31.87, Y:2.51, Z:3.84 [[ 9.75153883e-01 -1.34870948e-01 -1.75740525e-01 3.18713499e+01] [ 1.31893353e-01 9.90852117e-01 -2.85696714e-02 2.51369271e+00] [ 1.77986090e-01 4.68081897e-03 9.84021871e-01 3.84085339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.86710568099999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:31.90, Y:2.51, Z:3.84 [[ 9.75142980e-01 -1.37010257e-01 -1.74138904e-01 3.18996463e+01] [ 1.33961743e-01 9.90556271e-01 -2.91980516e-02 2.51015686e+00] [ 1.76494816e-01 5.14432402e-03 9.84288126e-01 3.84475569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.89710568099999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:31.93, Y:2.51, Z:3.85 [[ 9.74774721e-01 -1.42766110e-01 -1.71557806e-01 3.19268167e+01] [ 1.39885029e-01 9.89747942e-01 -2.88303643e-02 2.51026612e+00] [ 1.73914985e-01 4.10474165e-03 9.84752116e-01 3.85146747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.92710568099999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:31.95, Y:2.51, Z:3.85 [[ 9.74739214e-01 -1.44973642e-01 -1.69900289e-01 3.19533272e+01] [ 1.42952213e-01 9.89435225e-01 -2.41370987e-02 2.51242214e+00] [ 1.71604574e-01 -7.60245728e-04 9.85165617e-01 3.85499404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.957105680999994 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:31.98, Y:2.51, Z:3.86 [[ 9.73345499e-01 -1.54291675e-01 -1.69683876e-01 3.19816497e+01] [ 1.50707184e-01 9.87997566e-01 -3.38844269e-02 2.51333413e+00] [ 1.72875342e-01 7.40867531e-03 9.84915848e-01 3.86159621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.98710568099999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:32.01, Y:2.51, Z:3.86 [[ 9.71971788e-01 -1.59008022e-01 -1.73168395e-01 3.20111750e+01] [ 1.56293576e-01 9.87276294e-01 -2.92888562e-02 2.50797639e+00] [ 1.75622215e-01 1.40283408e-03 9.84456637e-01 3.86088007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.01710568099999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:32.04, Y:2.51, Z:3.87 [[ 9.70968895e-01 -1.61957048e-01 -1.76037834e-01 3.20389052e+01] [ 1.59186485e-01 9.86797347e-01 -2.98439279e-02 2.50938971e+00] [ 1.78547102e-01 9.54681833e-04 9.83930903e-01 3.86522275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.04710568099999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:32.07, Y:2.51, Z:3.87 [[ 9.70287153e-01 -1.64406755e-01 -1.77519742e-01 3.20667973e+01] [ 1.61616645e-01 9.86392459e-01 -3.01658207e-02 2.50991210e+00] [ 1.80063600e-01 5.79363184e-04 9.83654799e-01 3.87116430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.07710568099999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:32.09, Y:2.51, Z:3.88 [[ 9.70697836e-01 -1.65074945e-01 -1.74630965e-01 3.20941908e+01] [ 1.62374189e-01 9.86280891e-01 -2.97426601e-02 2.51316463e+00] [ 1.77144952e-01 5.15574430e-04 9.84184637e-01 3.87736826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.10710568099999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:32.12, Y:2.51, Z:3.89 [[ 9.71551661e-01 -1.64840356e-01 -1.70044189e-01 3.21204751e+01] [ 1.62266063e-01 9.86320074e-01 -2.90247488e-02 2.51324839e+00] [ 1.72502447e-01 6.06641869e-04 9.85008902e-01 3.88600519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.137105680999994 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:32.15, Y:2.51, Z:3.89 [[ 9.71833399e-01 -1.62110677e-01 -1.71055470e-01 3.21486650e+01] [ 1.59457787e-01 9.86771935e-01 -2.92294898e-02 2.51374004e+00] [ 1.73531149e-01 1.13006788e-03 9.84827733e-01 3.89124412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.16710568099999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:32.18, Y:2.52, Z:3.90 [[ 9.72129789e-01 -1.59494065e-01 -1.71829322e-01 3.21753755e+01] [ 1.56000816e-01 9.87180727e-01 -3.37336284e-02 2.51595132e+00] [ 1.75006908e-01 5.98795075e-03 9.84548997e-01 3.89657373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.19710568099999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:32.20, Y:2.52, Z:3.90 [[ 9.72172534e-01 -1.55758808e-01 -1.74985023e-01 3.22045607e+01] [ 1.53529598e-01 9.87794253e-01 -2.62902334e-02 2.51561093e+00] [ 1.76944136e-01 -1.30673745e-03 9.84220029e-01 3.89822322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.22710568099999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:32.23, Y:2.52, Z:3.90 [[ 9.72239037e-01 -1.57062902e-01 -1.73443075e-01 3.22320700e+01] [ 1.54228575e-01 9.87586131e-01 -2.97855762e-02 2.52000703e+00] [ 1.75968185e-01 2.20882150e-03 9.84393376e-01 3.90325733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.25710568099999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:32.26, Y:2.52, Z:3.91 [[ 9.72404299e-01 -1.59439346e-01 -1.70320213e-01 3.22590554e+01] [ 1.56732080e-01 9.87206069e-01 -2.93126793e-02 2.52130359e+00] [ 1.72814742e-01 1.80913416e-03 9.84952685e-01 3.90707873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.28710568099999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:32.28, Y:2.52, Z:3.91 [[ 9.71991492e-01 -1.61310131e-01 -1.70913961e-01 3.22847464e+01] [ 1.57182480e-01 9.86857177e-01 -3.75044072e-02 2.52459013e+00] [ 1.74717510e-01 9.58928439e-03 9.84571906e-01 3.91302863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.317105680999994 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:32.31, Y:2.53, Z:3.92 [[ 9.71893659e-01 -1.60463868e-01 -1.72261611e-01 3.23127892e+01] [ 1.57541502e-01 9.87038298e-01 -3.05953057e-02 2.52849751e+00] [ 1.74938248e-01 2.59703077e-03 9.84575982e-01 3.91628320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.347105680999995 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:32.34, Y:2.53, Z:3.92 [[ 9.70906074e-01 -1.65322966e-01 -1.73233116e-01 3.23422625e+01] [ 1.63885092e-01 9.86218861e-01 -2.26723157e-02 2.52930840e+00] [ 1.74594021e-01 -6.37763622e-03 9.84619852e-01 3.91705683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.37710568099999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:32.37, Y:2.53, Z:3.92 [[ 9.69147458e-01 -1.74287431e-01 -1.74290266e-01 3.23685416e+01] [ 1.71658400e-01 9.84694584e-01 -3.01656968e-02 2.53474738e+00] [ 1.76880183e-01 -6.83379783e-04 9.84232155e-01 3.92346073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.40710568099999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:32.39, Y:2.54, Z:3.93 [[ 9.68240319e-01 -1.77539317e-01 -1.76041119e-01 3.23941535e+01] [ 1.74898073e-01 9.84112947e-01 -3.05347679e-02 2.53996094e+00] [ 1.78665466e-01 -1.22425900e-03 9.83909118e-01 3.92769474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.43710568099999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:32.42, Y:2.55, Z:3.93 [[ 9.67250887e-01 -1.83198347e-01 -1.75681780e-01 3.24213358e+01] [ 1.80654389e-01 9.83073440e-01 -3.05057922e-02 2.54538547e+00] [ 1.78296702e-01 -2.23092999e-03 9.83974242e-01 3.93155862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.46710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:32.45, Y:2.55, Z:3.94 [[ 9.66741866e-01 -1.88473893e-01 -1.72880755e-01 3.24472169e+01] [ 1.86083421e-01 9.82073342e-01 -3.00817345e-02 2.54991266e+00] [ 1.75451202e-01 -3.08897004e-03 9.84483283e-01 3.93755178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.497105680999994 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:32.47, Y:2.55, Z:3.94 [[ 9.66528897e-01 -1.90934019e-01 -1.71365373e-01 3.24731357e+01] [ 1.88618886e-01 9.81596720e-01 -2.98461866e-02 2.55462961e+00] [ 1.73910341e-01 -3.47554399e-03 9.84755357e-01 3.94283209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.527105680999995 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:32.50, Y:2.56, Z:3.95 [[ 9.65670994e-01 -1.95443929e-01 -1.71117510e-01 3.24971938e+01] [ 1.90558747e-01 9.80658189e-01 -4.46864578e-02 2.56312558e+00] [ 1.76541485e-01 1.05444779e-02 9.84236719e-01 3.95356377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.55710568099999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:32.52, Y:2.57, Z:3.95 [[ 9.66120233e-01 -1.93616595e-01 -1.70658458e-01 3.25244225e+01] [ 1.92219951e-01 9.81037675e-01 -2.48308260e-02 2.57134481e+00] [ 1.72230037e-01 -8.81439687e-03 9.85017320e-01 3.95325767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.58710568099999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:32.55, Y:2.58, Z:3.96 [[ 9.66509511e-01 -1.95056988e-01 -1.66769713e-01 3.25526118e+01] [ 1.93989062e-01 9.80737981e-01 -2.28310249e-02 2.57983196e+00] [ 1.68010743e-01 -1.02850975e-02 9.85731509e-01 3.95641505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.61710568099999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:32.58, Y:2.59, Z:3.96 [[ 9.66412933e-01 -1.98843216e-01 -1.62810989e-01 3.25790549e+01] [ 1.96835920e-01 9.80021116e-01 -2.85347566e-02 2.58879873e+00] [ 1.65232150e-01 -4.47069287e-03 9.86244569e-01 3.96083512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.64710568099999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:32.60, Y:2.60, Z:3.97 [[ 9.64185252e-01 -2.05771035e-01 -1.67347187e-01 3.26029219e+01] [ 2.01415058e-01 9.78571058e-01 -4.27862032e-02 2.59912019e+00] [ 1.72565275e-01 7.54758265e-03 9.84969167e-01 3.96920281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.67710568099999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:32.63, Y:2.60, Z:3.97 [[ 9.63006997e-01 -2.07037704e-01 -1.72490328e-01 3.26287263e+01] [ 2.04204113e-01 9.78330315e-01 -3.42121953e-02 2.60469978e+00] [ 1.75835731e-01 -2.27665101e-03 9.84416890e-01 3.97118806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.707105680999994 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:32.66, Y:2.61, Z:3.97 [[ 9.61375900e-01 -2.11211982e-01 -1.76481944e-01 3.26593252e+01] [ 2.11518175e-01 9.77221026e-01 -1.72953349e-02 2.61267627e+00] [ 1.76114849e-01 -2.07018207e-02 9.84151916e-01 3.96726559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.73710568099999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:32.68, Y:2.62, Z:3.97 [[ 9.60619125e-01 -2.15021906e-01 -1.76001352e-01 3.26847270e+01] [ 2.12892375e-01 9.76579866e-01 -3.11223573e-02 2.62417591e+00] [ 1.78571366e-01 -7.57261430e-03 9.83897821e-01 3.97284757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.76710568099999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:32.71, Y:2.63, Z:3.98 [[ 9.60545543e-01 -2.14683494e-01 -1.76814189e-01 3.27110590e+01] [ 2.12516145e-01 9.76655043e-01 -3.13339186e-02 2.63331533e+00] [ 1.79413344e-01 -7.47821386e-03 9.83745357e-01 3.97817546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.79710568099999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:32.73, Y:2.65, Z:3.99 [[ 9.61629215e-01 -2.10281303e-01 -1.76213013e-01 3.27347375e+01] [ 2.08043632e-01 9.77618858e-01 -3.12924281e-02 2.64831282e+00] [ 1.78849377e-01 -6.56828200e-03 9.83854541e-01 3.98632099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.82710568099999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:32.76, Y:2.66, Z:3.99 [[ 9.63943677e-01 -2.02019659e-01 -1.73206943e-01 3.27602215e+01] [ 1.99719795e-01 9.79369148e-01 -3.07908432e-02 2.66220793e+00] [ 1.75853892e-01 -4.91221654e-03 9.84404022e-01 3.99140151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.85710568099999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:32.79, Y:2.67, Z:3.99 [[ 9.64770261e-01 -1.97539107e-01 -1.73771819e-01 3.27860115e+01] [ 1.95140486e-01 9.80286662e-01 -3.09556248e-02 2.67052955e+00] [ 1.76461142e-01 -4.04485085e-03 9.84299296e-01 3.99437157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.887105680999994 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:32.81, Y:2.68, Z:4.00 [[ 9.66091616e-01 -1.88619320e-01 -1.76322830e-01 3.28116145e+01] [ 1.85995604e-01 9.82047304e-01 -3.14440345e-02 2.68445675e+00] [ 1.79088313e-01 -2.41745328e-03 9.83830032e-01 3.99576237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.91710568099999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:32.84, Y:2.69, Z:4.00 [[ 9.66962681e-01 -1.84513574e-01 -1.75891770e-01 3.28376571e+01] [ 1.81823021e-01 9.82828688e-01 -3.14349998e-02 2.69409356e+00] [ 1.78671661e-01 -1.58470138e-03 9.83907478e-01 3.99974438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.94710568099999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:32.86, Y:2.71, Z:4.01 [[ 9.68523237e-01 -1.79841833e-01 -1.72103613e-01 3.28625614e+01] [ 1.77181670e-01 9.83695332e-01 -3.08244974e-02 2.70853694e+00] [ 1.74841055e-01 -6.39363487e-04 9.84596464e-01 4.00720491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.97710568099999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:32.89, Y:2.72, Z:4.02 [[ 9.68551648e-01 -1.81427312e-01 -1.70269892e-01 3.28877697e+01] [ 1.78836608e-01 9.83403991e-01 -3.05623730e-02 2.72141943e+00] [ 1.72988940e-01 -8.49253068e-04 9.84923401e-01 4.01516181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.00710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:32.91, Y:2.73, Z:4.02 [[ 9.68175512e-01 -1.83363498e-01 -1.70334979e-01 3.29142240e+01] [ 1.80789041e-01 9.83044531e-01 -3.06393985e-02 2.72768406e+00] [ 1.73065017e-01 -1.13038221e-03 9.84909753e-01 4.01880001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.03710568099999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:32.94, Y:2.73, Z:4.02 [[ 9.66993659e-01 -1.87259840e-01 -1.72791827e-01 3.29425024e+01] [ 1.84663035e-01 9.82308756e-01 -3.11299262e-02 2.73181857e+00] [ 1.75564310e-01 -1.80582196e-03 9.84466308e-01 4.01902665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.067105680999994 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:32.97, Y:2.74, Z:4.02 [[ 9.66475652e-01 -1.90223188e-01 -1.72452758e-01 3.29698713e+01] [ 1.87671628e-01 9.81738240e-01 -3.11350142e-02 2.73604548e+00] [ 1.75226068e-01 -2.27325657e-03 9.84525600e-01 4.02254065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.097105680999995 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:33.00, Y:2.74, Z:4.03 [[ 9.66151196e-01 -1.91979913e-01 -1.72324051e-01 3.29967372e+01] [ 1.89447997e-01 9.81395612e-01 -3.11786723e-02 2.74071614e+00] [ 1.75103747e-01 -2.52313477e-03 9.84546754e-01 4.02812082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.12710568099999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:33.02, Y:2.75, Z:4.03 [[ 9.64962084e-01 -1.95375857e-01 -1.75146943e-01 3.30225338e+01] [ 1.92803363e-01 9.80723456e-01 -3.17547711e-02 2.74530230e+00] [ 1.77974831e-01 -3.12676967e-03 9.84030072e-01 4.03387221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.15710568099999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:33.05, Y:2.75, Z:4.04 [[ 9.64318808e-01 -1.97067880e-01 -1.76786558e-01 3.30500786e+01] [ 1.94468667e-01 9.80383817e-01 -3.20859604e-02 2.74999673e+00] [ 1.79641792e-01 -3.43835123e-03 9.83726082e-01 4.03840821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.18710568099999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:33.08, Y:2.76, Z:4.04 [[ 9.65710105e-01 -1.92099350e-01 -1.74647739e-01 3.30759360e+01] [ 1.89471003e-01 9.81372502e-01 -3.17608311e-02 2.75544598e+00] [ 1.77495723e-01 -2.41892671e-03 9.84118599e-01 4.04328416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.21710568099999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:33.10, Y:2.76, Z:4.05 [[ 9.66654967e-01 -1.88048183e-01 -1.73827661e-01 3.31026856e+01] [ 1.85373878e-01 9.82158444e-01 -3.16435857e-02 2.76123915e+00] [ 1.76676824e-01 -1.63467835e-03 9.84267559e-01 4.04736605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.247105680999994 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:33.13, Y:2.77, Z:4.05 [[ 9.68565897e-01 -1.79340262e-01 -1.72386697e-01 3.31301530e+01] [ 1.76562294e-01 9.83787106e-01 -3.14433829e-02 2.76707696e+00] [ 1.75230874e-01 1.79978450e-05 9.84527369e-01 4.05034694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.277105680999995 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:33.16, Y:2.77, Z:4.05 [[ 9.69034393e-01 -1.75057437e-01 -1.74147176e-01 3.31562600e+01] [ 1.72141830e-01 9.84557843e-01 -3.18283589e-02 2.77326905e+00] [ 1.77029759e-01 8.64760956e-04 9.84205119e-01 4.05390262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.30710568099999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:33.18, Y:2.77, Z:4.05 [[ 9.70103464e-01 -1.68966095e-01 -1.74211732e-01 3.31831138e+01] [ 1.69171737e-01 9.85490274e-01 -1.37783788e-02 2.77471546e+00] [ 1.74012046e-01 -1.61052482e-02 9.84611816e-01 4.05062082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.33710568099999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:33.21, Y:2.78, Z:4.07 [[ 9.68953508e-01 -1.77675652e-01 -1.71931559e-01 3.32099884e+01] [ 1.71329060e-01 9.83882804e-01 -5.11955168e-02 2.78442712e+00] [ 1.78256702e-01 2.01492031e-02 9.83777697e-01 4.06820942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.36710568099999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:33.24, Y:2.78, Z:4.07 [[ 9.68847612e-01 -1.75471280e-01 -1.74768800e-01 3.32386587e+01] [ 1.72519214e-01 9.84484125e-01 -3.20644295e-02 2.78471940e+00] [ 1.77683496e-01 9.14569992e-04 9.84087262e-01 4.06758634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.39710568099999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:33.27, Y:2.78, Z:4.07 [[ 9.68652425e-01 -1.77653099e-01 -1.73642898e-01 3.32665487e+01] [ 1.74762748e-01 9.84093007e-01 -3.19207579e-02 2.78440819e+00] [ 1.76551583e-01 5.73809643e-04 9.84291222e-01 4.07244811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.42710568099999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:33.30, Y:2.78, Z:4.08 [[ 9.68388135e-01 -1.80466987e-01 -1.72209427e-01 3.32951588e+01] [ 1.77657545e-01 9.83581034e-01 -3.17197952e-02 2.78215527e+00] [ 1.75106302e-01 1.22769232e-04 9.84549525e-01 4.07714625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.457105680999994 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:33.32, Y:2.79, Z:4.08 [[ 0.96949384 -0.18598164 -0.15966377 33.32387027] [ 0.17728561 0.98186183 -0.06720981 2.78887663] [ 0.16926755 0.03685341 0.98488087 4.08347021] [ 0. 0. 0. 1. ]] SLAMing on 34.48710568099999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:33.35, Y:2.78, Z:4.08 [[ 9.67729259e-01 -1.75854055e-01 -1.80486657e-01 3.33536188e+01] [ 1.79672716e-01 9.83714239e-01 4.90012148e-03 2.78062460e+00] [ 1.76685588e-01 -3.71705188e-02 9.83565227e-01 4.07661975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.51710568099999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:33.38, Y:2.79, Z:4.09 [[ 9.67760448e-01 -1.82569829e-01 -1.73516492e-01 3.33785700e+01] [ 1.79726342e-01 9.83192881e-01 -3.20967295e-02 2.78972971e+00] [ 1.76460074e-01 -1.23538991e-04 9.84307791e-01 4.09214610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.54710568099999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:33.41, Y:2.79, Z:4.09 [[ 9.66677709e-01 -1.86346468e-01 -1.75525500e-01 3.34057741e+01] [ 1.83485920e-01 9.82483802e-01 -3.25345232e-02 2.78975060e+00] [ 1.78513654e-01 -7.56059526e-04 9.83937144e-01 4.09444745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.57710568099999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:33.43, Y:2.79, Z:4.10 [[ 9.65739952e-01 -1.89771722e-01 -1.77011408e-01 3.34329117e+01] [ 1.86913609e-01 9.81827284e-01 -3.28403396e-02 2.79242811e+00] [ 1.80026798e-01 -1.37061319e-03 9.83660751e-01 4.09799059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.60710568099999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:33.46, Y:2.80, Z:4.10 [[ 9.63423043e-01 -1.99459144e-01 -1.78975109e-01 3.34600209e+01] [ 1.96695742e-01 9.79900983e-01 -3.32392660e-02 2.79568355e+00] [ 1.82007761e-01 -3.18016720e-03 9.83291951e-01 4.10359030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.637105680999994 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:33.49, Y:2.80, Z:4.11 [[ 9.61748487e-01 -2.09862789e-01 -1.76060946e-01 3.34860172e+01] [ 2.07349375e-01 9.77718093e-01 -3.27653493e-02 2.80226490e+00] [ 1.79014200e-01 -4.99410198e-03 9.83833815e-01 4.11175572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.66710568099999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:33.51, Y:2.81, Z:4.12 [[ 9.61039268e-01 -2.14896661e-01 -1.73847493e-01 3.35121701e+01] [ 2.12515860e-01 9.76619641e-01 -3.24204513e-02 2.80844854e+00] [ 1.76749923e-01 -5.78802271e-03 9.84238774e-01 4.11781301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.69710568099999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:33.54, Y:2.82, Z:4.13 [[ 9.59192379e-01 -2.22886305e-01 -1.73987574e-01 3.35359964e+01] [ 2.18282234e-01 9.74828470e-01 -4.54127880e-02 2.81572395e+00] [ 1.79729929e-01 5.58120376e-03 9.83700159e-01 4.12751632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.72710568099999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:33.56, Y:2.82, Z:4.13 [[ 9.58241533e-01 -2.24431112e-01 -1.77211289e-01 3.35643481e+01] [ 2.22465199e-01 9.74442912e-01 -3.11487634e-02 2.82144125e+00] [ 1.79673036e-01 -9.57530591e-03 9.83679782e-01 4.12742853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.75710568099999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:33.59, Y:2.83, Z:4.13 [[ 9.58228826e-01 -2.25400370e-01 -1.76045989e-01 3.35930136e+01] [ 2.24606624e-01 9.74136727e-01 -2.46880833e-02 2.83030930e+00] [ 1.77057567e-01 -1.58842621e-02 9.84072308e-01 4.13009649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.78710568099999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:33.61, Y:2.84, Z:4.14 [[ 9.59289193e-01 -2.22562912e-01 -1.73867751e-01 3.36140114e+01] [ 2.18981909e-01 9.74918327e-01 -3.97640327e-02 2.84335855e+00] [ 1.78356855e-01 7.13148848e-05 9.83965867e-01 4.14074162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.817105680999994 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:33.64, Y:2.85, Z:4.14 [[ 9.60147834e-01 -2.20478815e-01 -1.71770860e-01 3.36436790e+01] [ 2.19209960e-01 9.75316081e-01 -2.65619287e-02 2.85407843e+00] [ 1.73387224e-01 -1.21505050e-02 9.84778775e-01 4.14386714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.84710568099999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:33.67, Y:2.86, Z:4.15 [[ 9.60405298e-01 -2.21106912e-01 -1.69509283e-01 3.36706124e+01] [ 2.18895124e-01 9.75227911e-01 -3.18660770e-02 2.86342821e+00] [ 1.72355993e-01 -6.50040622e-03 9.85013277e-01 4.15115690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.87710568099999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:33.69, Y:2.87, Z:4.16 [[ 9.61293494e-01 -2.18700437e-01 -1.67585610e-01 3.36947320e+01] [ 2.17626207e-01 9.75712505e-01 -2.49788419e-02 2.87153162e+00] [ 1.68978259e-01 -1.24590224e-02 9.85541029e-01 4.15526241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.90710568099999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:33.72, Y:2.88, Z:4.17 [[ 9.60859953e-01 -2.22850236e-01 -1.64578015e-01 3.37215365e+01] [ 2.19476603e-01 9.74852170e-01 -3.86428133e-02 2.88288858e+00] [ 1.69050796e-01 1.00930790e-03 9.85606823e-01 4.16560563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.93710568099999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:33.75, Y:2.90, Z:4.17 [[ 9.63567920e-01 -2.10503697e-01 -1.65000172e-01 3.37489553e+01] [ 2.08227002e-01 9.77583529e-01 -3.11762576e-02 2.89834585e+00] [ 1.67864168e-01 -4.31704960e-03 9.85800682e-01 4.16968147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.96710568099999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:33.78, Y:2.91, Z:4.17 [[ 9.64306452e-01 -2.04943659e-01 -1.67663839e-01 3.37787656e+01] [ 2.02509752e-01 9.78767836e-01 -3.16752881e-02 2.90840953e+00] [ 1.70595622e-01 -3.40887789e-03 9.85335229e-01 4.17368360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.997105680999994 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:33.80, Y:2.92, Z:4.18 [[ 9.65658131e-01 -1.96551334e-01 -1.69917474e-01 3.38038421e+01] [ 1.94089755e-01 9.80489236e-01 -3.11452167e-02 2.91552312e+00] [ 1.72723888e-01 -2.90360923e-03 9.84966003e-01 4.17601559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.027105680999995 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:33.83, Y:2.93, Z:4.18 [[ 9.66623933e-01 -1.87636002e-01 -1.74444554e-01 3.38285011e+01] [ 1.83429160e-01 9.82215471e-01 -4.00813232e-02 2.92739900e+00] [ 1.78862839e-01 6.74534835e-03 9.83850896e-01 4.18014136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.05710568099999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:33.86, Y:2.94, Z:4.18 [[ 9.66975431e-01 -1.83033381e-01 -1.77362050e-01 3.38570964e+01] [ 1.80533788e-01 9.83102856e-01 -3.02708593e-02 2.93860563e+00] [ 1.79905715e-01 -2.74866553e-03 9.83680018e-01 4.17945268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.08710568099999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:33.89, Y:2.95, Z:4.19 [[ 9.67158825e-01 -1.83455644e-01 -1.75919966e-01 3.38852065e+01] [ 1.80391569e-01 9.83027828e-01 -3.33941893e-02 2.94860693e+00] [ 1.79060574e-01 5.63006174e-04 9.83837890e-01 4.18524291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.11710568099999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:33.91, Y:2.96, Z:4.19 [[ 9.66876542e-01 -1.84436861e-01 -1.76444886e-01 3.39134431e+01] [ 1.81368939e-01 9.82844286e-01 -3.35024877e-02 2.95517806e+00] [ 1.79596941e-01 3.91147784e-04 9.83740202e-01 4.18989108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.14710568099999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:33.94, Y:2.96, Z:4.19 [[ 9.66067686e-01 -1.87595922e-01 -1.77541534e-01 3.39432081e+01] [ 1.84540691e-01 9.82246270e-01 -3.37194150e-02 2.96000935e+00] [ 1.80715135e-01 -1.88400243e-04 9.83535462e-01 4.19216093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.17710568099999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:33.97, Y:2.96, Z:4.20 [[ 9.65677193e-01 -1.89513845e-01 -1.77628998e-01 3.39716562e+01] [ 1.86485984e-01 9.81877901e-01 -3.37455870e-02 2.96417566e+00] [ 1.80805244e-01 -5.37974695e-04 9.83518772e-01 4.19576884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.207105680999994 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:34.00, Y:2.97, Z:4.20 [[ 9.64652620e-01 -1.93520326e-01 -1.78872040e-01 3.40001907e+01] [ 1.90514915e-01 9.81095429e-01 -3.39974615e-02 2.96885719e+00] [ 1.82069740e-01 -1.28205104e-03 9.83284784e-01 4.20129613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.23710568099999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:34.03, Y:2.97, Z:4.21 [[ 9.64648118e-01 -1.93544170e-01 -1.78870518e-01 3.40294218e+01] [ 1.90537682e-01 9.81090730e-01 -3.40054634e-02 2.97445611e+00] [ 1.82069767e-01 -1.27826774e-03 9.83284784e-01 4.20616456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.26710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:34.06, Y:2.98, Z:4.21 [[ 9.63259569e-01 -1.99397645e-01 -1.79921041e-01 3.40574462e+01] [ 1.96455535e-01 9.79915738e-01 -3.42106567e-02 2.97813435e+00] [ 1.83128985e-01 -2.39274201e-03 9.83085983e-01 4.21115123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.29710568099999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:34.09, Y:2.98, Z:4.22 [[ 9.62336305e-01 -2.03659144e-01 -1.80088281e-01 3.40854635e+01] [ 2.00781880e-01 9.79036666e-01 -3.42614020e-02 2.98162051e+00] [ 1.83290678e-01 -3.18747276e-03 9.83053593e-01 4.21557388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.32710568099999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:34.11, Y:2.98, Z:4.22 [[ 9.60512736e-01 -2.12460963e-01 -1.79654175e-01 3.41126518e+01] [ 2.09739180e-01 9.77157786e-01 -3.42365038e-02 2.98271298e+00] [ 1.82824397e-01 -4.79592142e-03 9.83133887e-01 4.21999297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.35710568099999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:34.14, Y:2.99, Z:4.23 [[ 9.59344288e-01 -2.19013521e-01 -1.78021386e-01 3.41395393e+01] [ 2.16447341e-01 9.75703637e-01 -3.39552914e-02 2.98615887e+00] [ 1.81132782e-01 -5.95744084e-03 9.83440605e-01 4.22668201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.387105680999994 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:34.17, Y:2.99, Z:4.23 [[ 9.59280507e-01 -2.20538907e-01 -1.76475207e-01 3.41668608e+01] [ 2.18038413e-01 9.75358694e-01 -3.36848513e-02 2.99119552e+00] [ 1.79555448e-01 -6.16515288e-03 9.83728536e-01 4.23248989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.41710568099999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:34.19, Y:3.00, Z:4.24 [[ 9.60844856e-01 -2.15740074e-01 -1.73877494e-01 3.41941001e+01] [ 2.13225601e-01 9.76437325e-01 -3.32414447e-02 2.99643117e+00] [ 1.76951987e-01 -5.13526210e-03 9.84206088e-01 4.23995476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.44710568099999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:34.22, Y:3.00, Z:4.25 [[ 9.63497071e-01 -2.02738706e-01 -1.74843963e-01 3.42211280e+01] [ 1.99981006e-01 9.79229017e-01 -3.34384415e-02 3.00481100e+00] [ 1.77991548e-01 -2.74763110e-03 9.84028180e-01 4.24618162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.47710568099999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:34.25, Y:3.01, Z:4.25 [[ 9.64993542e-01 -1.95103080e-01 -1.75277644e-01 3.42474368e+01] [ 1.92204140e-01 9.80781843e-01 -3.35342482e-02 3.01253537e+00] [ 1.78451765e-01 -1.32875585e-03 9.83947764e-01 4.25022419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.50710568099999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:34.27, Y:3.02, Z:4.25 [[ 9.67531632e-01 -1.82326134e-01 -1.75042059e-01 3.42739834e+01] [ 1.79222738e-01 9.83237545e-01 -3.35132744e-02 3.02141798e+00] [ 1.78218271e-01 1.05363592e-03 9.83990416e-01 4.25442724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.53710568099999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:34.30, Y:3.03, Z:4.26 [[ 9.68265366e-01 -1.77665552e-01 -1.75775804e-01 3.43021572e+01] [ 1.74448897e-01 9.84088937e-01 -3.37127156e-02 3.02830779e+00] [ 1.78968612e-01 1.97895987e-03 9.83852794e-01 4.25918593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.567105680999994 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:34.33, Y:3.03, Z:4.26 [[ 9.67868413e-01 -1.78602722e-01 -1.77007919e-01 3.43304423e+01] [ 1.75353344e-01 9.83919564e-01 -3.39631702e-02 3.03303215e+00] [ 1.80227469e-01 1.83294909e-03 9.83623251e-01 4.26282266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.59710568099999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:34.36, Y:3.04, Z:4.27 [[ 9.66516514e-01 -1.84104764e-01 -1.78749163e-01 3.43570366e+01] [ 1.80872552e-01 9.82906235e-01 -3.43577093e-02 3.03573087e+00] [ 1.82019085e-01 8.76476071e-04 9.83294607e-01 4.26567600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.62710568099999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:34.38, Y:3.04, Z:4.27 [[ 9.65862769e-01 -1.87178778e-01 -1.79089966e-01 3.43843164e+01] [ 1.83977083e-01 9.82325803e-01 -3.44738926e-02 3.04039644e+00] [ 1.82377476e-01 3.48599802e-04 9.83228526e-01 4.27021705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.65710568099999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:34.41, Y:3.04, Z:4.28 [[ 9.65317958e-01 -1.91636841e-01 -1.77303585e-01 3.44102559e+01] [ 1.88561764e-01 9.81465813e-01 -3.41953072e-02 3.04483979e+00] [ 1.80570488e-01 -4.23332664e-04 9.83561955e-01 4.27580999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.68710568099999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:34.43, Y:3.05, Z:4.29 [[ 9.64617898e-01 -1.94583369e-01 -1.77903413e-01 3.44344793e+01] [ 1.89200829e-01 9.80817574e-01 -4.69034365e-02 3.04735371e+00] [ 1.83617422e-01 1.15844211e-02 9.82929521e-01 4.28533876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.71710568099999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:34.47, Y:3.05, Z:4.28 [[ 9.63938438e-01 -1.95849113e-01 -1.80182721e-01 3.44665354e+01] [ 1.94573531e-01 9.80571747e-01 -2.49036188e-02 3.05119888e+00] [ 1.81559437e-01 -1.10532328e-02 9.83317851e-01 4.28202559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.747105680999994 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:34.49, Y:3.06, Z:4.29 [[ 9.62445010e-01 -2.04011549e-01 -1.79105809e-01 3.44936767e+01] [ 2.01083358e-01 9.78964588e-01 -3.45516839e-02 3.05665052e+00] [ 1.82387187e-01 -2.76110181e-03 9.83222910e-01 4.28931679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.777105680999995 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:34.52, Y:3.06, Z:4.29 [[ 9.60746811e-01 -2.12007652e-01 -1.78936640e-01 3.45222053e+01] [ 2.09219778e-01 9.77258720e-01 -3.45322902e-02 3.05904958e+00] [ 1.82188501e-01 -4.26029643e-03 9.83254392e-01 4.29233334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.80710568099999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:34.55, Y:3.06, Z:4.30 [[ 9.58900926e-01 -2.19448712e-01 -1.79864606e-01 3.45514151e+01] [ 2.16758760e-01 9.75607443e-01 -3.47240144e-02 3.06309639e+00] [ 1.83097389e-01 -5.69033946e-03 9.83078311e-01 4.29755647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.83710568099999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:34.58, Y:3.07, Z:4.30 [[ 9.57925029e-01 -2.22832893e-01 -1.80900912e-01 3.45803186e+01] [ 2.20169744e-01 9.74835872e-01 -3.49328775e-02 3.06799801e+00] [ 1.84132893e-01 -6.36582978e-03 9.82880742e-01 4.30222634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.86710568099999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:34.61, Y:3.07, Z:4.31 [[ 9.56295501e-01 -2.29614494e-01 -1.81041703e-01 3.46084458e+01] [ 2.27065508e-01 9.73251456e-01 -3.49693827e-02 3.07199485e+00] [ 1.84228579e-01 -7.66726311e-03 9.82853521e-01 4.30687640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.89710568099999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:34.63, Y:3.08, Z:4.31 [[ 9.55502532e-01 -2.33226272e-01 -1.80611235e-01 3.46344581e+01] [ 2.30750457e-01 9.72386830e-01 -3.49009796e-02 3.07643430e+00] [ 1.83763811e-01 -8.32815063e-03 9.82935147e-01 4.31164837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.92710568099999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:34.66, Y:3.08, Z:4.32 [[ 9.53999657e-01 -2.39259143e-01 -1.80664653e-01 3.46620535e+01] [ 2.36882709e-01 9.70909656e-01 -3.49431364e-02 3.08217133e+00] [ 1.83769521e-01 -9.46059234e-03 9.82923832e-01 4.31837508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.957105680999994 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:34.69, Y:3.09, Z:4.32 [[ 9.53287636e-01 -2.41277441e-01 -1.81735743e-01 3.46875570e+01] [ 2.39111396e-01 9.70394133e-01 -3.40729681e-02 3.08524959e+00] [ 1.84576337e-01 -1.09737478e-02 9.82756914e-01 4.32127655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.98710568099999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:34.71, Y:3.09, Z:4.33 [[ 9.52954570e-01 -2.43423797e-01 -1.80616838e-01 3.47133801e+01] [ 2.39774356e-01 9.69914826e-01 -4.21128075e-02 3.09070406e+00] [ 1.85434209e-01 -3.17569360e-03 9.82651550e-01 4.32838106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.01710568099999 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:34.74, Y:3.10, Z:4.33 [[ 9.52520414e-01 -2.46065574e-01 -1.79322600e-01 3.47431667e+01] [ 2.44184288e-01 9.69172522e-01 -3.28428991e-02 3.10220318e+00] [ 1.81876043e-01 -1.25042294e-02 9.83241959e-01 4.33360317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.04710568099999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:34.77, Y:3.12, Z:4.34 [[ 9.53596502e-01 -2.43688906e-01 -1.76831637e-01 3.47713717e+01] [ 2.41475007e-01 9.69801692e-01 -3.42709700e-02 3.11713209e+00] [ 1.79843076e-01 -1.00197438e-02 9.83644282e-01 4.34034136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.07710568099999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:34.80, Y:3.13, Z:4.34 [[ 9.54303340e-01 -2.41007236e-01 -1.76693657e-01 3.48015963e+01] [ 2.38752793e-01 9.70476681e-01 -3.42361729e-02 3.12605215e+00] [ 1.79728239e-01 -9.51440995e-03 9.83670288e-01 4.34366490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.10710568099999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:34.83, Y:3.14, Z:4.35 [[ 9.56089767e-01 -2.33107610e-01 -1.77632203e-01 3.48253189e+01] [ 2.29852890e-01 9.72444428e-01 -3.89805450e-02 3.13795364e+00] [ 1.81824108e-01 -3.56037521e-03 9.83324625e-01 4.34569953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.137105680999994 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:34.85, Y:3.15, Z:4.35 [[ 9.56735619e-01 -2.29864483e-01 -1.78379580e-01 3.48538763e+01] [ 2.28022789e-01 9.73160774e-01 -3.10437662e-02 3.14782136e+00] [ 1.80727870e-01 -1.09739325e-02 9.83471916e-01 4.34775110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.16710568099999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:34.88, Y:3.17, Z:4.36 [[ 9.59154520e-01 -2.20617504e-01 -1.77060794e-01 3.48822139e+01] [ 2.17993185e-01 9.75344246e-01 -3.43885543e-02 3.17062108e+00] [ 1.80281944e-01 -5.61410905e-03 9.83598954e-01 4.35800018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.19710568099999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:34.91, Y:3.18, Z:4.36 [[ 9.59945789e-01 -2.17073301e-01 -1.77153225e-01 3.49112992e+01] [ 2.14391151e-01 9.76142620e-01 -3.43805058e-02 3.18152721e+00] [ 1.80389903e-01 -4.97666218e-03 9.83582592e-01 4.36392510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.22710568099999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:34.94, Y:3.19, Z:4.37 [[ 9.60568835e-01 -2.14226512e-01 -1.77241403e-01 3.49420592e+01] [ 2.11498542e-01 9.76773778e-01 -3.43708152e-02 3.19098935e+00] [ 1.80487895e-01 -4.47076442e-03 9.83567045e-01 4.36807014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.25710568099999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:34.97, Y:3.20, Z:4.37 [[ 9.61692398e-01 -2.08668180e-01 -1.77778858e-01 3.49726400e+01] [ 2.05832351e-01 9.77980398e-01 -3.44584419e-02 3.19989010e+00] [ 1.81054618e-01 -3.45421865e-03 9.83466976e-01 4.36784008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.28710568099999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:35.00, Y:3.21, Z:4.37 [[ 9.63025175e-01 -2.04130853e-01 -1.75821236e-01 3.50019220e+01] [ 2.01284731e-01 9.78940204e-01 -3.40666204e-02 3.21028646e+00] [ 1.79072525e-01 -2.58311717e-03 9.83832485e-01 4.37183337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.317105680999994 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:35.03, Y:3.22, Z:4.38 [[ 9.64303876e-01 -1.98465404e-01 -1.75298370e-01 3.50323444e+01] [ 1.95545617e-01 9.80106687e-01 -3.39528156e-02 3.22129574e+00] [ 1.78549564e-01 -1.53799619e-03 9.83929717e-01 4.37861533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.34710568099999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:35.06, Y:3.23, Z:4.38 [[ 9.65157206e-01 -1.95070891e-01 -1.74410194e-01 3.50647371e+01] [ 1.92128963e-01 9.80788712e-01 -3.37633621e-02 3.22856711e+00] [ 1.77645798e-01 -9.22297399e-04 9.84094060e-01 4.38354225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.37710568099999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:35.10, Y:3.23, Z:4.39 [[ 9.66762178e-01 -1.88170327e-01 -1.73097718e-01 3.50959439e+01] [ 1.85167507e-01 9.82136358e-01 -3.34838505e-02 3.23442900e+00] [ 1.76306230e-01 3.18847396e-04 9.84335315e-01 4.38546726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.40710568099999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:35.13, Y:3.24, Z:4.39 [[ 9.66864845e-01 -1.84484076e-01 -1.76459620e-01 3.51281904e+01] [ 1.81305541e-01 9.82835005e-01 -3.41123629e-02 3.23743607e+00] [ 1.79723879e-01 9.88937623e-04 9.83716600e-01 4.38767631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.43710568099999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:35.16, Y:3.24, Z:4.39 [[ 9.66915004e-01 -1.84210580e-01 -1.76470501e-01 3.51594649e+01] [ 1.81030421e-01 9.82886269e-01 -3.40964640e-02 3.24100999e+00] [ 1.79731362e-01 1.02185356e-03 9.83715199e-01 4.39200543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.46710568099999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:35.19, Y:3.24, Z:4.40 [[ 9.66379706e-01 -1.86627193e-01 -1.76863094e-01 3.51919638e+01] [ 1.83477634e-01 9.82430654e-01 -3.41462629e-02 3.24232866e+00] [ 1.80128346e-01 5.47833523e-04 9.83642963e-01 4.39756434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.497105680999994 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:35.22, Y:3.24, Z:4.40 [[ 9.65024810e-01 -1.91351134e-01 -1.79197822e-01 3.52232745e+01] [ 1.88200940e-01 9.81521583e-01 -3.45801743e-02 3.24272403e+00] [ 1.82503486e-01 -3.54472442e-04 9.83205142e-01 4.40265853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.52710568099999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:35.25, Y:3.24, Z:4.41 [[ 9.64818228e-01 -1.92757853e-01 -1.78802119e-01 3.52547019e+01] [ 1.89647218e-01 9.81246155e-01 -3.44951665e-02 3.24491864e+00] [ 1.82098106e-01 -6.27759090e-04 9.83280166e-01 4.40723921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.55710568099999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:35.29, Y:3.24, Z:4.41 [[ 9.64557650e-01 -1.95882692e-01 -1.76800766e-01 3.52869451e+01] [ 1.92895425e-01 9.80626586e-01 -3.41006310e-02 3.24445211e+00] [ 1.80055255e-01 -1.21203448e-03 9.83655751e-01 4.41145251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.58710568099999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:35.32, Y:3.24, Z:4.42 [[ 9.64418376e-01 -1.96842590e-01 -1.76494166e-01 3.53164005e+01] [ 1.93883035e-01 9.80434111e-01 -3.40341469e-02 3.24405345e+00] [ 1.79740270e-01 -1.39606780e-03 9.83713112e-01 4.41563278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.61710568099999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:35.35, Y:3.25, Z:4.42 [[ 9.64396507e-01 -1.97705695e-01 -1.75646908e-01 3.53473755e+01] [ 1.94788341e-01 9.80260204e-01 -3.38738093e-02 3.24719745e+00] [ 1.78876719e-01 -1.54618639e-03 9.83870280e-01 4.42026592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.64710568099999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:35.37, Y:3.25, Z:4.42 [[ 9.64847354e-01 -1.97961034e-01 -1.72861252e-01 3.53714599e+01] [ 1.95272851e-01 9.80207177e-01 -3.25945398e-02 3.24546461e+00] [ 1.75892289e-01 -2.30635407e-03 9.84406716e-01 4.42475287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.67710568099999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:35.40, Y:3.25, Z:4.43 [[ 9.63585223e-01 -2.07244111e-01 -1.68977504e-01 3.54005279e+01] [ 2.03163742e-01 9.78274080e-01 -4.12833819e-02 3.24727613e+00] [ 1.73862050e-01 5.44995466e-03 9.84754937e-01 4.43473065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.707105680999994 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:35.43, Y:3.25, Z:4.44 [[ 9.62815629e-01 -2.10776908e-01 -1.68994556e-01 3.54261952e+01] [ 2.07755183e-01 9.77533814e-01 -3.55728447e-02 3.24805428e+00] [ 1.72695827e-01 -8.59404130e-04 9.84974828e-01 4.43747644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.73710568099999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:35.46, Y:3.25, Z:4.44 [[ 9.59272815e-01 -2.25775022e-01 -1.69768388e-01 3.54555986e+01] [ 2.21696247e-01 9.74173253e-01 -4.28631318e-02 3.24691636e+00] [ 1.75061247e-01 3.48042269e-03 9.84551393e-01 4.44386691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.76710568099999 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:35.49, Y:3.25, Z:4.44 [[ 9.55349173e-01 -2.39327537e-01 -1.73292494e-01 3.54886414e+01] [ 2.38766050e-01 9.70770689e-01 -2.43934935e-02 3.24648295e+00] [ 1.74065309e-01 -1.80720606e-02 9.84568265e-01 4.44177434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.79710568099999 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:35.52, Y:3.25, Z:4.45 [[ 9.53007297e-01 -2.48642185e-01 -1.73072689e-01 3.55170659e+01] [ 2.46608860e-01 9.68535743e-01 -3.35050007e-02 3.24989681e+00] [ 1.75957842e-01 -1.07507484e-02 9.84338996e-01 4.44875077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.82710568099999 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:35.54, Y:3.25, Z:4.45 [[ 9.52879108e-01 -2.49841888e-01 -1.72047775e-01 3.55449943e+01] [ 2.47850394e-01 9.68225330e-01 -3.33150608e-02 3.25262914e+00] [ 1.74904511e-01 -1.08968834e-02 9.84525099e-01 4.45277284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.85710568099999 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:35.57, Y:3.26, Z:4.46 [[ 9.52830869e-01 -2.48767147e-01 -1.73862709e-01 3.55686625e+01] [ 2.44235895e-01 9.68559718e-01 -4.73381427e-02 3.25622268e+00] [ 1.80172591e-01 2.64172933e-03 9.83631465e-01 4.46419871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.887105680999994 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:35.59, Y:3.26, Z:4.47 [[ 9.52901671e-01 -2.46204049e-01 -1.77093115e-01 3.55947959e+01] [ 2.42593063e-01 9.69213866e-01 -4.21080369e-02 3.26106914e+00] [ 1.82008272e-01 -2.83674256e-03 9.83292907e-01 4.46836625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.91710568099999 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:35.63, Y:3.27, Z:4.47 [[ 9.53969354e-01 -2.40795881e-01 -1.78773083e-01 3.56251227e+01] [ 2.40630289e-01 9.70345687e-01 -2.29415058e-02 3.26914550e+00] [ 1.78995910e-01 -2.11327252e-02 9.83622830e-01 4.46764299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.94710568099999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:35.65, Y:3.28, Z:4.47 [[ 9.56853575e-01 -2.35084094e-01 -1.70782623e-01 3.56516917e+01] [ 2.34373991e-01 9.71835186e-01 -2.46008796e-02 3.28103172e+00] [ 1.71755837e-01 -1.64875653e-02 9.85001570e-01 4.47322476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.97710568099999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:35.68, Y:3.29, Z:4.48 [[ 9.57650272e-01 -2.33591676e-01 -1.68347512e-01 3.56775799e+01] [ 2.30571053e-01 9.72330595e-01 -3.75526843e-02 3.29216216e+00] [ 1.72461431e-01 -2.85372491e-03 9.85012137e-01 4.48275803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.00710568099999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:35.71, Y:3.31, Z:4.48 [[ 9.61205257e-01 -2.18927449e-01 -1.67795188e-01 3.57060162e+01] [ 2.16549028e-01 9.75728193e-01 -3.25731639e-02 3.30595189e+00] [ 1.70853656e-01 -5.02638865e-03 9.85283596e-01 4.48496270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.03710568099999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:35.73, Y:3.32, Z:4.49 [[ 9.62625982e-01 -2.11983488e-01 -1.68565178e-01 3.57349518e+01] [ 2.09477362e-01 9.77265817e-01 -3.27224476e-02 3.31673363e+00] [ 1.71669605e-01 -3.81111052e-03 9.85147208e-01 4.48928672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.067105680999994 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:35.76, Y:3.33, Z:4.49 [[ 9.65078996e-01 -1.97709131e-01 -1.71853519e-01 3.57643305e+01] [ 1.94879363e-01 9.80259869e-01 -3.33560040e-02 3.33155889e+00] [ 1.75055894e-01 -1.29952546e-03 9.84557639e-01 4.49354737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09710568099999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:35.80, Y:3.34, Z:4.50 [[ 9.66693996e-01 -1.89598966e-01 -1.71915533e-01 3.57951815e+01] [ 1.86642618e-01 9.81861604e-01 -3.33515308e-02 3.34204481e+00] [ 1.75120676e-01 1.53959440e-04 9.84546964e-01 4.49760967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.12710568099999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:35.83, Y:3.35, Z:4.50 [[ 9.66707404e-01 -1.89527751e-01 -1.71918665e-01 3.58260525e+01] [ 1.86573158e-01 9.81875353e-01 -3.33353787e-02 3.34797523e+00] [ 1.75120679e-01 1.50149205e-04 9.84546965e-01 4.50280020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.15710568099999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:35.86, Y:3.35, Z:4.51 [[ 9.67009396e-01 -1.88276784e-01 -1.71594521e-01 3.58560358e+01] [ 1.85316029e-01 9.82115940e-01 -3.32603228e-02 3.35197964e+00] [ 1.74787861e-01 3.63829345e-04 9.84606049e-01 4.50584022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.18710568099999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:35.89, Y:3.36, Z:4.51 [[ 9.66531763e-01 -1.89659999e-01 -1.72758315e-01 3.58874863e+01] [ 1.86681359e-01 9.81849822e-01 -3.34813003e-02 3.35512427e+00] [ 1.75972785e-01 1.09983076e-04 9.84395026e-01 4.51004039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.21710568099999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:35.92, Y:3.35, Z:4.50 [[ 9.69235637e-01 -1.87821198e-01 -1.59076953e-01 3.59166581e+01] [ 1.89794703e-01 9.81819709e-01 -2.83362397e-03 3.34898670e+00] [ 1.56717102e-01 -2.74455136e-02 9.87262120e-01 4.49761321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.247105680999994 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:35.94, Y:3.36, Z:4.53 [[ 9.63529752e-01 -2.06344903e-01 -1.70388375e-01 3.59423436e+01] [ 1.98194958e-01 9.78089276e-01 -6.37191238e-02 3.36313334e+00] [ 1.79803159e-01 2.76251546e-02 9.83314637e-01 4.52922151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27710568099999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:35.98, Y:3.36, Z:4.51 [[ 9.66580350e-01 -1.94793389e-01 -1.66667224e-01 3.59763479e+01] [ 1.98356292e-01 9.80118028e-01 4.84067466e-03 3.35570096e+00] [ 1.62410620e-01 -3.77383935e-02 9.86001321e-01 4.50699741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.30710568099999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:36.00, Y:3.37, Z:4.52 [[ 9.66036068e-01 -2.03872112e-01 -1.58778074e-01 3.60015828e+01] [ 2.00299600e-01 9.78983429e-01 -3.83603449e-02 3.36582876e+00] [ 1.63261708e-01 5.25429206e-03 9.86568805e-01 4.52334949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.33710568099999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:36.03, Y:3.37, Z:4.53 [[ 9.65706644e-01 -2.03379620e-01 -1.61392097e-01 3.60286792e+01] [ 2.00831054e-01 9.79098975e-01 -3.21260707e-02 3.36964853e+00] [ 1.64552625e-01 -1.38818512e-03 9.86367328e-01 4.52524322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.36710568099999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:36.06, Y:3.38, Z:4.53 [[ 9.65841192e-01 -2.04202615e-01 -1.59537092e-01 3.60570017e+01] [ 2.01618455e-01 9.78928253e-01 -3.23956008e-02 3.37570318e+00] [ 1.62790633e-01 -8.76616404e-04 9.86660246e-01 4.52900801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.39710568099999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:36.08, Y:3.39, Z:4.55 [[ 9.61240376e-01 -2.14251293e-01 -1.73531909e-01 3.60836342e+01] [ 2.05189142e-01 9.76301655e-01 -6.87931335e-02 3.38902247e+00] [ 1.84158508e-01 3.05198739e-02 9.82422608e-01 4.55271975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.42710568099999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:36.11, Y:3.39, Z:4.54 [[ 9.60240711e-01 -2.10206186e-01 -1.83714826e-01 3.61147402e+01] [ 2.07116993e-01 9.77651105e-01 -3.60675377e-02 3.38949032e+00] [ 1.87190622e-01 -3.41694424e-03 9.82317665e-01 4.54491625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.457105680999994 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:36.14, Y:3.39, Z:4.55 [[ 9.59787533e-01 -2.11738617e-01 -1.84322135e-01 3.61421613e+01] [ 2.08654020e-01 9.77319275e-01 -3.62013204e-02 3.39366655e+00] [ 1.87806792e-01 -3.71397837e-03 9.82198969e-01 4.54835676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.48710568099999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:36.17, Y:3.40, Z:4.55 [[ 9.59511131e-01 -2.14070974e-01 -1.83062849e-01 3.61707567e+01] [ 2.11065661e-01 9.76809443e-01 -3.59805274e-02 3.39547332e+00] [ 1.86519906e-01 -4.11456467e-03 9.82442566e-01 4.55349035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.51710568099999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:36.20, Y:3.40, Z:4.56 [[ 9.59132425e-01 -2.16026711e-01 -1.82749697e-01 3.61974256e+01] [ 2.13055971e-01 9.76377406e-01 -3.59765865e-02 3.40054645e+00] [ 1.86204579e-01 -4.42960346e-03 9.82501009e-01 4.56140903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.54710568099999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:36.22, Y:3.41, Z:4.57 [[ 9.58834789e-01 -2.17403138e-01 -1.82679290e-01 3.62237786e+01] [ 2.14454269e-01 9.76070738e-01 -3.59899976e-02 3.40569070e+00] [ 1.86132248e-01 -4.66789197e-03 9.82513612e-01 4.56706818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57710568099999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:36.25, Y:3.41, Z:4.57 [[ 9.58350797e-01 -2.20038219e-01 -1.82062987e-01 3.62520329e+01] [ 2.17143698e-01 9.75477948e-01 -3.59358861e-02 3.40757491e+00] [ 1.85505697e-01 -5.09464513e-03 9.82629982e-01 4.57191217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.60710568099999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:36.28, Y:3.41, Z:4.58 [[ 9.58332053e-01 -2.21523464e-01 -1.80352518e-01 3.62806126e+01] [ 2.18698965e-01 9.75140778e-01 -3.56542592e-02 3.41216429e+00] [ 1.83767349e-01 -5.27428946e-03 9.82955616e-01 4.57784021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.637105680999994 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:36.31, Y:3.42, Z:4.58 [[ 9.58563409e-01 -2.21067989e-01 -1.79680649e-01 3.63096268e+01] [ 2.18255050e-01 9.75244757e-01 -3.55302184e-02 3.41771428e+00] [ 1.83087205e-01 -5.15824182e-03 9.83083144e-01 4.58290679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.66710568099999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:36.34, Y:3.42, Z:4.59 [[ 9.59391111e-01 -2.17756143e-01 -1.79306885e-01 3.63372865e+01] [ 2.14895910e-01 9.75992802e-01 -3.54654647e-02 3.42264487e+00] [ 1.82725052e-01 -4.50706482e-03 9.83153722e-01 4.58615499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.69710568099999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:36.36, Y:3.43, Z:4.59 [[ 9.59812751e-01 -2.15309911e-01 -1.80003124e-01 3.63641821e+01] [ 2.12382040e-01 9.76537399e-01 -3.56171069e-02 3.42929182e+00] [ 1.83448499e-01 -4.04367744e-03 9.83021005e-01 4.59114516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.72710568099999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:36.39, Y:3.44, Z:4.60 [[ 9.61323957e-01 -2.08874972e-01 -1.79520182e-01 3.63894944e+01] [ 2.05847385e-01 9.77938389e-01 -3.55438061e-02 3.44129396e+00] [ 1.82983889e-01 -2.78464784e-03 9.83111968e-01 4.59863051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.75710568099999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:36.42, Y:3.45, Z:4.60 [[ 9.63039396e-01 -2.02913343e-01 -1.77147672e-01 3.64178169e+01] [ 1.99860554e-01 9.79195391e-01 -3.51019168e-02 3.45053707e+00] [ 1.80584832e-01 -1.60030320e-03 9.83558111e-01 4.60375947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.78710568099999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:36.45, Y:3.46, Z:4.61 [[ 9.63919599e-01 -2.00241846e-01 -1.75391589e-01 3.64455955e+01] [ 1.97205663e-01 9.79745896e-01 -3.47549364e-02 3.45613396e+00] [ 1.78798582e-01 -1.08725018e-03 9.83885097e-01 4.60762653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.817105680999994 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:36.48, Y:3.46, Z:4.61 [[ 9.65379257e-01 -1.95827335e-01 -1.72321052e-01 3.64760601e+01] [ 1.92825508e-01 9.80638359e-01 -3.41574687e-02 3.46234311e+00] [ 1.75673599e-01 -2.52982607e-04 9.84448436e-01 4.61338461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.84710568099999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:36.50, Y:3.47, Z:4.62 [[ 9.66178880e-01 -1.91214762e-01 -1.73018171e-01 3.65049110e+01] [ 1.88116325e-01 9.81548051e-01 -3.42880569e-02 3.46757469e+00] [ 1.76382031e-01 5.80853899e-04 9.84321615e-01 4.61892139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.87710568099999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:36.53, Y:3.47, Z:4.62 [[ 9.66413232e-01 -1.88293445e-01 -1.74902955e-01 3.65338617e+01] [ 1.85078248e-01 9.82112162e-01 -3.46661616e-02 3.47181681e+00] [ 1.78301730e-01 1.13110479e-03 9.83975210e-01 4.62283981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.90710568099999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:36.56, Y:3.47, Z:4.63 [[ 9.67087394e-01 -1.82928547e-01 -1.76859035e-01 3.65640657e+01] [ 1.79549738e-01 9.83123852e-01 -3.50625551e-02 3.47210067e+00] [ 1.80288278e-01 2.15356175e-03 9.83611457e-01 4.62619482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.93710568099999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:36.59, Y:3.47, Z:4.63 [[ 9.67596771e-01 -1.79852146e-01 -1.77227805e-01 3.65914657e+01] [ 1.76405617e-01 9.83689824e-01 -3.51480988e-02 3.47047689e+00] [ 1.80658650e-01 2.74520659e-03 9.83542026e-01 4.63024193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.96710568099999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:36.62, Y:3.47, Z:4.63 [[ 9.67402089e-01 -1.79348932e-01 -1.78793618e-01 3.66198337e+01] [ 1.75822450e-01 9.83781200e-01 -3.55107903e-02 3.47116175e+00] [ 1.82262623e-01 2.91728079e-03 9.83245557e-01 4.63280016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.997105680999994 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:36.65, Y:3.47, Z:4.63 [[ 9.66559307e-01 -1.79623748e-01 -1.83025723e-01 3.66481022e+01] [ 1.75918298e-01 9.83730795e-01 -3.64208071e-02 3.46732261e+00] [ 1.86590082e-01 3.00529645e-03 9.82433260e-01 4.63431747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.02710568099999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:36.68, Y:3.47, Z:4.64 [[ 9.65560689e-01 -1.84187740e-01 -1.83759170e-01 3.66761079e+01] [ 1.80527058e-01 9.82888687e-01 -3.66034290e-02 3.46596646e+00] [ 1.87356712e-01 2.16932973e-03 9.82289548e-01 4.64023250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.05710568099999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:36.70, Y:3.47, Z:4.65 [[ 9.64926223e-01 -1.88223222e-01 -1.83001101e-01 3.67040130e+01] [ 1.84651098e-01 9.82125200e-01 -3.65248246e-02 3.46681975e+00] [ 1.86604814e-01 1.45240673e-03 9.82433985e-01 4.64580810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.08710568099999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:36.73, Y:3.46, Z:4.65 [[ 9.63967814e-01 -1.95338594e-01 -1.80579310e-01 3.67325390e+01] [ 1.91971900e-01 9.80735853e-01 -3.61106122e-02 3.46076695e+00] [ 1.84154400e-01 1.43314558e-04 9.82897317e-01 4.64901109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.11710568099999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:36.76, Y:3.46, Z:4.65 [[ 9.62894875e-01 -2.00481552e-01 -1.80667115e-01 3.67607460e+01] [ 1.97191452e-01 9.79697160e-01 -3.61801749e-02 3.45867424e+00] [ 1.84252517e-01 -7.88305841e-04 9.82878623e-01 4.65337493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.14710568099999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:36.79, Y:3.46, Z:4.66 [[ 9.62099889e-01 -2.02274924e-01 -1.82889743e-01 3.67882356e+01] [ 1.98920766e-01 9.79328191e-01 -3.66990996e-02 3.46193908e+00] [ 1.86532388e-01 -1.07236799e-03 9.82448227e-01 4.65975624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.17710568099999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:36.82, Y:3.47, Z:4.66 [[ 9.62120139e-01 -2.01839907e-01 -1.83263443e-01 3.68152192e+01] [ 1.98450167e-01 9.79418098e-01 -3.68472617e-02 3.46637993e+00] [ 1.86928781e-01 -9.17168360e-04 9.82373040e-01 4.66441377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.20710568099999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:36.84, Y:3.47, Z:4.67 [[ 9.62733613e-01 -1.99153954e-01 -1.82980037e-01 3.68419505e+01] [ 1.95713215e-01 9.79968162e-01 -3.68610904e-02 3.46811943e+00] [ 1.86655643e-01 -3.24200623e-04 9.82425349e-01 4.66829416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.23710568099999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:36.87, Y:3.47, Z:4.67 [[ 9.62749160e-01 -1.98684498e-01 -1.83408084e-01 3.68683847e+01] [ 1.95209391e-01 9.80063486e-01 -3.69980696e-02 3.47224698e+00] [ 1.87102509e-01 -1.83119864e-04 9.82340378e-01 4.67301204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.26710568099999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:36.90, Y:3.48, Z:4.68 [[ 9.62481889e-01 -2.00462223e-01 -1.82875668e-01 3.68955006e+01] [ 1.97029262e-01 9.79701318e-01 -3.69431770e-02 3.47522408e+00] [ 1.86569245e-01 -4.74719077e-04 9.82441699e-01 4.67958689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.29710568099999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:36.92, Y:3.48, Z:4.69 [[ 9.62393014e-01 -2.04665496e-01 -1.78638520e-01 3.69216726e+01] [ 2.01450540e-01 9.78831248e-01 -3.61534001e-02 3.47602130e+00] [ 1.82256319e-01 -1.19304672e-03 9.83250330e-01 4.68629309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.32710568099999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:36.95, Y:3.48, Z:4.69 [[ 9.62271565e-01 -2.06372854e-01 -1.77323662e-01 3.69488785e+01] [ 2.03227894e-01 9.78472320e-01 -3.59213283e-02 3.47974478e+00] [ 1.80919482e-01 -1.47104156e-03 9.83496811e-01 4.69210819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35710568099999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:36.97, Y:3.48, Z:4.69 [[ 9.63319831e-01 -2.02164338e-01 -1.76477999e-01 3.69724748e+01] [ 2.00984375e-01 9.79282323e-01 -2.47267582e-02 3.47990419e+00] [ 1.77820654e-01 -1.16495439e-02 9.83993955e-01 4.69285759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.387105680999994 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:37.00, Y:3.49, Z:4.71 [[ 9.63227486e-01 -2.05571972e-01 -1.73011486e-01 3.70027716e+01] [ 2.00047979e-01 9.78561365e-01 -4.89740761e-02 3.48865071e+00] [ 1.79370053e-01 1.25625780e-02 9.83701462e-01 4.70519740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.41710568099999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:37.03, Y:3.49, Z:4.71 [[ 9.63432159e-01 -2.01662282e-01 -1.76439221e-01 3.70311683e+01] [ 1.98442995e-01 9.79455020e-01 -3.58920861e-02 3.49175947e+00] [ 1.80052360e-01 -4.33537318e-04 9.83656932e-01 4.70673742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.44710568099999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:37.06, Y:3.50, Z:4.71 [[ 9.64412564e-01 -1.97216876e-01 -1.76107668e-01 3.70577855e+01] [ 1.93923753e-01 9.80359775e-01 -3.58927501e-02 3.49862457e+00] [ 1.79727530e-01 4.63959103e-04 9.83716321e-01 4.71305497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.47710568099999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:37.08, Y:3.50, Z:4.72 [[ 9.65368450e-01 -1.94657687e-01 -1.73701294e-01 3.70844378e+01] [ 1.91402011e-01 9.80870737e-01 -3.54664397e-02 3.50202598e+00] [ 1.77282332e-01 9.91404989e-04 9.84159536e-01 4.71704426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.50710568099999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:37.11, Y:3.51, Z:4.72 [[ 9.65443791e-01 -1.93639475e-01 -1.74419154e-01 3.71114302e+01] [ 1.90334233e-01 9.81072003e-01 -3.56455369e-02 3.50600986e+00] [ 1.78020131e-01 1.21582647e-03 9.84026094e-01 4.72112752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53710568099999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:37.14, Y:3.51, Z:4.73 [[ 9.65744588e-01 -1.90185813e-01 -1.76541065e-01 3.71374547e+01] [ 1.86729114e-01 9.81746188e-01 -3.61477676e-02 3.51176135e+00] [ 1.80193310e-01 1.94415433e-03 9.83629296e-01 4.72518798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.567105680999994 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:37.16, Y:3.52, Z:4.73 [[ 9.66744871e-01 -1.85653820e-01 -1.75889208e-01 3.71646092e+01] [ 1.82142193e-01 9.82611189e-01 -3.60482005e-02 3.51759016e+00] [ 1.79523190e-01 2.81256678e-03 9.83749721e-01 4.73121124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59710568099999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:37.19, Y:3.52, Z:4.73 [[ 9.67189395e-01 -1.82587264e-01 -1.76653803e-01 3.71915614e+01] [ 1.78981049e-01 9.83183536e-01 -3.62755787e-02 3.52179741e+00] [ 1.80306570e-01 3.46767199e-03 9.83604349e-01 4.73484616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.62710568099999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:37.22, Y:3.52, Z:4.74 [[ 9.67733543e-01 -1.75535648e-01 -1.80773410e-01 3.72200516e+01] [ 1.71621706e-01 9.84460530e-01 -3.71948269e-02 3.52235488e+00] [ 1.84493305e-01 4.97004060e-03 9.82821204e-01 4.73530832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.65710568099999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:37.25, Y:3.52, Z:4.74 [[ 9.68041227e-01 -1.74571084e-01 -1.80058657e-01 3.72473855e+01] [ 1.70658483e-01 9.84630820e-01 -3.71191419e-02 3.52264301e+00] [ 1.83771232e-01 5.20432241e-03 9.82955263e-01 4.74114098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.68710568099999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:37.27, Y:3.53, Z:4.75 [[ 9.68153323e-01 -1.75551887e-01 -1.78495595e-01 3.72749968e+01] [ 1.71710674e-01 9.84457249e-01 -3.68696352e-02 3.52551055e+00] [ 1.82193816e-01 5.04586089e-03 9.83249690e-01 4.74702454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.71710568099999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:37.30, Y:3.53, Z:4.75 [[ 9.67569297e-01 -1.80017597e-01 -1.77209821e-01 3.73018213e+01] [ 1.76293687e-01 9.83654243e-01 -3.66724291e-02 3.52541768e+00] [ 1.80914875e-01 4.24214370e-03 9.83489610e-01 4.75290986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.747105680999994 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:37.33, Y:3.52, Z:4.76 [[ 9.66042503e-01 -1.87790111e-01 -1.77473259e-01 3.73298845e+01] [ 1.84179055e-01 9.82205123e-01 -3.67582920e-02 3.52352306e+00] [ 1.81217988e-01 2.82321542e-03 9.83438900e-01 4.75708517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.77710568099999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:37.36, Y:3.53, Z:4.76 [[ 9.65282069e-01 -1.92537431e-01 -1.76521573e-01 3.73572607e+01] [ 1.89037785e-01 9.81287682e-01 -3.65951025e-02 3.52536948e+00] [ 1.80264373e-01 1.95534901e-03 9.83616253e-01 4.76167030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.80710568099999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:37.38, Y:3.53, Z:4.77 [[ 9.63920688e-01 -2.00447169e-01 -1.75150904e-01 3.73838958e+01] [ 1.97119336e-01 9.79704364e-01 -3.63775502e-02 3.52541998e+00] [ 1.78887882e-01 5.39443399e-04 9.83869318e-01 4.76619564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.83710568099999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:37.41, Y:3.53, Z:4.77 [[ 9.62849548e-01 -2.04915110e-01 -1.75870822e-01 3.74113523e+01] [ 2.01627331e-01 9.78779715e-01 -3.65607462e-02 3.52739472e+00] [ 1.79630643e-01 -2.57866531e-04 9.83734093e-01 4.76950740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.86710568099999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:37.43, Y:3.53, Z:4.78 [[ 9.61886687e-01 -2.07582661e-01 -1.77998427e-01 3.74346922e+01] [ 2.01412302e-01 9.78111161e-01 -5.22650996e-02 3.53226666e+00] [ 1.84951577e-01 1.44220306e-02 9.82641806e-01 4.77761444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.89710568099999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:37.47, Y:3.53, Z:4.78 [[ 9.60877118e-01 -2.09163834e-01 -1.81564463e-01 3.74655222e+01] [ 2.08270707e-01 9.77772044e-01 -2.41897132e-02 3.53221681e+00] [ 1.82588270e-01 -1.45712172e-02 9.83081484e-01 4.77719457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.92710568099999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:37.49, Y:3.54, Z:4.79 [[ 9.60474214e-01 -2.13846105e-01 -1.78210907e-01 3.74919361e+01] [ 2.10587031e-01 9.76865765e-01 -3.72341219e-02 3.53607702e+00] [ 1.82050506e-01 -1.76649181e-03 9.83287594e-01 4.78510677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95710568099999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:37.52, Y:3.54, Z:4.79 [[ 9.60845975e-01 -2.12883460e-01 -1.77357391e-01 3.75192201e+01] [ 2.09626694e-01 9.77076436e-01 -3.71253025e-02 3.53991159e+00] [ 1.81195090e-01 -1.50714603e-03 9.83446017e-01 4.79000807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.98710568099999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:37.55, Y:3.55, Z:4.80 [[ 9.61907785e-01 -2.06952409e-01 -1.78617226e-01 3.75452234e+01] [ 2.03534253e-01 9.78350958e-01 -3.74594637e-02 3.54600338e+00] [ 1.82502660e-01 -3.22173677e-04 9.83205307e-01 4.79756000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.01710568099999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:37.57, Y:3.55, Z:4.80 [[ 9.62739798e-01 -2.03255760e-01 -1.78379309e-01 3.75721187e+01] [ 1.99770843e-01 9.79125577e-01 -3.74795244e-02 3.55276355e+00] [ 1.82273673e-01 4.48044720e-04 9.83247734e-01 4.80336790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.04710568099999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:37.60, Y:3.56, Z:4.81 [[ 9.62669189e-01 -2.03602190e-01 -1.78365300e-01 3.75994962e+01] [ 2.00110838e-01 9.79053596e-01 -3.75460837e-02 3.55875573e+00] [ 1.82273653e-01 4.51628282e-04 9.83247737e-01 4.80805999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.07710568099999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:37.62, Y:3.57, Z:4.82 [[ 9.64077646e-01 -1.99260163e-01 -1.75640770e-01 3.76248351e+01] [ 1.92661863e-01 9.79776715e-01 -5.40277302e-02 3.56585742e+00] [ 1.82854311e-01 1.82476490e-02 9.82970663e-01 4.81934435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.10710568099999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:37.65, Y:3.56, Z:4.82 [[ 9.64928901e-01 -1.91168222e-01 -1.79908106e-01 3.76544556e+01] [ 1.90491282e-01 9.81460024e-01 -2.11965092e-02 3.56345382e+00] [ 1.80624713e-01 -1.38178015e-02 9.83455023e-01 4.81592125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.137105680999994 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:37.68, Y:3.57, Z:4.82 [[ 9.64776055e-01 -1.93879056e-01 -1.77814720e-01 3.76800206e+01] [ 1.90206625e-01 9.81022273e-01 -3.76396036e-02 3.57012175e+00] [ 1.81737732e-01 2.49225055e-03 9.83343880e-01 4.82300906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.16710568099999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:37.71, Y:3.57, Z:4.83 [[ 9.64520477e-01 -1.95796934e-01 -1.77098306e-01 3.77073407e+01] [ 1.92180111e-01 9.80642092e-01 -3.75218890e-02 3.57249383e+00] [ 1.81016724e-01 2.15585821e-03 9.83477655e-01 4.82741640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.19710568099999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:37.74, Y:3.57, Z:4.83 [[ 9.64231123e-01 -1.98075454e-01 -1.76137606e-01 3.77353443e+01] [ 1.94522996e-01 9.80185144e-01 -3.73883236e-02 3.57376895e+00] [ 1.80053174e-01 1.78817036e-03 9.83655253e-01 4.83320530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.22710568099999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:37.76, Y:3.58, Z:4.84 [[ 9.63970605e-01 -1.99693662e-01 -1.75735921e-01 3.77620036e+01] [ 1.96171274e-01 9.79857148e-01 -3.73738083e-02 3.57835742e+00] [ 1.79659411e-01 1.55291319e-03 9.83727648e-01 4.83794316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.25710568099999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:37.79, Y:3.58, Z:4.84 [[ 9.63584199e-01 -2.02332372e-01 -1.74834498e-01 3.77892161e+01] [ 1.98877295e-01 9.79316268e-01 -3.72487410e-02 3.57962372e+00] [ 1.78754894e-01 1.12168630e-03 9.83892997e-01 4.84296622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.28710568099999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:37.82, Y:3.58, Z:4.85 [[ 9.63000310e-01 -2.05792166e-01 -1.74011455e-01 3.78165872e+01] [ 2.02419897e-01 9.78595588e-01 -3.71060782e-02 3.58202576e+00] [ 1.77922982e-01 5.09784202e-04 9.84044284e-01 4.84882801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.317105680999994 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:37.84, Y:3.59, Z:4.85 [[ 9.62338334e-01 -2.08365711e-01 -1.74610026e-01 3.78433891e+01] [ 2.04999518e-01 9.78050980e-01 -3.73025160e-02 3.58812851e+00] [ 1.78550072e-01 1.02669997e-04 9.83930821e-01 4.85487396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.34710568099999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:37.87, Y:3.60, Z:4.86 [[ 9.61414823e-01 -2.16099957e-01 -1.70242026e-01 3.78711763e+01] [ 2.09489282e-01 9.76200251e-01 -5.61008999e-02 3.59666376e+00] [ 1.78313710e-01 1.82723570e-02 9.83804016e-01 4.85677164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.37710568099999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:37.90, Y:3.59, Z:4.86 [[ 9.59105340e-01 -2.16575933e-01 -1.82241080e-01 3.79006985e+01] [ 2.16777858e-01 9.76034943e-01 -1.90565030e-02 3.59409791e+00] [ 1.82000842e-01 -2.12286371e-02 9.83069193e-01 4.85974393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.40710568099999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:37.93, Y:3.60, Z:4.87 [[ 9.58362013e-01 -2.23267161e-01 -1.78028163e-01 3.79250011e+01] [ 2.19990914e-01 9.74753926e-01 -3.81939944e-02 3.60247864e+00] [ 1.82061115e-01 -2.56090484e-03 9.83283882e-01 4.86775760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.43710568099999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:37.95, Y:3.61, Z:4.87 [[ 9.56505429e-01 -2.30223582e-01 -1.79149287e-01 3.79520796e+01] [ 2.27019866e-01 9.73130049e-01 -3.84693203e-02 3.61041786e+00] [ 1.83192099e-01 -3.87433355e-03 9.83069501e-01 4.87103782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.46710568099999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:37.98, Y:3.62, Z:4.88 [[ 9.54876263e-01 -2.36670677e-01 -1.79438883e-01 3.79773549e+01] [ 2.33556826e-01 9.71576787e-01 -3.85973583e-02 3.61529322e+00] [ 1.83473516e-01 -5.05347470e-03 9.83011664e-01 4.87897269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.497105680999994 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:38.00, Y:3.62, Z:4.89 [[ 9.53869230e-01 -2.42184286e-01 -1.77426786e-01 3.80034120e+01] [ 2.39228565e-01 9.70211652e-01 -3.81974376e-02 3.62127419e+00] [ 1.81392354e-01 -6.01019508e-03 9.83392440e-01 4.88589063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.52710568099999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:38.03, Y:3.63, Z:4.89 [[ 9.53733567e-01 -2.44039249e-01 -1.75605035e-01 3.80294651e+01] [ 2.41162876e-01 9.69745356e-01 -3.78736208e-02 3.62884297e+00] [ 1.79534818e-01 -6.22807199e-03 9.83731905e-01 4.89172795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.55710568099999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:38.06, Y:3.64, Z:4.90 [[ 9.54559878e-01 -2.41780408e-01 -1.74234534e-01 3.80552283e+01] [ 2.38899113e-01 9.70314322e-01 -3.76474426e-02 3.64037174e+00] [ 1.78164678e-01 -5.68773739e-03 9.83984246e-01 4.89801754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.58710568099999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:38.08, Y:3.65, Z:4.90 [[ 9.56391433e-01 -2.32551276e-01 -1.76735202e-01 3.80801212e+01] [ 2.29417189e-01 9.72576082e-01 -3.82559606e-02 3.65070198e+00] [ 1.80784903e-01 -3.95842037e-03 9.83514692e-01 4.90091682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.61710568099999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:38.11, Y:3.66, Z:4.91 [[ 9.57612266e-01 -2.26684931e-01 -1.77743327e-01 3.81068648e+01] [ 2.23408117e-01 9.73964022e-01 -3.85084120e-02 3.65925347e+00] [ 1.81844883e-01 -2.83317444e-03 9.83323147e-01 4.90501121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.64710568099999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:38.13, Y:3.67, Z:4.91 [[ 9.60652868e-01 -2.14741820e-01 -1.76159067e-01 3.81311122e+01] [ 2.11312062e-01 9.76670723e-01 -3.82297127e-02 3.67235426e+00] [ 1.80258921e-01 -4.99052484e-04 9.83619069e-01 4.91096137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.67710568099999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:38.16, Y:3.68, Z:4.92 [[ 9.62173362e-01 -2.09613396e-01 -1.74024843e-01 3.81568348e+01] [ 2.06177873e-01 9.77784222e-01 -3.77981345e-02 3.68210166e+00] [ 1.78081741e-01 4.88286191e-04 9.84015577e-01 4.91650806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.70710568099999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:38.18, Y:3.69, Z:4.92 [[ 9.64557378e-01 -2.00706544e-01 -1.71306590e-01 3.81818448e+01] [ 1.97227309e-01 9.79649018e-01 -3.72718428e-02 3.69037075e+00] [ 1.75301035e-01 2.16449322e-03 9.84512500e-01 4.92070238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.73710568099999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:38.21, Y:3.70, Z:4.92 [[ 9.65159771e-01 -1.97460216e-01 -1.71685989e-01 3.82086719e+01] [ 1.93908841e-01 9.80306926e-01 -3.73857240e-02 3.69723977e+00] [ 1.75687157e-01 2.79176577e-03 9.84442090e-01 4.92492321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.76710568099999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:38.24, Y:3.70, Z:4.93 [[ 9.64995198e-01 -1.97942118e-01 -1.72055762e-01 3.82357566e+01] [ 1.94370949e-01 9.80209778e-01 -3.75329880e-02 3.70395048e+00] [ 1.76080099e-01 2.77651148e-03 9.84371926e-01 4.92951451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.79710568099999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:38.26, Y:3.71, Z:4.93 [[ 9.64538714e-01 -1.99333631e-01 -1.73006281e-01 3.82622448e+01] [ 1.95733108e-01 9.79928231e-01 -3.78049385e-02 3.70954411e+00] [ 1.77069534e-01 2.60126971e-03 9.84194906e-01 4.93320495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.82710568099999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:38.29, Y:3.71, Z:4.94 [[ 9.63357139e-01 -2.02048560e-01 -1.76406921e-01 3.82903405e+01] [ 1.98342805e-01 9.79373082e-01 -3.85810473e-02 3.71309679e+00] [ 1.80563435e-01 2.17828374e-03 9.83560929e-01 4.93635984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.85710568099999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:38.32, Y:3.71, Z:4.94 [[ 9.62245706e-01 -2.05627273e-01 -1.78327302e-01 3.83183588e+01] [ 2.01887756e-01 9.78629086e-01 -3.90697564e-02 3.71346160e+00] [ 1.82550092e-01 1.59260644e-03 9.83195264e-01 4.93876109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.887105680999994 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:38.34, Y:3.72, Z:4.94 [[ 9.61863938e-01 -2.07224884e-01 -1.78537428e-01 3.83445053e+01] [ 2.03491132e-01 9.78292391e-01 -3.91836345e-02 3.71650531e+00] [ 1.82781631e-01 1.35854162e-03 9.83152597e-01 4.94299663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.91710568099999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:38.37, Y:3.72, Z:4.95 [[ 9.61411666e-01 -2.09061572e-01 -1.78831953e-01 3.83710313e+01] [ 2.05340482e-01 9.77901921e-01 -3.92825646e-02 3.72207595e+00] [ 1.83092585e-01 1.04527643e-03 9.83095119e-01 4.95016482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.94710568099999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:38.40, Y:3.73, Z:4.96 [[ 9.60849020e-01 -2.11089348e-01 -1.79472696e-01 3.83951324e+01] [ 2.03677834e-01 9.77259733e-01 -5.89809623e-02 3.73049903e+00] [ 1.87841692e-01 2.01171898e-02 9.81993278e-01 4.96044030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.97710568099999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:38.43, Y:3.73, Z:4.96 [[ 9.61750684e-01 -2.05161239e-01 -1.81506164e-01 3.84260337e+01] [ 2.04690638e-01 9.78589961e-01 -2.15274663e-02 3.73051422e+00] [ 1.82036711e-01 -1.64485570e-02 9.83154149e-01 4.95661400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.00710568099999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:38.45, Y:3.73, Z:4.96 [[ 9.61311791e-01 -2.11134636e-01 -1.76923163e-01 3.84515761e+01] [ 2.07502788e-01 9.77456678e-01 -3.90004524e-02 3.73399356e+00] [ 1.81169074e-01 7.79545031e-04 9.83451656e-01 4.96473569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.03710568099999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:38.48, Y:3.74, Z:4.97 [[ 9.60222806e-01 -2.15554872e-01 -1.77505664e-01 3.84773650e+01] [ 2.11965154e-01 9.76491729e-01 -3.91749440e-02 3.73860503e+00] [ 1.81777163e-01 -8.34086788e-06 9.83339750e-01 4.96909836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.067105680999994 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:38.50, Y:3.75, Z:4.98 [[ 9.56582453e-01 -2.29334821e-01 -1.79876485e-01 3.85022936e+01] [ 2.22076273e-01 9.73194918e-01 -5.97811130e-02 3.74522428e+00] [ 1.88764772e-01 1.72392644e-02 9.81871004e-01 4.97888975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.09710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:38.53, Y:3.75, Z:4.98 [[ 9.55750292e-01 -2.30687628e-01 -1.82550260e-01 3.85331165e+01] [ 2.30692586e-01 9.72788998e-01 -2.15057488e-02 3.74527520e+00] [ 1.82543995e-01 -2.15588658e-02 9.82961294e-01 4.97504744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.12710568099999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:38.56, Y:3.75, Z:4.98 [[ 9.54068730e-01 -2.41616987e-01 -1.77127325e-01 3.85578179e+01] [ 2.38461796e-01 9.70359716e-01 -3.92172579e-02 3.75125357e+00] [ 1.81352777e-01 -4.82214071e-03 9.83406283e-01 4.98379184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.15710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:38.58, Y:3.76, Z:4.99 [[ 9.52801642e-01 -2.46418437e-01 -1.77332978e-01 3.85846461e+01] [ 2.43329458e-01 9.69146796e-01 -3.93098397e-02 3.75690712e+00] [ 1.81548357e-01 -5.69585770e-03 9.83365523e-01 4.98983599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.18710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.61, Y:3.76, Z:4.99 [[ 9.52261368e-01 -2.47709075e-01 -1.78433464e-01 3.86108747e+01] [ 2.44591645e-01 9.68816404e-01 -3.96194809e-02 3.76466712e+00] [ 1.82683371e-01 -5.91523326e-03 9.83154004e-01 4.99482836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.21710568099999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:38.64, Y:3.77, Z:5.00 [[ 9.52235962e-01 -2.47792890e-01 -1.78452675e-01 3.86365550e+01] [ 2.44663810e-01 9.68795269e-01 -3.96906405e-02 3.77267697e+00] [ 1.82719166e-01 -5.86605605e-03 9.83147647e-01 5.00053492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.247105680999994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:38.66, Y:3.78, Z:5.01 [[ 9.52572334e-01 -2.46862368e-01 -1.77946397e-01 3.86622322e+01] [ 2.43728731e-01 9.69034154e-01 -3.96120366e-02 3.78218683e+00] [ 1.82214857e-01 -5.63731934e-03 9.83242578e-01 5.00626614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.27710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:38.69, Y:3.79, Z:5.01 [[ 9.53173450e-01 -2.45586965e-01 -1.76486309e-01 3.86885439e+01] [ 2.42470388e-01 9.69360188e-01 -3.93565380e-02 3.79089200e+00] [ 1.80744254e-01 -5.27909671e-03 9.83515961e-01 5.01087229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.30710568099999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:38.71, Y:3.80, Z:5.02 [[ 9.55071862e-01 -2.41654152e-01 -1.71583825e-01 3.87138402e+01] [ 2.38634268e-01 9.70352749e-01 -3.83305092e-02 3.80318876e+00] [ 1.75759563e-01 -4.33738980e-03 9.84423569e-01 5.01765266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.33710568099999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:38.74, Y:3.81, Z:5.03 [[ 9.55145008e-01 -2.41250254e-01 -1.71744954e-01 3.87350540e+01] [ 2.33473833e-01 9.70225987e-01 -6.44321670e-02 3.81495949e+00] [ 1.82175694e-01 2.14441100e-02 9.83032129e-01 5.03004482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.36710568099999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:38.77, Y:3.83, Z:5.02 [[ 9.57738547e-01 -2.27516958e-01 -1.75991219e-01 3.87666490e+01] [ 2.28412465e-01 9.73442204e-01 -1.54279640e-02 3.82514554e+00] [ 1.74827404e-01 -2.54226324e-02 9.84270831e-01 5.02312506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.39710568099999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:38.79, Y:3.84, Z:5.03 [[ 9.58844527e-01 -2.27012054e-01 -1.70536509e-01 3.87895806e+01] [ 2.23774405e-01 9.73890790e-01 -3.82327779e-02 3.83927837e+00] [ 1.74763237e-01 -1.50241600e-03 9.84609341e-01 5.03222052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.42710568099999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:38.81, Y:3.85, Z:5.04 [[ 9.60604394e-01 -2.19944872e-01 -1.69892472e-01 3.88149575e+01] [ 2.16616514e-01 9.75512286e-01 -3.81191066e-02 3.85446591e+00] [ 1.74116295e-01 -1.84133725e-04 9.84725079e-01 5.03631248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.45710568099999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:38.84, Y:3.86, Z:5.04 [[ 9.60803981e-01 -2.18093982e-01 -1.71145333e-01 3.88386908e+01] [ 2.11979343e-01 9.75811301e-01 -5.34515054e-02 3.86471913e+00] [ 1.78663001e-01 1.50771440e-02 9.83794802e-01 5.04359472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.48710568099999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:38.87, Y:3.87, Z:5.04 [[ 9.61090555e-01 -2.11183501e-01 -1.78063116e-01 3.88668790e+01] [ 2.06524709e-01 9.77427924e-01 -4.45218780e-02 3.87339547e+00] [ 1.83446148e-01 6.01512326e-03 9.83011358e-01 5.04384634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.51710568099999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:38.90, Y:3.88, Z:5.04 [[ 9.61554556e-01 -2.05505676e-01 -1.82154473e-01 3.88966861e+01] [ 2.04550061e-01 9.78556277e-01 -2.42257331e-02 3.88135021e+00] [ 1.83226929e-01 -1.39653446e-02 9.82971445e-01 5.04159350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.54710568099999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:38.92, Y:3.89, Z:5.06 [[ 9.61003408e-01 -2.08913930e-01 -1.81183389e-01 3.89184288e+01] [ 2.01152977e-01 9.77695248e-01 -6.04109458e-02 3.89334262e+00] [ 1.89762826e-01 2.16095467e-02 9.81592124e-01 5.05669797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.57710568099999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:38.95, Y:3.90, Z:5.06 [[ 9.60954707e-01 -2.05184915e-01 -1.85648057e-01 3.89485623e+01] [ 2.02371212e-01 9.78711869e-01 -3.41901955e-02 3.89586263e+00] [ 1.88711270e-01 -4.71459299e-03 9.82021298e-01 5.05526063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.60710568099999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:38.98, Y:3.90, Z:5.06 [[ 9.61105007e-01 -2.06915495e-01 -1.82929342e-01 3.89764332e+01] [ 2.04610084e-01 9.78333357e-01 -3.15999311e-02 3.90096568e+00] [ 1.85504392e-01 -7.05833604e-03 9.82618085e-01 5.05855037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.63710568099999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:39.00, Y:3.91, Z:5.07 [[ 9.60502908e-01 -2.10940067e-01 -1.81489539e-01 3.90027043e+01] [ 2.06899202e-01 9.77497027e-01 -4.11373704e-02 3.90543395e+00] [ 1.86083004e-01 1.96252308e-03 9.82532068e-01 5.06688556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.66710568099999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:39.03, Y:3.91, Z:5.07 [[ 9.59858059e-01 -2.14472384e-01 -1.80759791e-01 3.90300277e+01] [ 2.10513251e-01 9.76729132e-01 -4.10411283e-02 3.90573673e+00] [ 1.85355543e-01 1.34132654e-03 9.82670608e-01 5.07141717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.69710568099999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:39.06, Y:3.91, Z:5.08 [[ 9.59857463e-01 -2.17832911e-01 -1.76698824e-01 3.90579199e+01] [ 2.14101534e-01 9.75985820e-01 -4.01523708e-02 3.90682626e+00] [ 1.81202055e-01 7.09063427e-04 9.83445633e-01 5.07920129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.72710568099999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:39.08, Y:3.91, Z:5.09 [[ 9.59862706e-01 -2.19478099e-01 -1.74622305e-01 3.90844320e+01] [ 2.15849863e-01 9.75617320e-01 -3.97452186e-02 3.91270219e+00] [ 1.79087750e-01 4.57752608e-04 9.83832998e-01 5.08629965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.75710568099999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:39.11, Y:3.92, Z:5.09 [[ 9.59451669e-01 -2.22130397e-01 -1.73524009e-01 3.91097489e+01] [ 2.18579106e-01 9.75016967e-01 -3.95611993e-02 3.91899797e+00] [ 1.77976598e-01 2.83359778e-05 9.84034720e-01 5.09256460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.78710568099999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:39.14, Y:3.92, Z:5.10 [[ 9.58939625e-01 -2.23584361e-01 -1.74484466e-01 3.91365087e+01] [ 2.20011219e-01 9.74684559e-01 -3.98129922e-02 3.92446616e+00] [ 1.78968878e-01 -2.10284313e-04 9.83854713e-01 5.09560203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.817105680999994 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:39.16, Y:3.93, Z:5.10 [[ 9.57691014e-01 -2.24685892e-01 -1.79844855e-01 3.91643095e+01] [ 2.20894028e-01 9.74431178e-01 -4.11060534e-02 3.92746363e+00] [ 1.84482384e-01 -3.59756456e-04 9.82835755e-01 5.09555133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.84710568099999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:39.19, Y:3.93, Z:5.10 [[ 9.56839687e-01 -2.25942156e-01 -1.82778433e-01 3.91916385e+01] [ 2.22040283e-01 9.74140550e-01 -4.18127044e-02 3.93277449e+00] [ 1.87499135e-01 -5.76120019e-04 9.82264599e-01 5.09867891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.87710568099999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:39.22, Y:3.94, Z:5.10 [[ 9.55648787e-01 -2.30290988e-01 -1.83579564e-01 3.92171584e+01] [ 2.26421451e-01 9.73120847e-01 -4.20611978e-02 3.93780777e+00] [ 1.88331416e-01 -1.37061868e-03 9.82104576e-01 5.10415884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.90710568099999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:39.24, Y:3.94, Z:5.11 [[ 9.53955850e-01 -2.37643689e-01 -1.83012876e-01 3.92434242e+01] [ 2.33925379e-01 9.71348425e-01 -4.19661141e-02 3.94421976e+00] [ 1.87742251e-01 -2.77753620e-03 9.82214403e-01 5.11284092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.93710568099999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:39.27, Y:3.95, Z:5.12 [[ 9.53872774e-01 -2.37989103e-01 -1.82997044e-01 3.92706768e+01] [ 2.34263869e-01 9.71263865e-01 -4.20350438e-02 3.95070106e+00] [ 1.87742299e-01 -2.77351181e-03 9.82214405e-01 5.11758720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.96710568099999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:39.30, Y:3.96, Z:5.12 [[ 9.52936238e-01 -2.42803942e-01 -1.81545510e-01 3.92974498e+01] [ 2.39211635e-01 9.70068611e-01 -4.17694038e-02 3.95556154e+00] [ 1.86253377e-01 -3.62421968e-03 9.82495061e-01 5.12356333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.997105680999994 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:39.32, Y:3.96, Z:5.14 [[ 9.50715902e-01 -2.53197011e-01 -1.78970800e-01 3.93222439e+01] [ 2.45842233e-01 9.67291519e-01 -6.25197054e-02 3.95950503e+00] [ 1.88946739e-01 1.54398972e-02 9.81865948e-01 5.13513536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.02710568099999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:39.35, Y:3.96, Z:5.14 [[ 9.49863553e-01 -2.53461597e-01 -1.83074986e-01 3.93516677e+01] [ 2.50172752e-01 9.67322713e-01 -4.12354594e-02 3.96262050e+00] [ 1.87544197e-01 -6.63231292e-03 9.82233774e-01 5.13641855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.05710568099999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:39.38, Y:3.97, Z:5.14 [[ 9.50850233e-01 -2.50646639e-01 -1.81824355e-01 3.93797412e+01] [ 2.50766854e-01 9.67781076e-01 -2.27106634e-02 3.96652963e+00] [ 1.81658522e-01 -2.40010820e-02 9.83068731e-01 5.13546897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.08710568099999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:39.41, Y:3.98, Z:5.14 [[ 9.51921215e-01 -2.49330966e-01 -1.77988961e-01 3.94058283e+01] [ 2.45961496e-01 9.68407215e-01 -4.11145708e-02 3.97526797e+00] [ 1.82616930e-01 -4.64059904e-03 9.83173190e-01 5.14385224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.11710568099999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:39.43, Y:3.98, Z:5.15 [[ 9.52654446e-01 -2.46335779e-01 -1.78236333e-01 3.94325290e+01] [ 2.42891979e-01 9.69176276e-01 -4.12411407e-02 3.98305980e+00] [ 1.82901594e-01 -4.00361975e-03 9.83123074e-01 5.14862883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.14710568099999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:39.45, Y:4.00, Z:5.16 [[ 9.54109862e-01 -2.41594286e-01 -1.76936631e-01 3.94548270e+01] [ 2.34246056e-01 9.70222230e-01 -6.16247447e-02 3.99608051e+00] [ 1.86556039e-01 1.73500685e-02 9.82291107e-01 5.16073197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.17710568099999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:39.48, Y:4.00, Z:5.16 [[ 9.57223686e-01 -2.29416278e-01 -1.76326362e-01 3.94834998e+01] [ 2.29389205e-01 9.73112097e-01 -2.08192113e-02 4.00272058e+00] [ 1.76361581e-01 -2.05187216e-02 9.84111566e-01 5.15703527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.20710568099999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:39.51, Y:4.01, Z:5.16 [[ 9.57931651e-01 -2.30415505e-01 -1.71101275e-01 3.95084676e+01] [ 2.26958708e-01 9.73092057e-01 -3.97692426e-02 4.01388003e+00] [ 1.75660742e-01 -7.36708181e-04 9.84450487e-01 5.16483395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.23710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:39.53, Y:4.02, Z:5.17 [[ 9.57874810e-01 -2.27701654e-01 -1.75008015e-01 3.95341210e+01] [ 2.24026546e-01 9.73730931e-01 -4.07453248e-02 4.02232491e+00] [ 1.79688495e-01 -1.77520849e-04 9.83723545e-01 5.16804276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.26710568099999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:39.56, Y:4.03, Z:5.18 [[ 9.57591046e-01 -2.27653488e-01 -1.76616191e-01 3.95598121e+01] [ 2.20575611e-01 9.73584377e-01 -5.89903444e-02 4.03244747e+00] [ 1.85380122e-01 1.75314015e-02 9.82510489e-01 5.17748478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.29710568099999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:39.59, Y:4.04, Z:5.17 [[ 9.60348419e-01 -2.12690127e-01 -1.80260432e-01 3.95887659e+01] [ 2.11785303e-01 9.77009600e-01 -2.44791098e-02 4.03793461e+00] [ 1.81322637e-01 -1.46680358e-02 9.83314268e-01 5.17110156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.32710568099999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:39.61, Y:4.05, Z:5.18 [[ 9.60629393e-01 -2.13466481e-01 -1.77829218e-01 3.96127390e+01] [ 2.06070579e-01 9.76739229e-01 -5.92907634e-02 4.05063499e+00] [ 1.86349364e-01 2.03110800e-02 9.82273574e-01 5.18339246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.35710568099999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:39.64, Y:4.05, Z:5.18 [[ 9.62827789e-01 -1.98194998e-01 -1.83524910e-01 3.96426925e+01] [ 1.97036758e-01 9.80084587e-01 -2.47127049e-02 4.05220267e+00] [ 1.84767870e-01 -1.23670741e-02 9.82704376e-01 5.17685703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.38710568099999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:39.67, Y:4.06, Z:5.18 [[ 9.63706840e-01 -1.98892569e-01 -1.78075471e-01 3.96679290e+01] [ 1.94552353e-01 9.80005672e-01 -4.16925062e-02 4.05727664e+00] [ 1.82807301e-01 5.53435147e-03 9.83133186e-01 5.18393966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.41710568099999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:39.69, Y:4.06, Z:5.19 [[ 9.63784576e-01 -2.00702075e-01 -1.75607427e-01 3.96946218e+01] [ 1.96506349e-01 9.79638793e-01 -4.11471780e-02 4.06223065e+00] [ 1.80290172e-01 5.14904115e-03 9.83599990e-01 5.18972228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.44710568099999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:39.72, Y:4.06, Z:5.20 [[ 9.62801388e-01 -2.07328813e-01 -1.73286615e-01 3.97223119e+01] [ 2.03338542e-01 9.78263455e-01 -4.06700206e-02 4.06380851e+00] [ 1.77952030e-01 3.92130461e-03 9.84031350e-01 5.19677061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.47710568099999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:39.75, Y:4.06, Z:5.20 [[ 9.60181016e-01 -2.17869095e-01 -1.74887034e-01 3.97515687e+01] [ 2.13964260e-01 9.75975829e-01 -4.11153970e-02 4.06260021e+00] [ 1.79643292e-01 2.05864885e-03 9.83729663e-01 5.19911315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.50710568099999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:39.78, Y:4.07, Z:5.20 [[ 9.58763714e-01 -2.23895819e-01 -1.75050861e-01 3.97790539e+01] [ 2.20070494e-01 9.74612571e-01 -4.12227353e-02 4.06592743e+00] [ 1.79836368e-01 9.99333307e-04 9.83696031e-01 5.20364055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.53710568099999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:39.80, Y:4.07, Z:5.22 [[ 9.55313517e-01 -2.37036942e-01 -1.76605698e-01 3.98034368e+01] [ 2.28796282e-01 9.71237829e-01 -6.59495398e-02 4.07169563e+00] [ 1.87158612e-01 2.25957596e-02 9.82069797e-01 5.21699486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.567105680999994 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:39.83, Y:4.07, Z:5.21 [[ 9.53390728e-01 -2.38058709e-01 -1.85402727e-01 3.98334423e+01] [ 2.35052103e-01 9.71225494e-01 -3.83607676e-02 4.07080228e+00] [ 1.89199970e-01 -7.00650076e-03 9.81913581e-01 5.21336379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:39.86, Y:4.07, Z:5.21 [[ 9.53205888e-01 -2.38459501e-01 -1.85837568e-01 3.98630986e+01] [ 2.37824557e-01 9.70959090e-01 -2.60369931e-02 4.07408837e+00] [ 1.86649444e-01 -1.93781222e-02 9.82235447e-01 5.21192593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.62710568099999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:39.89, Y:4.08, Z:5.22 [[ 9.51628551e-01 -2.45537172e-01 -1.84701373e-01 3.98893751e+01] [ 2.41628592e-01 9.69382518e-01 -4.37396600e-02 4.07994532e+00] [ 1.89785994e-01 -3.00522329e-03 9.81820882e-01 5.21961436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.65710568099999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:39.92, Y:4.09, Z:5.23 [[ 9.51084643e-01 -2.47647967e-01 -1.84684830e-01 3.99162533e+01] [ 2.43766099e-01 9.68844265e-01 -4.38050040e-02 4.08598070e+00] [ 1.89779059e-01 -3.35763405e-03 9.81821081e-01 5.22584089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.68710568099999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:39.94, Y:4.09, Z:5.23 [[ 9.51165509e-01 -2.50449825e-01 -1.80441294e-01 3.99419119e+01] [ 2.46782988e-01 9.68122286e-01 -4.28648591e-02 4.09313679e+00] [ 1.85424734e-01 -3.75826616e-03 9.82651283e-01 5.23364696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.71710568099999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:39.97, Y:4.10, Z:5.25 [[ 9.51521223e-01 -2.51074096e-01 -1.77677124e-01 3.99666676e+01] [ 2.44078424e-01 9.67862920e-01 -6.05565138e-02 4.10420912e+00] [ 1.87171272e-01 1.42536556e-02 9.82223879e-01 5.24583891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.747105680999994 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:40.00, Y:4.11, Z:5.25 [[ 9.52951451e-01 -2.43520828e-01 -1.80502459e-01 3.99954402e+01] [ 2.40953945e-01 9.69855325e-01 -3.63571818e-02 4.11039602e+00] [ 1.83915002e-01 -8.84615028e-03 9.82902344e-01 5.24564465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.77710568099999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:40.02, Y:4.12, Z:5.25 [[ 9.53593942e-01 -2.43918717e-01 -1.76528335e-01 4.00215876e+01] [ 2.40457481e-01 9.69790142e-01 -4.10765191e-02 4.11882558e+00] [ 1.81214771e-01 -3.27723897e-03 9.83438085e-01 5.25246799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.80710568099999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:40.05, Y:4.13, Z:5.26 [[ 9.56012151e-01 -2.45042106e-01 -1.61230066e-01 4.00492069e+01] [ 2.39045268e-01 9.69397905e-01 -5.59022519e-02 4.13146474e+00] [ 1.69994494e-01 1.49019477e-02 9.85332332e-01 5.25561541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.83710568099999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:40.07, Y:4.14, Z:5.26 [[ 9.54607382e-01 -2.39852409e-01 -1.76622672e-01 4.00740688e+01] [ 2.41250164e-01 9.70364224e-01 -1.38431190e-02 4.13691146e+00] [ 1.74708627e-01 -2.93955049e-02 9.84181284e-01 5.25783377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.86710568099999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:40.09, Y:4.15, Z:5.27 [[ 9.52697495e-01 -2.49928747e-01 -1.72925142e-01 4.00928981e+01] [ 2.42671603e-01 9.68108829e-01 -6.22558271e-02 4.15474836e+00] [ 1.82969878e-01 1.73469491e-02 9.82965466e-01 5.27293453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.89710568099999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:40.12, Y:4.17, Z:5.27 [[ 9.49862767e-01 -2.54115609e-01 -1.82170198e-01 4.01201613e+01] [ 2.49477565e-01 9.67173741e-01 -4.83311461e-02 4.16562538e+00] [ 1.88471931e-01 4.60578722e-04 9.82078469e-01 5.27431846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.92710568099999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:40.15, Y:4.17, Z:5.27 [[ 9.49175759e-01 -2.55208596e-01 -1.84211702e-01 4.01506754e+01] [ 2.55872618e-01 9.66491673e-01 -2.05681609e-02 4.17204800e+00] [ 1.83288247e-01 -2.76119306e-02 9.82671359e-01 5.26964525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95710568099999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:40.18, Y:4.19, Z:5.28 [[ 9.45950538e-01 -2.68488815e-01 -1.81910244e-01 4.01751043e+01] [ 2.65011693e-01 9.63257799e-01 -4.36258624e-02 4.18570163e+00] [ 1.86939517e-01 -6.94043369e-03 9.82346908e-01 5.27749847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.98710568099999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:40.20, Y:4.20, Z:5.28 [[ 9.43133582e-01 -2.78147814e-01 -1.82024284e-01 4.02000944e+01] [ 2.74829932e-01 9.60498093e-01 -4.37255253e-02 4.19844273e+00] [ 1.86996137e-01 -8.78671021e-03 9.82321352e-01 5.28370390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.01710568099999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:40.22, Y:4.21, Z:5.29 [[ 9.41877141e-01 -2.82744840e-01 -1.81446429e-01 4.02248997e+01] [ 2.79519409e-01 9.59147113e-01 -4.36545094e-02 4.20814385e+00] [ 1.86376906e-01 -9.60061415e-03 9.82431411e-01 5.28978280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.04710568099999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:40.25, Y:4.22, Z:5.30 [[ 9.40370373e-01 -2.88722393e-01 -1.79841434e-01 4.02499860e+01] [ 2.85655551e-01 9.57353586e-01 -4.33014799e-02 4.22194442e+00] [ 1.84673949e-01 -1.06532753e-02 9.82742103e-01 5.29641668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.07710568099999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:40.27, Y:4.24, Z:5.30 [[ 9.41479135e-01 -2.87267232e-01 -1.76336542e-01 4.02746360e+01] [ 2.84281583e-01 9.57797296e-01 -4.25243661e-02 4.23727051e+00] [ 1.81110520e-01 -1.00934278e-02 9.83410953e-01 5.30213152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.10710568099999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:40.30, Y:4.25, Z:5.31 [[ 9.42575375e-01 -2.84258895e-01 -1.75352628e-01 4.03001715e+01] [ 2.81242798e-01 9.58701528e-01 -4.23540868e-02 4.24952498e+00] [ 1.80150358e-01 -9.39474457e-03 9.83594219e-01 5.30670762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.13710568099999 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:40.32, Y:4.27, Z:5.31 [[ 9.45698000e-01 -2.73273896e-01 -1.76001907e-01 4.03197289e+01] [ 2.67535980e-01 9.61918249e-01 -5.60159066e-02 4.26838628e+00] [ 1.84607131e-01 5.88728833e-03 9.82794763e-01 5.31433485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.16710568099999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:40.35, Y:4.28, Z:5.31 [[ 9.48999938e-01 -2.70657003e-01 -1.61690767e-01 4.03509357e+01] [ 2.62093256e-01 9.62311924e-01 -7.25457480e-02 4.28308016e+00] [ 1.75231967e-01 2.64678509e-02 9.84171332e-01 5.31415242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.19710568099999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:40.38, Y:4.29, Z:5.31 [[ 9.51364995e-01 -2.47561603e-01 -1.83351843e-01 4.03770005e+01] [ 2.51893286e-01 9.67754955e-01 3.46258299e-04 4.29264770e+00] [ 1.77353934e-01 -4.65145163e-02 9.83047294e-01 5.30920641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.22710568099999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:40.40, Y:4.32, Z:5.33 [[ 9.54696782e-01 -2.42171527e-01 -1.72936423e-01 4.03980989e+01] [ 2.38519996e-01 9.70232668e-01 -4.19139833e-02 4.31680251e+00] [ 1.77938941e-01 -1.23365010e-03 9.84040757e-01 5.32791607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.25710568099999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:40.42, Y:4.32, Z:5.33 [[ 9.56649507e-01 -2.33098247e-01 -1.74605063e-01 4.04216224e+01] [ 2.30940273e-01 9.72412637e-01 -3.28672192e-02 4.32484532e+00] [ 1.77449461e-01 -8.88093200e-03 9.84089842e-01 5.32777781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.28710568099999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:40.45, Y:4.34, Z:5.34 [[ 9.55382723e-01 -2.36133830e-01 -1.77439193e-01 4.04483106e+01] [ 2.30003272e-01 9.71653538e-01 -5.46616541e-02 4.34093204e+00] [ 1.85316886e-01 1.14112049e-02 9.82612557e-01 5.33742566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.31710568099999 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:40.47, Y:4.35, Z:5.34 [[ 9.54108883e-01 -2.38412351e-01 -1.81206486e-01 4.04726150e+01] [ 2.33213142e-01 9.71149821e-01 -4.97961334e-02 4.34782410e+00] [ 1.87850660e-01 5.25119930e-03 9.82183565e-01 5.33881985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.34710568099999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:40.50, Y:4.36, Z:5.34 [[ 9.52291251e-01 -2.45929352e-01 -1.80721132e-01 4.05018721e+01] [ 2.42619805e-01 9.69273637e-01 -4.05493233e-02 4.35615384e+00] [ 1.85140498e-01 -5.23176004e-03 9.82698135e-01 5.34077134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.37710568099999 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:40.52, Y:4.36, Z:5.35 [[ 9.49019741e-01 -2.57772877e-01 -1.81424019e-01 4.05243198e+01] [ 2.52248995e-01 9.66193541e-01 -5.32962154e-02 4.36242872e+00] [ 1.89029034e-01 4.81513415e-03 9.81959693e-01 5.35052102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.40710568099999 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:40.55, Y:4.37, Z:5.35 [[ 9.46235247e-01 -2.65898745e-01 -1.84219205e-01 4.05517165e+01] [ 2.61742173e-01 9.63993624e-01 -4.69822105e-02 4.36968971e+00] [ 1.90078650e-01 -3.76171150e-03 9.81761660e-01 5.35243086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.43710568099999 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:40.58, Y:4.38, Z:5.36 [[ 9.46822437e-01 -2.64745520e-01 -1.82858093e-01 4.05782468e+01] [ 2.60182827e-01 9.64317535e-01 -4.89549553e-02 4.38184426e+00] [ 1.89293871e-01 -1.22488548e-03 9.81919717e-01 5.35912473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.46710568099999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:40.61, Y:4.39, Z:5.36 [[ 9.48351036e-01 -2.59757905e-01 -1.82088286e-01 4.06069340e+01] [ 2.57165656e-01 9.65614848e-01 -3.81286128e-02 4.39168387e+00] [ 1.85731361e-01 -1.06675439e-02 9.82542653e-01 5.36007882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.497105680999994 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:40.63, Y:4.40, Z:5.37 [[ 9.49057334e-01 -2.58437163e-01 -1.80278702e-01 4.06333269e+01] [ 2.55077852e-01 9.66008565e-01 -4.19850306e-02 4.40349115e+00] [ 1.85001262e-01 -6.13890279e-03 9.82719109e-01 5.36586996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.52710568099999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:40.66, Y:4.41, Z:5.37 [[ 9.50635088e-01 -2.54008212e-01 -1.78249143e-01 4.06614669e+01] [ 2.50298810e-01 9.67196176e-01 -4.33827565e-02 4.41450743e+00] [ 1.83421466e-01 -3.37437792e-03 9.83028575e-01 5.36956913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.55710568099999 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:40.68, Y:4.42, Z:5.38 [[ 9.49588141e-01 -2.57276960e-01 -1.79139409e-01 4.06849828e+01] [ 2.50556847e-01 9.66267019e-01 -5.95761134e-02 4.42150775e+00] [ 1.88424064e-01 1.16881653e-02 9.82018207e-01 5.37881296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.58710568099999 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:40.72, Y:4.43, Z:5.37 [[ 9.48435188e-01 -2.58309206e-01 -1.83703698e-01 4.07151400e+01] [ 2.56018291e-01 9.65982550e-01 -3.65013363e-02 4.42556717e+00] [ 1.86883198e-01 -1.24123549e-02 9.82303723e-01 5.37484406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.61710568099999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:40.74, Y:4.43, Z:5.38 [[ 9.46333995e-01 -2.68511494e-01 -1.79870917e-01 4.07436247e+01] [ 2.65595829e-01 9.63230747e-01 -4.05633423e-02 4.43261477e+00] [ 1.84148922e-01 -9.38649559e-03 9.82853534e-01 5.38237224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.64710568099999 meters Centerline goodness : 0.998403 Centerline is valid? [True, True] Translation: X:40.77, Y:4.44, Z:5.39 [[ 9.45325410e-01 -2.73432924e-01 -1.77747869e-01 4.07740323e+01] [ 2.70061259e-01 9.61865612e-01 -4.33758023e-02 4.43811667e+00] [ 1.82829935e-01 -6.99856521e-03 9.83119644e-01 5.39055192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.67710568099999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:40.80, Y:4.44, Z:5.40 [[ 9.46027528e-01 -2.71329675e-01 -1.77234655e-01 4.07994163e+01] [ 2.67356187e-01 9.62480136e-01 -4.63967391e-02 4.44174223e+00] [ 1.83173647e-01 -3.49218908e-03 9.83074371e-01 5.39728820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.70710568099999 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:40.83, Y:4.45, Z:5.40 [[ 9.48252372e-01 -2.63681430e-01 -1.76888502e-01 4.08291498e+01] [ 2.60429198e-01 9.64588298e-01 -4.17857382e-02 4.44666907e+00] [ 1.81642702e-01 -6.44350536e-03 9.83343485e-01 5.40067601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.73710568099999 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:40.86, Y:4.45, Z:5.41 [[ 9.50098998e-01 -2.57030488e-01 -1.76768837e-01 4.08574241e+01] [ 2.53392132e-01 9.66396221e-01 -4.32524267e-02 4.45355578e+00] [ 1.81945928e-01 -3.69774524e-03 9.83301584e-01 5.40544958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.76710568099999 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:40.89, Y:4.46, Z:5.41 [[ 9.54561934e-01 -2.38912786e-01 -1.78135326e-01 4.08853006e+01] [ 2.34902481e-01 9.71041001e-01 -4.35912659e-02 4.46349343e+00] [ 1.83391216e-01 -2.33866839e-04 9.83039983e-01 5.41061558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.79710568099999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:40.91, Y:4.47, Z:5.42 [[ 9.58341193e-01 -2.24044972e-01 -1.77160965e-01 4.09128559e+01] [ 2.19824422e-01 9.74575311e-01 -4.33611301e-02 4.47367055e+00] [ 1.82371546e-01 2.61045045e-03 9.83226223e-01 5.41705701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.82710568099999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:40.94, Y:4.48, Z:5.42 [[ 9.59882941e-01 -2.16576623e-01 -1.78099144e-01 4.09425159e+01] [ 2.12181783e-01 9.76257181e-01 -4.35982385e-02 4.48236825e+00] [ 1.83312928e-01 4.05981132e-03 9.83046229e-01 5.42151894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.85710568099999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:40.97, Y:4.49, Z:5.43 [[ 9.59888008e-01 -2.16552509e-01 -1.78101161e-01 4.09721832e+01] [ 2.12158786e-01 9.76262547e-01 -4.35900002e-02 4.48962086e+00] [ 1.83313017e-01 4.05579233e-03 9.83046229e-01 5.42688373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.88710568099999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:41.00, Y:4.50, Z:5.43 [[ 9.60053798e-01 -2.15534671e-01 -1.78441894e-01 4.10005409e+01] [ 2.11107276e-01 9.76486920e-01 -4.36693697e-02 4.49584973e+00] [ 1.83658439e-01 4.25456210e-03 9.82980914e-01 5.43055474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.91710568099999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:41.03, Y:4.50, Z:5.43 [[ 9.59741860e-01 -2.19014967e-01 -1.75863604e-01 4.10284537e+01] [ 2.14772415e-01 9.75715071e-01 -4.30454431e-02 4.49728787e+00] [ 1.81020365e-01 3.54186273e-03 9.83472970e-01 5.43351916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.94710568099999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:41.06, Y:4.50, Z:5.44 [[ 9.59021343e-01 -2.22888072e-01 -1.74925617e-01 4.10570063e+01] [ 2.18743474e-01 9.74839855e-01 -4.28783171e-02 4.50106229e+00] [ 1.80081529e-01 2.85738406e-03 9.83647538e-01 5.43958408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.97710568099999 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:41.09, Y:4.50, Z:5.45 [[ 9.57136775e-01 -2.30607836e-01 -1.75240462e-01 4.10854875e+01] [ 2.26574583e-01 9.73045742e-01 -4.29644327e-02 4.50317744e+00] [ 1.80424920e-01 1.41780395e-03 9.83587738e-01 5.44767447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.00710568099999 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:41.12, Y:4.50, Z:5.45 [[ 9.55615780e-01 -2.35827620e-01 -1.76589399e-01 4.11153666e+01] [ 2.31816859e-01 9.71794798e-01 -4.33106710e-02 4.50285697e+00] [ 1.81822511e-01 4.51960822e-04 9.83331262e-01 5.45145260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.03710568099999 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:41.14, Y:4.50, Z:5.45 [[ 9.54560271e-01 -2.40322850e-01 -1.76237388e-01 4.11439012e+01] [ 2.36392935e-01 9.70692953e-01 -4.32847576e-02 4.50082468e+00] [ 1.81474707e-01 -3.43363446e-04 9.83395553e-01 5.45416203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.06710568099999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:41.17, Y:4.50, Z:5.46 [[ 9.53899062e-01 -2.44092879e-01 -1.74628881e-01 4.11709605e+01] [ 2.40292051e-01 9.69751321e-01 -4.29197587e-02 4.50335309e+00] [ 1.79822996e-01 -1.02081455e-03 9.83698454e-01 5.45867918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09710568099999 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:41.20, Y:4.50, Z:5.46 [[ 9.51539571e-01 -2.54041306e-01 -1.73307412e-01 4.11991377e+01] [ 2.50455885e-01 9.67189183e-01 -4.26255165e-02 4.50371011e+00] [ 1.78449696e-01 -2.84599560e-03 9.83944920e-01 5.46401383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.12710568099999 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:41.23, Y:4.51, Z:5.47 [[ 9.50112864e-01 -2.59028178e-01 -1.73752550e-01 4.12260678e+01] [ 2.55494213e-01 9.65862585e-01 -4.28039042e-02 4.50706316e+00] [ 1.78908504e-01 -3.72423087e-03 9.83858667e-01 5.46856533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.15710568099999 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:41.25, Y:4.51, Z:5.47 [[ 9.46821871e-01 -2.67578361e-01 -1.78690139e-01 4.12537501e+01] [ 2.63983796e-01 9.63520621e-01 -4.40518823e-02 4.50614278e+00] [ 1.83958965e-01 -5.46201562e-03 9.82918748e-01 5.47056723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.18710568099999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:41.28, Y:4.51, Z:5.48 [[ 9.43853917e-01 -2.76092130e-01 -1.81419182e-01 4.12818024e+01] [ 2.70773928e-01 9.61129478e-01 -5.39593006e-02 4.50663310e+00] [ 1.89265062e-01 1.80611268e-03 9.81924373e-01 5.47551175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.21710568099999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:41.31, Y:4.51, Z:5.48 [[ 9.43181272e-01 -2.76700029e-01 -1.83973321e-01 4.13099052e+01] [ 2.74674925e-01 9.60827958e-01 -3.69231729e-02 4.50914760e+00] [ 1.86983353e-01 -1.57076130e-02 9.82237495e-01 5.47519136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.247105680999994 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:41.34, Y:4.52, Z:5.49 [[ 9.42684635e-01 -2.78907994e-01 -1.83182996e-01 4.13351163e+01] [ 2.75315385e-01 9.60286631e-01 -4.52882353e-02 4.51790513e+00] [ 1.88539433e-01 -7.74057365e-03 9.82035114e-01 5.48508272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.27710568099999 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:41.36, Y:4.53, Z:5.49 [[ 9.42845761e-01 -2.78259487e-01 -1.83339926e-01 4.13606467e+01] [ 2.74634592e-01 9.60476292e-01 -4.53997118e-02 4.52622472e+00] [ 1.88726553e-01 -7.54655990e-03 9.82000681e-01 5.49092684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.30710568099999 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:41.38, Y:4.54, Z:5.50 [[ 9.43578108e-01 -2.76553113e-01 -1.82150294e-01 4.13843131e+01] [ 2.70314403e-01 9.60978732e-01 -5.87366994e-02 4.53716542e+00] [ 1.91286376e-01 6.18481552e-03 9.81514784e-01 5.50000316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.33710568099999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:41.41, Y:4.54, Z:5.50 [[ 9.44519608e-01 -2.72529487e-01 -1.83331362e-01 4.14133455e+01] [ 2.70234613e-01 9.62048992e-01 -3.78812805e-02 4.54399502e+00] [ 1.86697518e-01 -1.37628675e-02 9.82321037e-01 5.49927826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.36710568099999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:41.44, Y:4.55, Z:5.51 [[ 9.44134413e-01 -2.75546140e-01 -1.80788650e-01 4.14367006e+01] [ 2.71206791e-01 9.61283294e-01 -4.87986229e-02 4.55421360e+00] [ 1.87235381e-01 -2.95865021e-03 9.82310622e-01 5.50889869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.39710568099999 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:41.46, Y:4.57, Z:5.51 [[ 9.43135519e-01 -2.78795216e-01 -1.81021050e-01 4.14636289e+01] [ 2.76640180e-01 9.60238907e-01 -3.75692983e-02 4.56891535e+00] [ 1.84297596e-01 -1.46447562e-02 9.82761379e-01 5.51336342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.42710568099999 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:41.49, Y:4.58, Z:5.52 [[ 9.42611553e-01 -2.82022447e-01 -1.78736675e-01 4.14895046e+01] [ 2.78601260e-01 9.59375644e-01 -4.44939485e-02 4.58082682e+00] [ 1.84023905e-01 -7.85575302e-03 9.82890375e-01 5.52162486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45710568099999 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:41.51, Y:4.59, Z:5.53 [[ 9.41430582e-01 -2.86826602e-01 -1.77310349e-01 4.15094476e+01] [ 2.80084746e-01 9.57938553e-01 -6.25001052e-02 4.59353243e+00] [ 1.87779112e-01 9.17758643e-03 9.82168406e-01 5.53371716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.48710568099999 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:41.54, Y:4.60, Z:5.53 [[ 9.41280450e-01 -2.86201863e-01 -1.79107812e-01 4.15412111e+01] [ 2.85818557e-01 9.57859652e-01 -2.85068352e-02 4.60341400e+00] [ 1.79718856e-01 -2.43594096e-02 9.83416368e-01 5.52650500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.51710568099999 meters Centerline goodness : 0.997946 Centerline is valid? [True, True] Translation: X:41.57, Y:4.62, Z:5.54 [[ 9.41385080e-01 -2.88950888e-01 -1.74073306e-01 4.15668643e+01] [ 2.85797458e-01 9.57303281e-01 -4.34769115e-02 4.61581249e+00] [ 1.79203639e-01 -8.82119261e-03 9.83772455e-01 5.53633121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.54710568099999 meters Centerline goodness : 0.998050 Centerline is valid? [True, True] Translation: X:41.59, Y:4.64, Z:5.55 [[ 9.42907942e-01 -2.83122499e-01 -1.75403149e-01 4.15882305e+01] [ 2.77610974e-01 9.59076028e-01 -5.57253907e-02 4.63812981e+00] [ 1.84002067e-01 3.85007432e-03 9.82918316e-01 5.54984578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.57710568099999 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:41.61, Y:4.65, Z:5.55 [[ 9.45593343e-01 -2.76907739e-01 -1.70807887e-01 4.16137425e+01] [ 2.72386703e-01 9.60896323e-01 -4.98371278e-02 4.64771116e+00] [ 1.77928957e-01 5.99859038e-04 9.84043153e-01 5.55148981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.60710568099999 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:41.64, Y:4.65, Z:5.54 [[ 9.48280587e-01 -2.66093748e-01 -1.73083926e-01 4.16448464e+01] [ 2.68807089e-01 9.63160724e-01 -8.01058142e-03 4.65246447e+00] [ 1.68839205e-01 -3.89299076e-02 9.84874502e-01 5.53893170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63710568099999 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:41.67, Y:4.67, Z:5.57 [[ 9.47285787e-01 -2.71480643e-01 -1.70140821e-01 4.16697625e+01] [ 2.63899849e-01 9.62280271e-01 -6.61328116e-02 4.67477079e+00] [ 1.81676933e-01 1.77465356e-02 9.83198125e-01 5.56560660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.66710568099999 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:41.70, Y:4.69, Z:5.56 [[ 9.49148825e-01 -2.59127480e-01 -1.78800046e-01 4.17013959e+01] [ 2.55282232e-01 9.65837443e-01 -4.45983786e-02 4.68589094e+00] [ 1.84248445e-01 -3.31397622e-03 9.82874116e-01 5.56138807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.69710568099999 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:41.73, Y:4.70, Z:5.56 [[ 9.50257416e-01 -2.51937808e-01 -1.83134333e-01 4.17311843e+01] [ 2.47773444e-01 9.67741389e-01 -4.56609706e-02 4.69857140e+00] [ 1.88730399e-01 -1.98614843e-03 9.82026930e-01 5.56235595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.72710568099999 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:41.75, Y:4.71, Z:5.57 [[ 9.50181898e-01 -2.50876641e-01 -1.84973704e-01 4.17539323e+01] [ 2.43677133e-01 9.67932547e-01 -6.10576773e-02 4.70886916e+00] [ 1.94360013e-01 1.29420379e-02 9.80844885e-01 5.57224728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.75710568099999 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:41.78, Y:4.72, Z:5.57 [[ 9.50759851e-01 -2.46564382e-01 -1.87781019e-01 4.17842563e+01] [ 2.44659208e-01 9.69025744e-01 -3.36300323e-02 4.71859619e+00] [ 1.90256610e-01 -1.39682708e-02 9.81635019e-01 5.56563618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.78710568099999 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:41.81, Y:4.73, Z:5.58 [[ 9.51952057e-01 -2.48915561e-01 -1.78404946e-01 4.18053674e+01] [ 2.41232200e-01 9.68361862e-01 -6.38931070e-02 4.72885849e+00] [ 1.88664534e-01 1.77861570e-02 9.81880515e-01 5.58053199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.81710568099999 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:41.84, Y:4.73, Z:5.56 [[ 9.52329826e-01 -2.40069813e-01 -1.88240241e-01 4.18397958e+01] [ 2.42353486e-01 9.70124055e-01 -1.11402714e-02 4.72852091e+00] [ 1.85290829e-01 -3.50114658e-02 9.82059828e-01 5.56061331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.84710568099999 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:41.86, Y:4.74, Z:5.59 [[ 9.49460050e-01 -2.54124110e-01 -1.84245897e-01 4.18640625e+01] [ 2.45600609e-01 9.66977183e-01 -6.80842795e-02 4.74490287e+00] [ 1.95463435e-01 1.93923989e-02 9.80519240e-01 5.58866433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.87710568099999 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:41.90, Y:4.75, Z:5.59 [[ 9.49125968e-01 -2.52964101e-01 -1.87534158e-01 4.18959069e+01] [ 2.48617791e-01 9.67473033e-01 -4.67453210e-02 4.75023290e+00] [ 1.93259129e-01 -2.25713010e-03 9.81145155e-01 5.58848031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.90710568099999 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:41.93, Y:4.76, Z:5.60 [[ 9.48617696e-01 -2.55998009e-01 -1.85982489e-01 4.19254313e+01] [ 2.51783281e-01 9.66673082e-01 -4.63501099e-02 4.75551445e+00] [ 1.91649802e-01 -2.85874672e-03 9.81459210e-01 5.59537805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.93710568099999 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:41.95, Y:4.76, Z:5.59 [[ 9.48677847e-01 -2.56963941e-01 -1.84336309e-01 4.19530984e+01] [ 2.56889857e-01 9.66124936e-01 -2.47024303e-02 4.75507790e+00] [ 1.84439539e-01 -2.39194797e-02 9.82552754e-01 5.59153347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.96710568099999 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:41.98, Y:4.77, Z:5.61 [[ 9.46197011e-01 -2.70970745e-01 -1.76878695e-01 4.19779385e+01] [ 2.63340372e-01 9.62460880e-01 -6.57335745e-02 4.76818479e+00] [ 1.88050700e-01 1.56176104e-02 9.82035144e-01 5.61428143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99710568099999 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:42.01, Y:4.77, Z:5.61 [[ 9.43859441e-01 -2.75791168e-01 -1.81847702e-01 4.20102513e+01] [ 2.72123639e-01 9.61194200e-01 -4.53258670e-02 4.77043883e+00] [ 1.87291430e-01 -6.70381100e-03 9.82281517e-01 5.61074796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.02710568099999 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:42.04, Y:4.77, Z:5.62 [[ 9.42069148e-01 -2.82737006e-01 -1.80459155e-01 4.20405300e+01] [ 2.79253677e-01 9.59163847e-01 -4.49677404e-02 4.77462953e+00] [ 1.85803942e-01 -8.03116182e-03 9.82554017e-01 5.61572432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.05710568099999 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:42.07, Y:4.78, Z:5.62 [[ 9.41689433e-01 -2.85146873e-01 -1.78640062e-01 4.20694856e+01] [ 2.81776661e-01 9.58446867e-01 -4.45142198e-02 4.78186134e+00] [ 1.83910099e-01 -8.41802988e-03 9.82907021e-01 5.62289306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.08710568099999 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:42.09, Y:4.79, Z:5.63 [[ 9.41159506e-01 -2.87858812e-01 -1.77076503e-01 4.20943464e+01] [ 2.84595579e-01 9.57631784e-01 -4.41216823e-02 4.79045776e+00] [ 1.82274903e-01 -8.86964929e-03 9.83207602e-01 5.63244574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.11710568099999 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:42.12, Y:4.80, Z:5.64 [[ 9.40423595e-01 -2.88935256e-01 -1.79220198e-01 4.21212279e+01] [ 2.85607779e-01 9.57304696e-01 -4.46756724e-02 4.79795189e+00] [ 1.84476714e-01 -9.17262646e-03 9.82794081e-01 5.63692377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.14710568099999 meters Centerline goodness : 0.998290 Centerline is valid? [True, True] Translation: X:42.15, Y:4.80, Z:5.64 [[ 9.40317433e-01 -2.88492216e-01 -1.80486471e-01 4.21526056e+01] [ 2.85106026e-01 9.57438658e-01 -4.50085452e-02 4.80478633e+00] [ 1.85789339e-01 -9.13546077e-03 9.82547131e-01 5.64063196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.17710568099999 meters Centerline goodness : 0.998118 Centerline is valid? [True, True] Translation: X:42.18, Y:4.81, Z:5.65 [[ 9.42599312e-01 -2.82322552e-01 -1.78326987e-01 4.21819607e+01] [ 2.78911095e-01 9.59287531e-01 -4.44525983e-02 4.81369131e+00] [ 1.83616826e-01 -7.83638666e-03 9.82966659e-01 5.64552083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.20710568099999 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:42.21, Y:4.83, Z:5.65 [[ 9.47319767e-01 -2.67660541e-01 -1.75906493e-01 4.22113347e+01] [ 2.64095149e-01 9.63500599e-01 -4.38217850e-02 4.82801652e+00] [ 1.81215374e-01 -4.94280840e-03 9.83431013e-01 5.65427460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.23710568099999 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:42.24, Y:4.84, Z:5.66 [[ 9.49853434e-01 -2.57699186e-01 -1.77114604e-01 4.22409673e+01] [ 2.53917094e-01 9.66220264e-01 -4.40966015e-02 4.83918408e+00] [ 1.82495378e-01 -3.08711717e-03 9.83201865e-01 5.66006661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.26710568099999 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:42.27, Y:4.85, Z:5.66 [[ 9.54473039e-01 -2.37953372e-01 -1.79887218e-01 4.22688961e+01] [ 2.33705716e-01 9.71276336e-01 -4.47651294e-02 4.85284351e+00] [ 1.85372212e-01 6.86438068e-04 9.82668139e-01 5.66468909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.29710568099999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:42.30, Y:4.87, Z:5.67 [[ 9.57481512e-01 -2.24312337e-01 -1.81419759e-01 4.22991603e+01] [ 2.19750387e-01 9.74511556e-01 -4.51330743e-02 4.86570968e+00] [ 1.86919557e-01 3.34702193e-03 9.82369521e-01 5.66846402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.32710568099999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:42.33, Y:4.87, Z:5.67 [[ 9.57963889e-01 -2.21781132e-01 -1.81984388e-01 4.23297151e+01] [ 2.17150295e-01 9.75088963e-01 -4.52467043e-02 4.87449562e+00] [ 1.87485833e-01 3.82674540e-03 9.82259853e-01 5.67210977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.35710568099999 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:42.36, Y:4.88, Z:5.67 [[ 9.57899888e-01 -2.21189274e-01 -1.83038548e-01 4.23606458e+01] [ 2.16496837e-01 9.75222906e-01 -4.54906916e-02 4.88049472e+00] [ 1.88565437e-01 3.94826172e-03 9.82052691e-01 5.67315849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.38710568099999 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:42.39, Y:4.89, Z:5.68 [[ 9.55847332e-01 -2.27936445e-01 -1.85474675e-01 4.23928753e+01] [ 2.23245417e-01 9.73672433e-01 -4.60812066e-02 4.88511796e+00] [ 1.91095165e-01 2.64022705e-03 9.81567964e-01 5.67747619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.41710568099999 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:42.42, Y:4.89, Z:5.68 [[ 9.54878288e-01 -2.31373857e-01 -1.86208468e-01 4.24233897e+01] [ 2.26714400e-01 9.72862982e-01 -4.62406593e-02 4.89049599e+00] [ 1.91854205e-01 1.93806057e-03 9.81421524e-01 5.68306121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.44710568099999 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:42.46, Y:4.89, Z:5.69 [[ 9.52831504e-01 -2.38903982e-01 -1.87181764e-01 4.24557480e+01] [ 2.34341743e-01 9.71043108e-01 -4.64675089e-02 4.89232450e+00] [ 1.92862835e-01 4.11205688e-04 9.81225641e-01 5.68800976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.47710568099999 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:42.49, Y:4.89, Z:5.69 [[ 9.51248615e-01 -2.44839244e-01 -1.87562837e-01 4.24871266e+01] [ 2.40376068e-01 9.69563348e-01 -4.65430978e-02 4.89483364e+00] [ 1.93249629e-01 -8.11559895e-04 9.81149286e-01 5.69476662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.50710568099999 meters Centerline goodness : 0.998068 Centerline is valid? [True, True] Translation: X:42.52, Y:4.90, Z:5.70 [[ 9.50809816e-01 -2.46400337e-01 -1.87743357e-01 4.25182865e+01] [ 2.41962366e-01 9.69167454e-01 -4.65688592e-02 4.90091269e+00] [ 1.93429334e-01 -1.14869838e-03 9.81113537e-01 5.70128878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.53710568099999 meters Centerline goodness : 0.997772 Centerline is valid? [True, True] Translation: X:42.55, Y:4.90, Z:5.71 [[ 9.51000256e-01 -2.46219348e-01 -1.87014826e-01 4.25455337e+01] [ 2.40367487e-01 9.69194759e-01 -5.37120999e-02 4.90389838e+00] [ 1.94478748e-01 6.12793689e-03 9.80887590e-01 5.70932876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.56710568099999 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:42.58, Y:4.91, Z:5.71 [[ 9.52493742e-01 -2.41583812e-01 -1.85453319e-01 4.25752670e+01] [ 2.38569787e-01 9.70352194e-01 -3.87437271e-02 4.90503382e+00] [ 1.89314893e-01 -7.34040129e-03 9.81888991e-01 5.70990417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59710568099999 meters Centerline goodness : 0.998157 Centerline is valid? [True, True] Translation: X:42.60, Y:4.91, Z:5.72 [[ 9.52446004e-01 -2.44388300e-01 -1.81991673e-01 4.26035118e+01] [ 2.40172217e-01 9.69677230e-01 -4.52037242e-02 4.91172191e+00] [ 1.87520443e-01 -6.55237104e-04 9.82260482e-01 5.71835457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.62710568099999 meters Centerline goodness : 0.997845 Centerline is valid? [True, True] Translation: X:42.63, Y:4.92, Z:5.73 [[ 9.50708792e-01 -2.51389023e-01 -1.81538845e-01 4.26335553e+01] [ 2.47318720e-01 9.67884019e-01 -4.50996400e-02 4.91550799e+00] [ 1.87046102e-01 -2.02133064e-03 9.82349057e-01 5.72514524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.65710568099999 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:42.66, Y:4.92, Z:5.73 [[ 9.49075720e-01 -2.57727891e-01 -1.81194957e-01 4.26641632e+01] [ 2.53788286e-01 9.66212014e-01 -4.50094465e-02 4.91958898e+00] [ 1.86672934e-01 -3.26778470e-03 9.82416682e-01 5.73053208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.68710568099999 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:42.69, Y:4.92, Z:5.74 [[ 9.44457770e-01 -2.73409237e-01 -1.82337350e-01 4.26896657e+01] [ 2.68222900e-01 9.61897104e-01 -5.30135553e-02 4.91853757e+00] [ 1.89884164e-01 1.16201163e-03 9.81805813e-01 5.73823576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71710568099999 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:42.72, Y:4.92, Z:5.74 [[ 9.40872210e-01 -2.84117383e-01 -1.84490641e-01 4.27192975e+01] [ 2.80783339e-01 9.58738214e-01 -4.45169035e-02 4.91958546e+00] [ 1.89526254e-01 -9.91718081e-03 9.81825569e-01 5.74170721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.74710568099999 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:42.75, Y:4.93, Z:5.75 [[ 9.40833298e-01 -2.84570638e-01 -1.83989830e-01 4.27453235e+01] [ 2.80781661e-01 9.58625406e-01 -4.68933943e-02 4.92648073e+00] [ 1.89721809e-01 -7.54210333e-03 9.81808918e-01 5.74734264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77710568099999 meters Centerline goodness : 0.997530 Centerline is valid? [True, True] Translation: X:42.77, Y:4.93, Z:5.75 [[ 9.39530025e-01 -2.88296461e-01 -1.84847189e-01 4.27716243e+01] [ 2.84492950e-01 9.57507092e-01 -4.73701410e-02 4.93158816e+00] [ 1.90649138e-01 -8.08205232e-03 9.81624972e-01 5.75314363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.80710568099999 meters Centerline goodness : 0.997658 Centerline is valid? [True, True] Translation: X:42.80, Y:4.94, Z:5.76 [[ 9.38243132e-01 -2.92344941e-01 -1.85025027e-01 4.27999100e+01] [ 2.89625831e-01 9.56210223e-01 -4.21768566e-02 4.93776425e+00] [ 1.89253013e-01 -1.40158812e-02 9.81828321e-01 5.75701083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.83710568099999 meters Centerline goodness : 0.997555 Centerline is valid? [True, True] Translation: X:42.83, Y:4.95, Z:5.76 [[ 9.38259685e-01 -2.92375771e-01 -1.84892327e-01 4.28253866e+01] [ 2.88888851e-01 9.56249977e-01 -4.61434069e-02 4.94535927e+00] [ 1.90294498e-01 -1.01188335e-02 9.81674902e-01 5.76342283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.86710568099999 meters Centerline goodness : 0.997637 Centerline is valid? [True, True] Translation: X:42.85, Y:4.95, Z:5.76 [[ 9.40092064e-01 -2.87464009e-01 -1.83279444e-01 4.28524392e+01] [ 2.86343332e-01 9.57553908e-01 -3.31362336e-02 4.95067765e+00] [ 1.85025423e-01 -2.13297366e-02 9.82502232e-01 5.76410912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.89710568099999 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:42.87, Y:4.97, Z:5.79 [[ 9.40532975e-01 -2.89246789e-01 -1.78140442e-01 4.28723702e+01] [ 2.80610355e-01 9.57082076e-01 -7.24688092e-02 4.96570846e+00] [ 1.91456395e-01 1.81712520e-02 9.81332897e-01 5.78704422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.92710568099999 meters Centerline goodness : 0.997547 Centerline is valid? [True, True] Translation: X:42.90, Y:4.98, Z:5.78 [[ 9.42468006e-01 -2.81513008e-01 -1.80290001e-01 4.29032698e+01] [ 2.80198864e-01 9.59365792e-01 -3.32546748e-02 4.97782709e+00] [ 1.82325683e-01 -1.91755864e-02 9.83051190e-01 5.77799612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95710568099999 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:42.93, Y:4.99, Z:5.79 [[ 9.43798820e-01 -2.80005284e-01 -1.75615569e-01 4.29323305e+01] [ 2.76609982e-01 9.59972817e-01 -4.40353148e-02 4.99060823e+00] [ 1.80916293e-01 -7.01654121e-03 9.83473468e-01 5.78812409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.98710568099999 meters Centerline goodness : 0.997535 Centerline is valid? [True, True] Translation: X:42.96, Y:5.01, Z:5.79 [[ 9.47096902e-01 -2.70213737e-01 -1.73181971e-01 4.29620971e+01] [ 2.66752738e-01 9.62786935e-01 -4.34084668e-02 5.00676074e+00] [ 1.78466903e-01 -5.08474050e-03 9.83932777e-01 5.79372841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.01710568099999 meters Centerline goodness : 0.997641 Centerline is valid? [True, True] Translation: X:42.99, Y:5.02, Z:5.80 [[ 9.50106416e-01 -2.59277934e-01 -1.73414970e-01 4.29920771e+01] [ 2.55631053e-01 9.65797914e-01 -4.34413731e-02 5.02230897e+00] [ 1.78747206e-01 -3.05632418e-03 9.83890286e-01 5.79970247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.04710568099999 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:43.02, Y:5.04, Z:5.80 [[ 9.52501950e-01 -2.48969908e-01 -1.75368244e-01 4.30212428e+01] [ 2.45070949e-01 9.68510528e-01 -4.39043021e-02 5.03513789e+00] [ 1.80776840e-01 -1.15872850e-03 9.83523457e-01 5.80382104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.07710568099999 meters Centerline goodness : 0.997836 Centerline is valid? [True, True] Translation: X:43.05, Y:5.04, Z:5.81 [[ 9.53148552e-01 -2.45359353e-01 -1.76936785e-01 4.30527765e+01] [ 2.41332190e-01 9.69432070e-01 -4.42745614e-02 5.04445549e+00] [ 1.82391371e-01 -5.00307700e-04 9.83225883e-01 5.80853846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.10710568099999 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:43.08, Y:5.05, Z:5.81 [[ 9.53227597e-01 -2.42123644e-01 -1.80923437e-01 4.30836353e+01] [ 2.37858643e-01 9.70245398e-01 -4.52452651e-02 5.05167805e+00] [ 1.86495080e-01 9.48321843e-05 9.82455890e-01 5.81205225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.13710568099999 meters Centerline goodness : 0.997572 Centerline is valid? [True, True] Translation: X:43.12, Y:5.06, Z:5.81 [[ 9.52617298e-01 -2.42841929e-01 -1.83161353e-01 4.31152628e+01] [ 2.38486413e-01 9.70065871e-01 -4.57868679e-02 5.05546887e+00] [ 1.88797549e-01 -6.41318440e-05 9.82016029e-01 5.81438531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.16710568099999 meters Centerline goodness : 0.997672 Centerline is valid? [True, True] Translation: X:43.14, Y:5.06, Z:5.82 [[ 9.51410665e-01 -2.45989883e-01 -1.85220743e-01 4.31438449e+01] [ 2.41428953e-01 9.69272386e-01 -4.71497961e-02 5.05878770e+00] [ 1.91127725e-01 1.41168739e-04 9.81565165e-01 5.81787935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.19710568099999 meters Centerline goodness : 0.997354 Centerline is valid? [True, True] Translation: X:43.17, Y:5.07, Z:5.82 [[ 9.49783176e-01 -2.52201220e-01 -1.85220039e-01 4.31742946e+01] [ 2.47631393e-01 9.67674699e-01 -4.77950904e-02 5.06578444e+00] [ 1.91286725e-01 -4.71323432e-04 9.81534088e-01 5.82277934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.22710568099999 meters Centerline goodness : 0.997231 Centerline is valid? [True, True] Translation: X:43.20, Y:5.07, Z:5.83 [[ 9.48148903e-01 -2.56832346e-01 -1.87218598e-01 4.32043981e+01] [ 2.52543287e-01 9.66451684e-01 -4.68298141e-02 5.06923271e+00] [ 1.92965140e-01 -2.87916316e-03 9.81201389e-01 5.82689025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.25710568099999 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:43.23, Y:5.07, Z:5.83 [[ 9.48194383e-01 -2.55763658e-01 -1.88447244e-01 4.32280985e+01] [ 2.50214242e-01 9.66734101e-01 -5.30849398e-02 5.07294213e+00] [ 1.95755575e-01 3.18265736e-03 9.80647554e-01 5.83342946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.28710568099999 meters Centerline goodness : 0.997377 Centerline is valid? [True, True] Translation: X:43.26, Y:5.08, Z:5.83 [[ 9.46539800e-01 -2.59904983e-01 -1.91080627e-01 4.32601014e+01] [ 2.56122524e-01 9.65611291e-01 -4.46775985e-02 5.07917709e+00] [ 1.96121542e-01 -6.65092747e-03 9.80557039e-01 5.83150795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.31710568099999 meters Centerline goodness : 0.997479 Centerline is valid? [True, True] Translation: X:43.29, Y:5.08, Z:5.84 [[ 9.45879518e-01 -2.61008698e-01 -1.92837750e-01 4.32862865e+01] [ 2.56511948e-01 9.65329353e-01 -4.83824360e-02 5.08485858e+00] [ 1.98780177e-01 -3.70123157e-03 9.80037113e-01 5.83529247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.34710568099999 meters Centerline goodness : 0.997227 Centerline is valid? [True, True] Translation: X:43.31, Y:5.09, Z:5.84 [[ 9.45104335e-01 -2.61453521e-01 -1.96009827e-01 4.33132921e+01] [ 2.56807902e-01 9.65208499e-01 -4.92164078e-02 5.09151290e+00] [ 2.02058154e-01 -3.82223209e-03 9.79366067e-01 5.84019167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.37710568099999 meters Centerline goodness : 0.997041 Centerline is valid? [True, True] Translation: X:43.34, Y:5.10, Z:5.85 [[ 9.45618231e-01 -2.61586173e-01 -1.93336068e-01 4.33387684e+01] [ 2.57055811e-01 9.65172933e-01 -4.86160343e-02 5.09899076e+00] [ 1.99320023e-01 -3.72595149e-03 9.79927368e-01 5.84828880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.40710568099999 meters Centerline goodness : 0.997396 Centerline is valid? [True, True] Translation: X:43.37, Y:5.10, Z:5.85 [[ 9.46418507e-01 -2.60473704e-01 -1.90906938e-01 4.33690000e+01] [ 2.56022475e-01 9.65475010e-01 -4.80676290e-02 5.10436563e+00] [ 1.96836232e-01 -3.38437315e-03 9.80430540e-01 5.85477416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.43710568099999 meters Centerline goodness : 0.997610 Centerline is valid? [True, True] Translation: X:43.40, Y:5.11, Z:5.86 [[ 9.46796638e-01 -2.60408018e-01 -1.89113171e-01 4.33988612e+01] [ 2.56041204e-01 9.65492861e-01 -4.76071063e-02 5.10945086e+00] [ 1.94984689e-01 -3.34651594e-03 9.80800577e-01 5.85985560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.46710568099999 meters Centerline goodness : 0.997292 Centerline is valid? [True, True] Translation: X:43.43, Y:5.11, Z:5.87 [[ 9.46926730e-01 -2.62661687e-01 -1.85306789e-01 4.34297163e+01] [ 2.58513948e-01 9.64880760e-01 -4.66439490e-02 5.11309208e+00] [ 1.91050533e-01 -3.73598751e-03 9.81573093e-01 5.86706894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49710568099999 meters Centerline goodness : 0.997083 Centerline is valid? [True, True] Translation: X:43.46, Y:5.12, Z:5.88 [[ 9.46090404e-01 -2.66233600e-01 -1.84479318e-01 4.34606880e+01] [ 2.62192210e-01 9.63898284e-01 -4.64256713e-02 5.11926530e+00] [ 1.90179371e-01 -4.44615794e-03 9.81739292e-01 5.87530933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.52710568099999 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:43.49, Y:5.13, Z:5.88 [[ 9.45777075e-01 -2.67443168e-01 -1.84336312e-01 4.34906436e+01] [ 2.63434376e-01 9.63562156e-01 -4.63713389e-02 5.12584962e+00] [ 1.90021192e-01 -4.70357192e-03 9.81768722e-01 5.88158959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.55710568099999 meters Centerline goodness : 0.997650 Centerline is valid? [True, True] Translation: X:43.52, Y:5.13, Z:5.89 [[ 9.45232613e-01 -2.69156092e-01 -1.84635601e-01 4.35208329e+01] [ 2.65169143e-01 9.63083224e-01 -4.64330577e-02 5.13118500e+00] [ 1.90317190e-01 -5.06962349e-03 9.81709563e-01 5.88647541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.58710568099999 meters Centerline goodness : 0.997879 Centerline is valid? [True, True] Translation: X:43.55, Y:5.14, Z:5.89 [[ 9.45207776e-01 -2.69485723e-01 -1.84281594e-01 4.35518322e+01] [ 2.65522124e-01 9.62990695e-01 -4.63348888e-02 5.13694918e+00] [ 1.89948051e-01 -5.13474305e-03 9.81780715e-01 5.89051565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.61710568099999 meters Centerline goodness : 0.997445 Centerline is valid? [True, True] Translation: X:43.58, Y:5.14, Z:5.89 [[ 9.46223455e-01 -2.66085157e-01 -1.84010498e-01 4.35818571e+01] [ 2.62071171e-01 9.63939241e-01 -4.62584208e-02 5.14227803e+00] [ 1.89683619e-01 -4.45304401e-03 9.81835167e-01 5.89429598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.64710568099999 meters Centerline goodness : 0.997254 Centerline is valid? [True, True] Translation: X:43.61, Y:5.15, Z:5.90 [[ 9.48720462e-01 -2.56530585e-01 -1.84720178e-01 4.36091301e+01] [ 2.52305425e-01 9.66532750e-01 -4.64372245e-02 5.15242827e+00] [ 1.90450670e-01 -2.54995788e-03 9.81693455e-01 5.90070009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.677105680999986 meters Centerline goodness : 0.997630 Centerline is valid? [True, True] Translation: X:43.64, Y:5.16, Z:5.91 [[ 9.50515077e-01 -2.50189962e-01 -1.84190310e-01 4.36377915e+01] [ 2.45870274e-01 9.68195935e-01 -4.63080928e-02 5.16202091e+00] [ 1.89918129e-01 -1.27038158e-03 9.81799109e-01 5.90643965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.70710568099999 meters Centerline goodness : 0.997150 Centerline is valid? [True, True] Translation: X:43.67, Y:5.17, Z:5.91 [[ 9.54476600e-01 -2.36866986e-01 -1.81296581e-01 4.36673360e+01] [ 2.32444062e-01 9.71541131e-01 -4.55805677e-02 5.16969811e+00] [ 1.86933617e-01 1.36427157e-03 9.82371601e-01 5.90917875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.73710568099999 meters Centerline goodness : 0.997353 Centerline is valid? [True, True] Translation: X:43.70, Y:5.17, Z:5.91 [[ 9.56699785e-01 -2.27470279e-01 -1.81611656e-01 4.36951912e+01] [ 2.22863413e-01 9.73779735e-01 -4.56609958e-02 5.17482680e+00] [ 1.87236270e-01 3.20927131e-03 9.82309666e-01 5.91146680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.76710568099999 meters Centerline goodness : 0.997730 Centerline is valid? [True, True] Translation: X:43.72, Y:5.18, Z:5.91 [[ 9.57521479e-01 -2.22193997e-01 -1.83800015e-01 4.37234702e+01] [ 2.17373809e-01 9.74992927e-01 -4.62322341e-02 5.18047169e+00] [ 1.89476239e-01 4.31504789e-03 9.81875825e-01 5.91463408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.79710568099999 meters Centerline goodness : 0.997455 Centerline is valid? [True, True] Translation: X:43.75, Y:5.18, Z:5.92 [[ 9.57572709e-01 -2.20734140e-01 -1.85286119e-01 4.37505769e+01] [ 2.15795561e-01 9.75322667e-01 -4.66687465e-02 5.18446808e+00] [ 1.91015138e-01 4.70479600e-03 9.81575816e-01 5.91781542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.82710568099999 meters Centerline goodness : 0.997080 Centerline is valid? [True, True] Translation: X:43.78, Y:5.18, Z:5.92 [[ 9.57739932e-01 -2.19192597e-01 -1.86249373e-01 4.37794847e+01] [ 2.14165872e-01 9.75668407e-01 -4.69482575e-02 5.18303780e+00] [ 1.92008340e-01 5.07596141e-03 9.81380167e-01 5.92102266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.85710568099999 meters Centerline goodness : 0.997187 Centerline is valid? [True, True] Translation: X:43.81, Y:5.18, Z:5.93 [[ 9.57740786e-01 -2.19295396e-01 -1.86123927e-01 4.38064916e+01] [ 2.14263347e-01 9.75645058e-01 -4.69887111e-02 5.18206271e+00] [ 1.91895298e-01 5.12346951e-03 9.81402030e-01 5.92635252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.88710568099999 meters Centerline goodness : 0.997166 Centerline is valid? [True, True] Translation: X:43.83, Y:5.18, Z:5.93 [[ 9.57344049e-01 -2.21195663e-01 -1.85916245e-01 4.38339198e+01] [ 2.16203208e-01 9.75217765e-01 -4.69732245e-02 5.18486588e+00] [ 1.91699098e-01 4.77384854e-03 9.81442136e-01 5.93069946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.91710568099999 meters Centerline goodness : 0.997687 Centerline is valid? [True, True] Translation: X:43.86, Y:5.18, Z:5.93 [[ 9.56204736e-01 -2.25749023e-01 -1.86305884e-01 4.38637970e+01] [ 2.20805783e-01 9.74177502e-01 -4.71487195e-02 5.18109992e+00] [ 1.92138778e-01 3.94641231e-03 9.81359830e-01 5.93334470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.94710568099999 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:43.89, Y:5.18, Z:5.94 [[ 9.53923521e-01 -2.34618616e-01 -1.87040158e-01 4.38930170e+01] [ 2.29789920e-01 9.72084909e-01 -4.74080342e-02 5.17695950e+00] [ 1.92941723e-01 2.24369592e-03 9.81207653e-01 5.93632736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.97710568099999 meters Centerline goodness : 0.997712 Centerline is valid? [True, True] Translation: X:43.92, Y:5.18, Z:5.94 [[ 9.52460502e-01 -2.40449965e-01 -1.87090369e-01 4.39207582e+01] [ 2.35722479e-01 9.70660910e-01 -4.74585181e-02 5.17833740e+00] [ 1.93012707e-01 1.10095836e-03 9.81195639e-01 5.94111837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.00710568099999 meters Centerline goodness : 0.997630 Centerline is valid? [True, True] Translation: X:43.95, Y:5.18, Z:5.95 [[ 9.49881776e-01 -2.50302579e-01 -1.87278484e-01 4.39480644e+01] [ 2.45740544e-01 9.68167306e-01 -4.75778579e-02 5.17618868e+00] [ 1.93225766e-01 -8.28576317e-04 9.81153972e-01 5.94666749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.03710568099999 meters Centerline goodness : 0.997711 Centerline is valid? [True, True] Translation: X:43.97, Y:5.18, Z:5.95 [[ 9.48866526e-01 -2.54535272e-01 -1.86719339e-01 4.39741833e+01] [ 2.50075419e-01 9.67062078e-01 -4.74681136e-02 5.17836683e+00] [ 1.92651501e-01 -1.65301280e-03 9.81265849e-01 5.95245839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.06710568099999 meters Centerline goodness : 0.998006 Centerline is valid? [True, True] Translation: X:44.00, Y:5.18, Z:5.96 [[ 9.48682888e-01 -2.55549542e-01 -1.86266500e-01 4.40013381e+01] [ 2.51123904e-01 9.66794250e-01 -4.73884333e-02 5.18315685e+00] [ 1.92191474e-01 -1.81937492e-03 9.81355760e-01 5.95705951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.09710568099999 meters Centerline goodness : 0.997678 Centerline is valid? [True, True] Translation: X:44.03, Y:5.18, Z:5.96 [[ 9.49090440e-01 -2.54496192e-01 -1.85631425e-01 4.40289433e+01] [ 2.49746087e-01 9.67073772e-01 -4.89408978e-02 5.18362860e+00] [ 1.91974554e-01 8.86162139e-05 9.81399900e-01 5.96008053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.12710568099999 meters Centerline goodness : 0.997879 Centerline is valid? [True, True] Translation: X:44.06, Y:5.20, Z:5.97 [[ 0.95110953 -0.26105449 -0.1650491 44.05906405] [ 0.24849541 0.96415723 -0.09301002 5.19587211] [ 0.18341397 0.04744877 0.98188998 5.96649109] [ 0. 0. 0. 1. ]] SLAMing on 46.15710568099999 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:44.09, Y:5.19, Z:5.96 [[ 9.50843460e-01 -2.52149086e-01 -1.79770836e-01 4.40896659e+01] [ 2.48852802e-01 9.67671519e-01 -4.10379683e-02 5.19312214e+00] [ 1.84306804e-01 -5.71579245e-03 9.82852141e-01 5.95943628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.18710568099999 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:44.11, Y:5.19, Z:5.97 [[ 9.47893481e-01 -2.48388076e-01 -1.99502664e-01 4.41143514e+01] [ 2.54016707e-01 9.67196032e-01 2.71083581e-03 5.19133397e+00] [ 1.92284846e-01 -5.32465933e-02 9.79893534e-01 5.96701263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.21710568099999 meters Centerline goodness : 0.997767 Centerline is valid? [True, True] Translation: X:44.14, Y:5.20, Z:5.98 [[ 9.47166368e-01 -2.61489437e-01 -1.85739456e-01 4.41381242e+01] [ 2.57156886e-01 9.65202311e-01 -4.74850925e-02 5.20085825e+00] [ 1.91693002e-01 -2.78789747e-03 9.81450977e-01 5.98380145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.24710568099999 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:44.16, Y:5.21, Z:5.99 [[ 9.46818097e-01 -2.63310738e-01 -1.84940385e-01 4.41639440e+01] [ 2.59036578e-01 9.64706175e-01 -4.73502606e-02 5.20575166e+00] [ 1.90880964e-01 -3.07424086e-03 9.81608377e-01 5.98806944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27710568099999 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:44.19, Y:5.21, Z:5.99 [[ 9.45874131e-01 -2.67061547e-01 -1.84391588e-01 4.41893233e+01] [ 2.62877349e-01 9.63672029e-01 -4.72410854e-02 5.21143809e+00] [ 1.90309293e-01 -3.78825126e-03 9.81716875e-01 5.99410616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.30710568099999 meters Centerline goodness : 0.998005 Centerline is valid? [True, True] Translation: X:44.21, Y:5.22, Z:6.01 [[ 9.44424577e-01 -2.73080412e-01 -1.83000840e-01 4.42099999e+01] [ 2.63155889e-01 9.61678416e-01 -7.69649456e-02 5.21890119e+00] [ 1.97005577e-01 2.45298375e-02 9.80095449e-01 6.00830842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.33710568099999 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:44.25, Y:5.22, Z:6.00 [[ 9.43912353e-01 -2.68773685e-01 -1.91807655e-01 4.42459128e+01] [ 2.69128511e-01 9.62787419e-01 -2.47028524e-02 5.22069730e+00] [ 1.91309474e-01 -2.83035810e-02 9.81121599e-01 5.99937674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.36710568099999 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:44.27, Y:5.23, Z:6.01 [[ 9.43390797e-01 -2.77756158e-01 -1.81287953e-01 4.42695985e+01] [ 2.73935988e-01 9.60632964e-01 -4.62966820e-02 5.23271405e+00] [ 1.87010372e-01 -5.98543080e-03 9.82339705e-01 6.01089764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39710568099999 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:44.30, Y:5.24, Z:6.02 [[ 9.42821262e-01 -2.79614225e-01 -1.81394468e-01 4.42954604e+01] [ 2.75809289e-01 9.60091865e-01 -4.63987741e-02 5.24003761e+00] [ 1.87129111e-01 -6.28452853e-03 9.82315225e-01 6.01620249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.427105680999986 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:44.32, Y:5.25, Z:6.02 [[ 9.41077121e-01 -2.83376310e-01 -1.84585260e-01 4.43214434e+01] [ 2.79493010e-01 9.58982588e-01 -4.72869290e-02 5.24735520e+00] [ 1.90414046e-01 -7.08964286e-03 9.81678271e-01 6.01718252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45710568099999 meters Centerline goodness : 0.997895 Centerline is valid? [True, True] Translation: X:44.35, Y:5.25, Z:6.02 [[ 9.39730800e-01 -2.84536277e-01 -1.89592010e-01 4.43466596e+01] [ 2.79071320e-01 9.58664980e-01 -5.55036522e-02 5.25463636e+00] [ 1.97548023e-01 -7.51201061e-04 9.80292923e-01 6.02075177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.48710568099999 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:44.37, Y:5.26, Z:6.02 [[ 9.39687686e-01 -2.83616173e-01 -1.91177714e-01 4.43742209e+01] [ 2.80610545e-01 9.58849053e-01 -4.31997254e-02 5.26263737e+00] [ 1.95562711e-01 -1.30522326e-02 9.80604337e-01 6.02265550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.51710568099999 meters Centerline goodness : 0.997833 Centerline is valid? [True, True] Translation: X:44.40, Y:5.28, Z:6.03 [[ 9.41752267e-01 -2.91638801e-01 -1.67479784e-01 4.43984276e+01] [ 2.81361922e-01 9.56035034e-01 -8.26588265e-02 5.28176682e+00] [ 1.84223062e-01 3.07217032e-02 9.82404214e-01 6.03148216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.54710568099999 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:44.43, Y:5.29, Z:6.03 [[ 9.40554923e-01 -2.90891866e-01 -1.75323586e-01 4.44282529e+01] [ 2.87146953e-01 9.56735870e-01 -4.69372250e-02 5.28629645e+00] [ 1.81392021e-01 -6.19659551e-03 9.83391345e-01 6.02898867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.57710568099999 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:44.46, Y:5.29, Z:6.03 [[ 9.38041272e-01 -2.87439920e-01 -1.93537759e-01 4.44558056e+01] [ 2.91257297e-01 9.56601816e-01 -9.06377918e-03 5.28874685e+00] [ 1.87743864e-01 -4.78670856e-02 9.81050959e-01 6.03351999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.60710568099999 meters Centerline goodness : 0.997960 Centerline is valid? [True, True] Translation: X:44.48, Y:5.31, Z:6.05 [[ 9.36373368e-01 -2.99814218e-01 -1.82527669e-01 4.44754512e+01] [ 2.95229895e-01 9.53985644e-01 -5.24471101e-02 5.30607921e+00] [ 1.89853165e-01 -4.77754758e-03 9.81800871e-01 6.04947580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63710568099999 meters Centerline goodness : 0.997750 Centerline is valid? [True, True] Translation: X:44.50, Y:5.31, Z:6.05 [[ 9.36567185e-01 -2.99152963e-01 -1.82618216e-01 4.45047750e+01] [ 2.98231894e-01 9.53917744e-01 -3.31462782e-02 5.31458997e+00] [ 1.84118564e-01 -2.34188599e-02 9.82625011e-01 6.04671661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.66710568099999 meters Centerline goodness : 0.997750 Centerline is valid? [True, True] Translation: X:44.53, Y:5.32, Z:6.06 [[ 9.36390422e-01 -3.01796679e-01 -1.79141681e-01 4.45306272e+01] [ 2.98453848e-01 9.53315542e-01 -4.59867248e-02 5.32378236e+00] [ 1.84657190e-01 -1.04039954e-02 9.82747923e-01 6.05500373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.69710568099999 meters Centerline goodness : 0.998003 Centerline is valid? [True, True] Translation: X:44.55, Y:5.34, Z:6.06 [[ 9.35538592e-01 -3.03765770e-01 -1.80260646e-01 4.45539265e+01] [ 2.99139405e-01 9.52736827e-01 -5.29920354e-02 5.33820627e+00] [ 1.87838122e-01 -4.34696806e-03 9.82190381e-01 6.06061615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.72710568099999 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:44.58, Y:5.35, Z:6.07 [[ 9.34425583e-01 -3.05240318e-01 -1.83513428e-01 4.45781084e+01] [ 3.01060733e-01 9.52244484e-01 -5.09202976e-02 5.35485989e+00] [ 1.90292577e-01 -7.66745836e-03 9.81697481e-01 6.06545425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.75710568099999 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:44.60, Y:5.37, Z:6.06 [[ 9.34655102e-01 -3.02020611e-01 -1.87625664e-01 4.46039640e+01] [ 3.01516988e-01 9.52926346e-01 -3.19199728e-02 5.36791376e+00] [ 1.88433928e-01 -2.67381596e-02 9.81721817e-01 6.06245701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.78710568099999 meters Centerline goodness : 0.996746 Centerline is valid? [True, True] Translation: X:44.63, Y:5.38, Z:6.08 [[ 9.34041105e-01 -3.05911548e-01 -1.84351130e-01 4.46257404e+01] [ 3.00088559e-01 9.52059924e-01 -5.94033517e-02 5.38186001e+00] [ 1.93685494e-01 1.63507274e-04 9.81063659e-01 6.07503616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.81710568099999 meters Centerline goodness : 0.997016 Centerline is valid? [True, True] Translation: X:44.65, Y:5.40, Z:6.08 [[ 9.32393311e-01 -3.09890217e-01 -1.86039694e-01 4.46507180e+01] [ 3.04974381e-01 9.50757886e-01 -5.52274317e-02 5.39781728e+00] [ 1.93993147e-01 -5.24365277e-03 9.80988870e-01 6.07879682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.84710568099999 meters Centerline goodness : 0.996896 Centerline is valid? [True, True] Translation: X:44.68, Y:5.41, Z:6.08 [[ 9.31057418e-01 -3.12985505e-01 -1.87542419e-01 4.46755789e+01] [ 3.09401505e-01 9.49675233e-01 -4.88636997e-02 5.41346034e+00] [ 1.93398020e-01 -1.25309964e-02 9.81040356e-01 6.08152376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.87710568099999 meters Centerline goodness : 0.996710 Centerline is valid? [True, True] Translation: X:44.70, Y:5.42, Z:6.09 [[ 9.30379378e-01 -3.14681078e-01 -1.88069222e-01 4.47002112e+01] [ 3.11097278e-01 9.49110424e-01 -4.90702277e-02 5.42360590e+00] [ 1.93939931e-01 -1.28538950e-02 9.80929192e-01 6.08502950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.90710568099999 meters Centerline goodness : 0.996540 Centerline is valid? [True, True] Translation: X:44.73, Y:5.44, Z:6.09 [[ 9.29192244e-01 -3.16777668e-01 -1.90404000e-01 4.47257836e+01] [ 3.13140201e-01 9.48404765e-01 -4.97153622e-02 5.43734159e+00] [ 1.96328777e-01 -1.34280176e-02 9.80446174e-01 6.08951741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.93710568099999 meters Centerline goodness : 0.997397 Centerline is valid? [True, True] Translation: X:44.75, Y:5.45, Z:6.10 [[ 9.29230590e-01 -3.16332816e-01 -1.90955650e-01 4.47525658e+01] [ 3.12652945e-01 9.48554806e-01 -4.99190906e-02 5.44893535e+00] [ 1.96922946e-01 -1.33165002e-02 9.80328529e-01 6.09560339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.96710568099999 meters Centerline goodness : 0.997129 Centerline is valid? [True, True] Translation: X:44.78, Y:5.47, Z:6.10 [[ 9.31217385e-01 -3.10280459e-01 -1.91207267e-01 4.47770709e+01] [ 3.06463098e-01 9.50568779e-01 -4.99936683e-02 5.46767042e+00] [ 1.97267716e-01 -1.20429983e-02 9.80275683e-01 6.10402900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99710568099999 meters Centerline goodness : 0.997077 Centerline is valid? [True, True] Translation: X:44.80, Y:5.48, Z:6.11 [[ 9.35884197e-01 -2.97029918e-01 -1.89457114e-01 4.48001316e+01] [ 2.94175433e-01 9.54752665e-01 -4.36825316e-02 5.48242308e+00] [ 1.93859703e-01 -1.48518376e-02 9.80916836e-01 6.10620552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.02710568099999 meters Centerline goodness : 0.997221 Centerline is valid? [True, True] Translation: X:44.83, Y:5.50, Z:6.12 [[ 9.37210346e-01 -2.93827974e-01 -1.87887968e-01 4.48267792e+01] [ 2.88458571e-01 9.55856683e-01 -5.59433126e-02 5.49535484e+00] [ 1.96031680e-01 -1.76724331e-03 9.80595971e-01 6.11507505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.05710568099999 meters Centerline goodness : 0.997575 Centerline is valid? [True, True] Translation: X:44.86, Y:5.51, Z:6.12 [[ 9.42308831e-01 -2.77204788e-01 -1.87647467e-01 4.48552082e+01] [ 2.72849302e-01 9.60798613e-01 -4.91862139e-02 5.51116411e+00] [ 1.93926080e-01 -4.85087671e-03 9.81004151e-01 6.12073115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.08710568099999 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:44.88, Y:5.53, Z:6.13 [[ 9.47349741e-01 -2.59780706e-01 -1.87196293e-01 4.48830742e+01] [ 2.55111338e-01 9.65666777e-01 -4.90497794e-02 5.52918802e+00] [ 1.93511427e-01 -1.28860100e-03 9.81097175e-01 6.12891206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.11710568099999 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:44.91, Y:5.54, Z:6.13 [[ 9.51347482e-01 -2.45458774e-01 -1.86247036e-01 4.49113746e+01] [ 2.40567932e-01 9.69405705e-01 -4.87816590e-02 5.54197955e+00] [ 1.92522825e-01 1.60324440e-03 9.81291186e-01 6.13429457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.14710568099999 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:44.94, Y:5.55, Z:6.14 [[ 9.52299075e-01 -2.41631805e-01 -1.86388152e-01 4.49423249e+01] [ 2.36666619e-01 9.70365163e-01 -4.87889553e-02 5.55061561e+00] [ 1.92653533e-01 2.34982330e-03 9.81264029e-01 6.13958657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.177105680999986 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:44.97, Y:5.56, Z:6.14 [[ 9.52038337e-01 -2.40720509e-01 -1.88882612e-01 4.49739891e+01] [ 2.35606113e-01 9.70591124e-01 -4.94229579e-02 5.55599790e+00] [ 1.95224907e-01 2.55065254e-03 9.80755184e-01 6.14264405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.20710568099999 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:45.01, Y:5.56, Z:6.15 [[ 9.51311396e-01 -2.44373640e-01 -1.87851410e-01 4.50056454e+01] [ 2.39389458e-01 9.69679524e-01 -4.91356177e-02 5.55903314e+00] [ 1.94163115e-01 1.77362588e-03 9.80967654e-01 6.14699016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.23710568099999 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:45.04, Y:5.56, Z:6.15 [[ 9.51117888e-01 -2.46582461e-01 -1.85935078e-01 4.50360660e+01] [ 2.41744034e-01 9.69120942e-01 -4.86253179e-02 5.56370649e+00] [ 1.92183728e-01 1.29971384e-03 9.81358102e-01 6.15292153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.26710568099999 meters Centerline goodness : 0.997922 Centerline is valid? [True, True] Translation: X:45.07, Y:5.56, Z:6.16 [[ 9.49710607e-01 -2.53352735e-01 -1.84016722e-01 4.50687637e+01] [ 2.48742156e-01 9.67373964e-01 -4.81139716e-02 5.56385299e+00] [ 1.90202792e-01 -7.83669883e-05 9.81744820e-01 6.15899011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.29710568099999 meters Centerline goodness : 0.996791 Centerline is valid? [True, True] Translation: X:45.10, Y:5.56, Z:6.16 [[ 9.47506066e-01 -2.61378070e-01 -1.84156889e-01 4.51019689e+01] [ 2.56913743e-01 9.65234993e-01 -4.81324911e-02 5.56069932e+00] [ 1.90335451e-01 -1.70660838e-03 9.81717629e-01 6.16176227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.32710568099999 meters Centerline goodness : 0.997147 Centerline is valid? [True, True] Translation: X:45.13, Y:5.56, Z:6.17 [[ 9.46173384e-01 -2.66018365e-01 -1.84364197e-01 4.51318611e+01] [ 2.61632789e-01 9.63964315e-01 -4.81776282e-02 5.56323416e+00] [ 1.90536640e-01 -2.65132938e-03 9.81676504e-01 6.16674011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35710568099999 meters Centerline goodness : 0.997261 Centerline is valid? [True, True] Translation: X:45.16, Y:5.56, Z:6.17 [[ 9.44022663e-01 -2.74717668e-01 -1.82623698e-01 4.51610172e+01] [ 2.70575933e-01 9.61515042e-01 -4.77230385e-02 5.56243529e+00] [ 1.88705794e-01 -4.36194755e-03 9.82023980e-01 6.17286856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.38710568099999 meters Centerline goodness : 0.997331 Centerline is valid? [True, True] Translation: X:45.19, Y:5.56, Z:6.18 [[ 9.42042216e-01 -2.82039631e-01 -1.81686844e-01 4.51918157e+01] [ 2.78063928e-01 9.59385590e-01 -4.75367322e-02 5.56180689e+00] [ 1.87714983e-01 -5.73894893e-03 9.82206775e-01 6.17725759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.41710568099999 meters Centerline goodness : 0.997167 Centerline is valid? [True, True] Translation: X:45.22, Y:5.56, Z:6.18 [[ 9.41008966e-01 -2.84934356e-01 -1.82522708e-01 4.52193283e+01] [ 2.80973633e-01 9.58526090e-01 -4.77655968e-02 5.56465460e+00] [ 1.88562837e-01 -6.33621351e-03 9.82040686e-01 6.18107966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.44710568099999 meters Centerline goodness : 0.997483 Centerline is valid? [True, True] Translation: X:45.25, Y:5.57, Z:6.19 [[ 9.40338296e-01 -2.85173769e-01 -1.85579663e-01 4.52465116e+01] [ 2.81077570e-01 9.58454008e-01 -4.85933562e-02 5.56690899e+00] [ 1.91727122e-01 -6.46808708e-03 9.81426958e-01 6.18636404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.47710568099999 meters Centerline goodness : 0.997292 Centerline is valid? [True, True] Translation: X:45.27, Y:5.57, Z:6.19 [[ 9.41286291e-01 -2.81460881e-01 -1.86440049e-01 4.52733210e+01] [ 2.77239636e-01 9.59555973e-01 -4.88929324e-02 5.57311371e+00] [ 1.92661110e-01 -5.66632438e-03 9.81248995e-01 6.19192166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.50710568099999 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:45.30, Y:5.58, Z:6.20 [[ 9.44664430e-01 -2.69463075e-01 -1.87079569e-01 4.53000365e+01] [ 2.64964066e-01 9.63005562e-01 -4.91358391e-02 5.57704797e+00] [ 1.93398960e-01 -3.15248383e-03 9.81115133e-01 6.19796377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.53710568099999 meters Centerline goodness : 0.997421 Centerline is valid? [True, True] Translation: X:45.33, Y:5.58, Z:6.20 [[ 9.48535393e-01 -2.55877576e-01 -1.86567078e-01 4.53272644e+01] [ 2.51127317e-01 9.66709147e-01 -4.90764245e-02 5.57974914e+00] [ 1.92913658e-01 -3.01364221e-04 9.81215690e-01 6.20308235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.56710568099999 meters Centerline goodness : 0.997415 Centerline is valid? [True, True] Translation: X:45.35, Y:5.58, Z:6.21 [[ 9.51172027e-01 -2.45892001e-01 -1.86571430e-01 4.53543038e+01] [ 2.40936614e-01 9.69295565e-01 -4.91493215e-02 5.58234753e+00] [ 1.92928285e-01 1.79757120e-03 9.81211214e-01 6.20695844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59710568099999 meters Centerline goodness : 0.997628 Centerline is valid? [True, True] Translation: X:45.38, Y:5.59, Z:6.21 [[ 9.51991713e-01 -2.42330773e-01 -1.87049660e-01 4.53818420e+01] [ 2.37274189e-01 9.70190304e-01 -4.93126021e-02 5.58551118e+00] [ 1.93423728e-01 2.56313221e-03 9.81111967e-01 6.21002047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.62710568099999 meters Centerline goodness : 0.997375 Centerline is valid? [True, True] Translation: X:45.41, Y:5.58, Z:6.21 [[ 9.53596330e-01 -2.34917369e-01 -1.88329151e-01 4.54103082e+01] [ 2.29632584e-01 9.72006401e-01 -4.97235699e-02 5.58330588e+00] [ 1.94738070e-01 4.16970437e-03 9.80846419e-01 6.21291237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.65710568099999 meters Centerline goodness : 0.996997 Centerline is valid? [True, True] Translation: X:45.44, Y:5.59, Z:6.22 [[ 9.55349788e-01 -2.29172824e-01 -1.86511660e-01 4.54374965e+01] [ 2.23874881e-01 9.73371184e-01 -4.92805787e-02 5.58507952e+00] [ 1.92838844e-01 5.32491484e-03 9.81215993e-01 6.22221936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.68710568099999 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:45.46, Y:5.59, Z:6.23 [[ 9.55916145e-01 -2.27819949e-01 -1.85263042e-01 4.54640158e+01] [ 2.22554342e-01 9.73686999e-01 -4.90223736e-02 5.58815128e+00] [ 1.91556490e-01 5.63018397e-03 9.81465441e-01 6.22877877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71710568099999 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:45.49, Y:5.58, Z:6.23 [[ 9.56156935e-01 -2.27591470e-01 -1.84298773e-01 4.54935982e+01] [ 2.22369959e-01 9.73740134e-01 -4.88032009e-02 5.58445239e+00] [ 1.90566304e-01 5.68100833e-03 9.81657888e-01 6.23385631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.74710568099999 meters Centerline goodness : 0.997296 Centerline is valid? [True, True] Translation: X:45.52, Y:5.59, Z:6.24 [[ 9.56031792e-01 -2.28486878e-01 -1.83839495e-01 4.55221522e+01] [ 2.23293464e-01 9.73531099e-01 -4.87568320e-02 5.58504956e+00] [ 1.90113761e-01 5.56292384e-03 9.81746307e-01 6.23783258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77710568099999 meters Centerline goodness : 0.997446 Centerline is valid? [True, True] Translation: X:45.55, Y:5.58, Z:6.24 [[ 9.56206109e-01 -2.28761534e-01 -1.82587067e-01 4.55519098e+01] [ 2.23630541e-01 9.73466723e-01 -4.84965939e-02 5.57891090e+00] [ 1.88836589e-01 5.54069486e-03 9.81992894e-01 6.24111005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.80710568099999 meters Centerline goodness : 0.997677 Centerline is valid? [True, True] Translation: X:45.58, Y:5.57, Z:6.25 [[ 9.56749215e-01 -2.26087921e-01 -1.83071548e-01 4.55798881e+01] [ 2.20874567e-01 9.74087689e-01 -4.86579803e-02 5.57497981e+00] [ 1.89328723e-01 6.11763566e-03 9.81894704e-01 6.24660053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.83710568099999 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:45.61, Y:5.58, Z:6.25 [[ 9.56942131e-01 -2.24588592e-01 -1.83906831e-01 4.56079468e+01] [ 2.19292920e-01 9.74432137e-01 -4.89144796e-02 5.57690147e+00] [ 1.90190360e-01 6.47886047e-03 9.81725853e-01 6.25165089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.86710568099999 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:45.64, Y:5.57, Z:6.26 [[ 9.57375476e-01 -2.21809179e-01 -1.85021311e-01 4.56374784e+01] [ 2.16381899e-01 9.75063862e-01 -4.92883320e-02 5.57388646e+00] [ 1.91340199e-01 7.15217770e-03 9.81497720e-01 6.25769596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89710568099999 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:45.66, Y:5.58, Z:6.26 [[ 9.57480259e-01 -2.21199327e-01 -1.85209104e-01 4.56649023e+01] [ 2.15734855e-01 9.75200869e-01 -4.94139372e-02 5.57534385e+00] [ 1.91546409e-01 7.35681007e-03 9.81455985e-01 6.26296225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.927105680999986 meters Centerline goodness : 0.998050 Centerline is valid? [True, True] Translation: X:45.70, Y:5.57, Z:6.27 [[ 9.58221173e-01 -2.19296254e-01 -1.83633704e-01 4.56955941e+01] [ 2.13880451e-01 9.75627755e-01 -4.90472909e-02 5.56832576e+00] [ 1.89914026e-01 7.72249321e-03 9.81770353e-01 6.26690906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95710568099999 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:45.72, Y:5.56, Z:6.27 [[ 9.58253779e-01 -2.18139124e-01 -1.84837813e-01 4.57246708e+01] [ 2.12615596e-01 9.75884241e-01 -4.94424544e-02 5.56107297e+00] [ 1.91165642e-01 8.07901711e-03 9.81524542e-01 6.27077275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.98710568099999 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:45.75, Y:5.56, Z:6.28 [[ 9.57939373e-01 -2.19349187e-01 -1.85035381e-01 4.57523966e+01] [ 2.13828830e-01 9.75614572e-01 -4.95321939e-02 5.56212937e+00] [ 1.91388060e-01 7.88293989e-03 9.81482791e-01 6.27643778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.01710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:45.78, Y:5.56, Z:6.28 [[ 9.56953966e-01 -2.24983826e-01 -1.83361353e-01 4.57804273e+01] [ 2.19652533e-01 9.74339024e-01 -4.91551687e-02 5.55672115e+00] [ 1.89715239e-01 6.76344800e-03 9.81815860e-01 6.28435340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.04710568099999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:45.81, Y:5.55, Z:6.29 [[ 9.54736422e-01 -2.35176283e-01 -1.82127647e-01 4.58106565e+01] [ 2.30093753e-01 9.71941169e-01 -4.88592766e-02 5.54956542e+00] [ 1.88507901e-01 4.74129716e-03 9.82060228e-01 6.29006472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.07710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:45.84, Y:5.55, Z:6.30 [[ 9.51384339e-01 -2.49234989e-01 -1.80968947e-01 4.58383360e+01] [ 2.41028406e-01 9.68246276e-01 -6.63660780e-02 5.54526886e+00] [ 1.91763258e-01 1.95209903e-02 9.81247055e-01 6.30140713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.107105680999986 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:45.87, Y:5.54, Z:6.31 [[ 9.49863379e-01 -2.52066510e-01 -1.84991987e-01 4.58663533e+01] [ 2.47099956e-01 9.67708577e-01 -4.98168854e-02 5.54450884e+00] [ 1.91575501e-01 1.60772330e-03 9.81476563e-01 6.30510789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.90, Y:5.55, Z:6.31 [[ 9.46413935e-01 -2.65217149e-01 -1.84283824e-01 4.58950319e+01] [ 2.57827911e-01 9.64107661e-01 -6.34128185e-02 5.54649966e+00] [ 1.94487613e-01 1.25012616e-02 9.80825309e-01 6.31356925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.16710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.93, Y:5.54, Z:6.31 [[ 9.46560277e-01 -2.60280712e-01 -1.90466777e-01 4.59272183e+01] [ 2.60500664e-01 9.65166967e-01 -2.43337177e-02 5.54204764e+00] [ 1.90165839e-01 -2.65833914e-02 9.81392010e-01 6.31005845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.19710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.95, Y:5.55, Z:6.32 [[ 9.46863497e-01 -2.62984606e-01 -1.85171854e-01 4.59526348e+01] [ 2.58181780e-01 9.64799932e-01 -5.00325855e-02 5.55168800e+00] [ 1.91811592e-01 -4.33970001e-04 9.81431671e-01 6.31817721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.22710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.98, Y:5.56, Z:6.33 [[ 9.49486772e-01 -2.51727778e-01 -1.87371275e-01 4.59791379e+01] [ 2.46575822e-01 9.67796131e-01 -5.07051479e-02 5.55772834e+00] [ 1.94101090e-01 1.94264101e-03 9.80979609e-01 6.32517617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.25710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.00, Y:5.57, Z:6.33 [[ 9.53684499e-01 -2.36714100e-01 -1.85613340e-01 4.60038031e+01] [ 2.31362215e-01 9.71566334e-01 -5.03029157e-02 5.56548304e+00] [ 1.92243081e-01 5.02919749e-03 9.81334451e-01 6.33347817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.03, Y:5.57, Z:6.34 [[ 9.55521896e-01 -2.30527143e-01 -1.83943314e-01 4.60300650e+01] [ 2.25151388e-01 9.73045803e-01 -4.98870382e-02 5.57258188e+00] [ 1.90485586e-01 6.25306484e-03 9.81670077e-01 6.33963424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.06, Y:5.57, Z:6.34 [[ 9.58203445e-01 -2.22777545e-01 -1.79489061e-01 4.60582494e+01] [ 2.17513190e-01 9.74839112e-01 -4.87515853e-02 5.57468389e+00] [ 1.85833716e-01 7.67269876e-03 9.82551250e-01 6.34451146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.34710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:46.09, Y:5.58, Z:6.35 [[ 9.59280687e-01 -2.20706892e-01 -1.76264098e-01 4.60862786e+01] [ 2.15584284e-01 9.75307418e-01 -4.79463991e-02 5.57568454e+00] [ 1.82493783e-01 7.99428542e-03 9.83174507e-01 6.34687206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.11, Y:5.58, Z:6.35 [[ 9.58861039e-01 -2.21660228e-01 -1.77347824e-01 4.61123785e+01] [ 2.16480278e-01 9.75091852e-01 -4.82925417e-02 5.58070322e+00] [ 1.83634954e-01 7.91353040e-03 9.82962654e-01 6.35462548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.14, Y:5.58, Z:6.36 [[ 9.58836619e-01 -2.19349867e-01 -1.80327407e-01 4.61398233e+01] [ 2.13938163e-01 9.75608597e-01 -4.91765032e-02 5.58218372e+00] [ 1.86715828e-01 8.57331775e-03 9.82376556e-01 6.35724885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.43710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.17, Y:5.58, Z:6.36 [[ 9.58390069e-01 -2.18770828e-01 -1.83378844e-01 4.61667763e+01] [ 2.09280533e-01 9.75358267e-01 -6.98420314e-02 5.58218465e+00] [ 1.94139471e-01 2.85582870e-02 9.80558152e-01 6.36325806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.46710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.20, Y:5.58, Z:6.36 [[ 9.58761820e-01 -2.11934854e-01 -1.89365757e-01 4.61978152e+01] [ 2.09494989e-01 9.77251150e-01 -3.30460136e-02 5.58052375e+00] [ 1.92061506e-01 -7.98792105e-03 9.81350381e-01 6.36288060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.22, Y:5.59, Z:6.37 [[ 9.58917167e-01 -2.14653215e-01 -1.85477396e-01 4.62249830e+01] [ 2.08810937e-01 9.76640131e-01 -5.07153521e-02 5.58503209e+00] [ 1.92030882e-01 9.90211278e-03 9.81338926e-01 6.36892451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.52710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.25, Y:5.59, Z:6.37 [[ 9.58211556e-01 -2.17543235e-01 -1.85756709e-01 4.62530974e+01] [ 2.11721440e-01 9.76005272e-01 -5.08698415e-02 5.58657528e+00] [ 1.92365917e-01 9.41539210e-03 9.81278097e-01 6.37365707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.55710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.28, Y:5.59, Z:6.38 [[ 9.58134092e-01 -2.17901003e-01 -1.85736950e-01 4.62800530e+01] [ 2.12071920e-01 9.75925419e-01 -5.09418915e-02 5.59421242e+00] [ 1.92365700e-01 9.41957144e-03 9.81278100e-01 6.37866923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.58710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:46.31, Y:5.60, Z:6.38 [[ 9.57710507e-01 -2.19886521e-01 -1.85581524e-01 4.63077250e+01] [ 2.14089769e-01 9.75483144e-01 -5.09726061e-02 5.59718297e+00] [ 1.92239838e-01 9.08589481e-03 9.81305911e-01 6.38128073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.61710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.34, Y:5.59, Z:6.39 [[ 9.56447229e-01 -2.26238087e-01 -1.84458739e-01 4.63357188e+01] [ 2.20614502e-01 9.74040537e-01 -5.07373045e-02 5.59370298e+00] [ 1.91149000e-01 7.83328157e-03 9.81529775e-01 6.38844640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.64710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.36, Y:5.59, Z:6.40 [[ 9.53704543e-01 -2.38632826e-01 -1.83035570e-01 4.63637196e+01] [ 2.28542607e-01 9.70664794e-01 -7.46869067e-02 5.59394614e+00] [ 1.95488931e-01 2.93978159e-02 9.80265192e-01 6.39643447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.677105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.39, Y:5.60, Z:6.40 [[ 9.52022521e-01 -2.40464722e-01 -1.89287707e-01 4.63927971e+01] [ 2.34222999e-01 9.70624509e-01 -5.50240871e-02 5.59504237e+00] [ 1.96958639e-01 8.04863584e-03 9.80378760e-01 6.40138188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.42, Y:5.60, Z:6.41 [[ 9.49994635e-01 -2.47921608e-01 -1.89855393e-01 4.64208809e+01] [ 2.43487938e-01 9.68778331e-01 -4.67136937e-02 5.59618494e+00] [ 1.95509125e-01 -1.84973970e-03 9.80700138e-01 6.40701130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.73710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.45, Y:5.60, Z:6.41 [[ 9.49029177e-01 -2.51521834e-01 -1.89948382e-01 4.64500536e+01] [ 2.50050994e-01 9.67701291e-01 -3.20735248e-02 5.59720881e+00] [ 1.91880486e-01 -1.70580710e-02 9.81270045e-01 6.40860104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.76710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.47, Y:5.61, Z:6.42 [[ 9.47072715e-01 -2.61300690e-01 -1.86481160e-01 4.64737900e+01] [ 2.49672587e-01 9.64701226e-01 -8.37564565e-02 5.60865361e+00] [ 2.01784223e-01 3.27642211e-02 9.78881828e-01 6.41849465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.79710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.51, Y:5.60, Z:6.42 [[ 9.46607465e-01 -2.54251638e-01 -1.98218093e-01 4.65052707e+01] [ 2.54761469e-01 9.66721600e-01 -2.33653835e-02 5.60480000e+00] [ 1.97562399e-01 -2.83804860e-02 9.79879404e-01 6.41893172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.82710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.53, Y:5.62, Z:6.43 [[ 9.45151850e-01 -2.65163458e-01 -1.90725775e-01 4.65278387e+01] [ 2.53781984e-01 9.63756595e-01 -8.22674322e-02 5.62033348e+00] [ 2.05627540e-01 2.93524501e-02 9.78190037e-01 6.42933708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.857105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.56, Y:5.62, Z:6.44 [[ 9.44407559e-01 -2.65062251e-01 -1.94515722e-01 4.65565040e+01] [ 2.64995660e-01 9.63875650e-01 -2.68520445e-02 5.62477648e+00] [ 1.94606431e-01 -2.61865483e-02 9.80531795e-01 6.43575315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.88710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.58, Y:5.64, Z:6.44 [[ 9.43481772e-01 -2.73929131e-01 -1.86560920e-01 4.65813339e+01] [ 2.69012197e-01 9.61748830e-01 -5.16877644e-02 5.63687861e+00] [ 1.93583531e-01 -1.42069947e-03 9.81082768e-01 6.44262242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.91710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.61, Y:5.65, Z:6.45 [[ 9.41289984e-01 -2.82637019e-01 -1.84633370e-01 4.66059711e+01] [ 2.77973525e-01 9.59221910e-01 -5.12254434e-02 5.64620755e+00] [ 1.91582580e-01 -3.10519178e-03 9.81471585e-01 6.44824892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.94710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.63, Y:5.66, Z:6.45 [[ 9.40348372e-01 -2.86791961e-01 -1.83017239e-01 4.66308276e+01] [ 2.82281873e-01 9.57985016e-01 -5.08099756e-02 5.65621543e+00] [ 1.89899666e-01 -3.88337126e-03 9.81795822e-01 6.45371889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.97710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.66, Y:5.67, Z:6.46 [[ 9.38566781e-01 -2.93211384e-01 -1.81987588e-01 4.66555335e+01] [ 2.87684948e-01 9.56047278e-01 -5.66654531e-02 5.67381515e+00] [ 1.90603694e-01 8.29221997e-04 9.81666717e-01 6.46026389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.00710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.68, Y:5.69, Z:6.46 [[ 9.39783852e-01 -2.89764329e-01 -1.81226227e-01 4.66792565e+01] [ 2.86577916e-01 9.57040692e-01 -4.41158861e-02 5.68862701e+00] [ 1.86224084e-01 -1.04760371e-02 9.82451446e-01 6.46394899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.70, Y:5.70, Z:6.47 [[ 9.40084492e-01 -2.89634462e-01 -1.79869470e-01 4.67044310e+01] [ 2.85303913e-01 9.57127943e-01 -5.00777141e-02 5.70089243e+00] [ 1.86662328e-01 -4.24018140e-03 9.82414982e-01 6.46829937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.73, Y:5.72, Z:6.47 [[ 9.39131644e-01 -2.89593110e-01 -1.84844760e-01 4.67292154e+01] [ 2.85002347e-01 9.57140277e-01 -5.15378780e-02 5.71719304e+00] [ 1.91847379e-01 -4.28033819e-03 9.81415438e-01 6.47151431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.75, Y:5.74, Z:6.48 [[ 9.37918313e-01 -2.91422458e-01 -1.88101537e-01 4.67516941e+01] [ 2.86688810e-01 9.56583070e-01 -5.25200609e-02 5.73646681e+00] [ 1.95240271e-01 -4.66707893e-03 9.80744337e-01 6.47617990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.78, Y:5.75, Z:6.48 [[ 9.37229198e-01 -2.93169272e-01 -1.88820571e-01 4.67763757e+01] [ 2.88426698e-01 9.56047401e-01 -5.27580116e-02 5.75046075e+00] [ 1.95988444e-01 -5.01454474e-03 9.80593384e-01 6.48128612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.80, Y:5.77, Z:6.49 [[ 9.36202064e-01 -2.96758769e-01 -1.88308070e-01 4.67996534e+01] [ 2.92099539e-01 9.54935588e-01 -5.26866339e-02 5.76699474e+00] [ 1.95457298e-01 -5.67936501e-03 9.80695768e-01 6.48643822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.18710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.83, Y:5.78, Z:6.49 [[ 9.35626302e-01 -2.98633883e-01 -1.88205277e-01 4.68252504e+01] [ 2.94010015e-01 9.54348688e-01 -5.26943336e-02 5.77815723e+00] [ 1.95349772e-01 -6.03203164e-03 9.80715087e-01 6.49057405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.21710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:46.85, Y:5.80, Z:6.50 [[ 9.33895525e-01 -3.03969938e-01 -1.88258932e-01 4.68491857e+01] [ 2.95384165e-01 9.52601265e-01 -7.27944090e-02 5.79682315e+00] [ 2.01463009e-01 1.23736653e-02 9.79417964e-01 6.49736959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.24710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.87, Y:5.81, Z:6.50 [[ 9.33453543e-01 -3.01856747e-01 -1.93770449e-01 4.68724526e+01] [ 2.96421176e-01 9.53344603e-01 -5.71712757e-02 5.81233374e+00] [ 2.01987547e-01 -4.07093440e-03 9.79379629e-01 6.50083381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.90, Y:5.83, Z:6.50 [[ 9.34838116e-01 -2.99351813e-01 -1.90961226e-01 4.68981047e+01] [ 2.98973113e-01 9.53741899e-01 -3.14875692e-02 5.82981595e+00] [ 1.91553584e-01 -2.76564925e-02 9.81092423e-01 6.50387706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.30710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.92, Y:5.85, Z:6.51 [[ 9.35232870e-01 -3.02808916e-01 -1.83429111e-01 4.69202356e+01] [ 2.98462295e-01 9.53028815e-01 -5.15396576e-02 5.84548405e+00] [ 1.90419896e-01 -6.54509148e-03 9.81680918e-01 6.51190672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.33710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.94, Y:5.87, Z:6.52 [[ 9.35926512e-01 -3.09022176e-01 -1.68958156e-01 4.69434893e+01] [ 2.97267071e-01 9.50392738e-01 -9.15747387e-02 5.86693898e+00] [ 1.88875230e-01 3.54815295e-02 9.81359877e-01 6.51682548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.36710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.97, Y:5.87, Z:6.52 [[ 9.35813889e-01 -2.96108331e-01 -1.91238650e-01 4.69739965e+01] [ 2.99818680e-01 9.53944661e-01 -9.91680802e-03 5.86779783e+00] [ 1.85367539e-01 -4.80566329e-02 9.81493472e-01 6.51611608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.39710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:46.99, Y:5.90, Z:6.53 [[ 9.34292905e-01 -3.06771980e-01 -1.81625218e-01 4.69910548e+01] [ 2.97108695e-01 9.51577964e-01 -7.89037475e-02 5.89534941e+00] [ 1.97036014e-01 1.97567800e-02 9.80197163e-01 6.53458862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.427105680999986 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:47.02, Y:5.90, Z:6.53 [[ 9.34741510e-01 -2.99882167e-01 -1.90601668e-01 4.70174185e+01] [ 2.96274605e-01 9.53903869e-01 -4.78410702e-02 5.90471273e+00] [ 1.96162353e-01 -1.17513998e-02 9.80501013e-01 6.53296056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45710568099999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:47.05, Y:5.92, Z:6.53 [[ 9.35844112e-01 -2.96434583e-01 -1.90584198e-01 4.70450814e+01] [ 2.95480471e-01 9.54740828e-01 -3.40770144e-02 5.92025982e+00] [ 1.92060120e-01 -2.44231352e-02 9.81079212e-01 6.53205536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.48710568099999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:47.07, Y:5.94, Z:6.54 [[ 9.36295588e-01 -2.97862094e-01 -1.86088003e-01 4.70684771e+01] [ 2.93244008e-01 9.54593691e-01 -5.25246379e-02 5.93596644e+00] [ 1.93283532e-01 -5.39060513e-03 9.81128135e-01 6.53892639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.51710568099999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:47.09, Y:5.95, Z:6.55 [[ 9.36508982e-01 -2.97676352e-01 -1.85309783e-01 4.70935796e+01] [ 2.93078753e-01 9.54652379e-01 -5.23801452e-02 5.94758286e+00] [ 1.92498756e-01 -5.25588353e-03 9.81283142e-01 6.54561226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.54710568099999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:47.11, Y:5.96, Z:6.56 [[ 9.38090267e-01 -2.95076127e-01 -1.81429683e-01 4.71137660e+01] [ 2.87995225e-01 9.55435418e-01 -6.48221640e-02 5.96414908e+00] [ 1.92471818e-01 8.55815878e-03 9.81265182e-01 6.55700611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.57710568099999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:47.14, Y:5.98, Z:6.56 [[ 9.41566244e-01 -2.84083063e-01 -1.80969117e-01 4.71412466e+01] [ 2.81650574e-01 9.58701407e-01 -3.95545882e-02 5.97898050e+00] [ 1.84732136e-01 -1.37267909e-02 9.82693041e-01 6.55690217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.607105680999986 meters Centerline goodness : 0.998319 Centerline is valid? [True, True] Translation: X:47.17, Y:5.99, Z:6.56 [[ 9.43579277e-01 -2.79645983e-01 -1.77359161e-01 4.71651653e+01] [ 2.75098744e-01 9.60102189e-01 -5.02440722e-02 5.99268606e+00] [ 1.84333472e-01 -1.38201723e-03 9.82862789e-01 6.56392407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.63710568099999 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:47.19, Y:6.01, Z:6.56 [[ 9.47669296e-01 -2.63967469e-01 -1.79566369e-01 4.71895651e+01] [ 2.59010962e-01 9.64529963e-01 -5.09438212e-02 6.00879686e+00] [ 1.86644655e-01 1.76823718e-03 9.82425899e-01 6.56425941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.66710568099999 meters Centerline goodness : 0.997508 Centerline is valid? [True, True] Translation: X:47.22, Y:6.02, Z:6.56 [[ 9.50470954e-01 -2.51470193e-01 -1.82668302e-01 4.72150126e+01] [ 2.46095432e-01 9.67855160e-01 -5.18982423e-02 6.02013631e+00] [ 1.89847319e-01 4.37393724e-03 9.81803883e-01 6.56440322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.69710568099999 meters Centerline goodness : 0.997691 Centerline is valid? [True, True] Translation: X:47.24, Y:6.03, Z:6.57 [[ 9.50935138e-01 -2.48236675e-01 -1.84664333e-01 4.72415859e+01] [ 2.42675022e-01 9.68685924e-01 -5.25015685e-02 6.02773642e+00] [ 1.91914555e-01 5.11216527e-03 9.81398324e-01 6.56801219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.72710568099999 meters Centerline goodness : 0.997423 Centerline is valid? [True, True] Translation: X:47.27, Y:6.04, Z:6.57 [[ 9.50501342e-01 -2.47267927e-01 -1.88164212e-01 4.72681675e+01] [ 2.41456271e-01 9.68931586e-01 -5.35765805e-02 6.03612570e+00] [ 1.95566019e-01 5.49118255e-03 9.80675165e-01 6.57238834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.75710568099999 meters Centerline goodness : 0.997754 Centerline is valid? [True, True] Translation: X:47.29, Y:6.04, Z:6.58 [[ 9.49561050e-01 -2.49573583e-01 -1.89860052e-01 4.72948898e+01] [ 2.43685760e-01 9.68342203e-01 -5.41352773e-02 6.04140073e+00] [ 1.97360237e-01 5.13855957e-03 9.80317567e-01 6.57645301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.787105680999986 meters Centerline goodness : 0.997587 Centerline is valid? [True, True] Translation: X:47.32, Y:6.05, Z:6.58 [[ 9.49128160e-01 -2.51703219e-01 -1.89212120e-01 4.73222138e+01] [ 2.45890279e-01 9.67792977e-01 -5.39881864e-02 6.04524441e+00] [ 1.96707161e-01 4.71628691e-03 9.80450942e-01 6.58024287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.81710568099999 meters Centerline goodness : 0.998095 Centerline is valid? [True, True] Translation: X:47.35, Y:6.05, Z:6.59 [[ 9.47486844e-01 -2.58336181e-01 -1.88496943e-01 4.73489557e+01] [ 2.49814398e-01 9.65898290e-01 -6.80680536e-02 6.04539554e+00] [ 1.99653316e-01 1.74043349e-02 9.79712020e-01 6.59025400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.84710568099999 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:47.38, Y:6.05, Z:6.60 [[ 9.46092846e-01 -2.60766295e-01 -1.92117842e-01 4.73761777e+01] [ 2.53076594e-01 9.65328514e-01 -6.39773226e-02 6.04864004e+00] [ 2.02139961e-01 1.19079581e-02 9.79284247e-01 6.59649987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.87710568099999 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:47.41, Y:6.05, Z:6.60 [[ 9.45565795e-01 -2.61528376e-01 -1.93670431e-01 4.74080062e+01] [ 2.59919688e-01 9.65026755e-01 -3.41338284e-02 6.04650872e+00] [ 1.95824112e-01 -1.80629774e-02 9.80472665e-01 6.59717698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.90710568099999 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:47.43, Y:6.05, Z:6.61 [[ 9.44215451e-01 -2.71756279e-01 -1.86026094e-01 4.74301959e+01] [ 2.61109404e-01 9.61988186e-01 -8.00038089e-02 6.05242419e+00] [ 2.00696442e-01 2.69676700e-02 9.79282228e-01 6.61401919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.93710568099999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:47.46, Y:6.05, Z:6.62 [[ 9.43617844e-01 -2.71230124e-01 -1.89788260e-01 4.74614316e+01] [ 2.66131309e-01 9.62513896e-01 -5.23557741e-02 6.05016861e+00] [ 1.96874300e-01 -1.10475538e-03 9.80428115e-01 6.61602342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.96710568099999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:47.49, Y:6.05, Z:6.62 [[ 9.44161118e-01 -2.70070515e-01 -1.88737121e-01 4.74914038e+01] [ 2.69105440e-01 9.62604603e-01 -3.12192327e-02 6.05333086e+00] [ 1.90110616e-01 -2.13142003e-02 9.81531283e-01 6.61738209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99710568099999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:47.51, Y:6.06, Z:6.64 [[ 9.42452307e-01 -2.80515159e-01 -1.81920023e-01 4.75131854e+01] [ 2.68597525e-01 9.59256264e-01 -8.76515233e-02 6.06147701e+00] [ 1.99095502e-01 3.37441125e-02 9.79398956e-01 6.63713956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.02710568099999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:47.55, Y:6.06, Z:6.63 [[ 9.44079425e-01 -2.69157462e-01 -1.90442381e-01 4.75486201e+01] [ 2.70313236e-01 9.62556604e-01 -2.03847899e-02 6.05950334e+00] [ 1.88798290e-01 -3.22342354e-02 9.81486709e-01 6.62646596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.05710568099999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:47.57, Y:6.07, Z:6.64 [[ 9.45553725e-01 -2.70303740e-01 -1.81284419e-01 4.75726974e+01] [ 2.65220839e-01 9.62774264e-01 -5.21883358e-02 6.07000830e+00] [ 1.88642676e-01 1.26646950e-03 9.82044977e-01 6.63652849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.08710568099999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:47.60, Y:6.07, Z:6.64 [[ 9.46461270e-01 -2.65688860e-01 -1.83358922e-01 4.75997556e+01] [ 2.59393174e-01 9.64031259e-01 -5.79561299e-02 6.07483338e+00] [ 1.92162031e-01 7.29117952e-03 9.81336126e-01 6.64122726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.11710568099999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:47.63, Y:6.08, Z:6.64 [[ 9.47745160e-01 -2.59774517e-01 -1.85192637e-01 4.76285157e+01] [ 2.55232957e-01 9.65668269e-01 -4.83831799e-02 6.07521929e+00] [ 1.91403370e-01 -1.41233978e-03 9.81510446e-01 6.64396745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.14710568099999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:47.66, Y:6.08, Z:6.65 [[ 9.48208312e-01 -2.58285130e-01 -1.84904808e-01 4.76553522e+01] [ 2.52733075e-01 9.66060813e-01 -5.34087783e-02 6.08166156e+00] [ 1.92423982e-01 3.91108681e-03 9.81304089e-01 6.65014218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.177105680999986 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:47.68, Y:6.08, Z:6.65 [[ 9.49645016e-01 -2.52039800e-01 -1.86145863e-01 4.76823045e+01] [ 2.46278193e-01 9.67702421e-01 -5.38430759e-02 6.08482190e+00] [ 1.93704400e-01 5.28814190e-03 9.81045687e-01 6.65438808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.20710568099999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:47.71, Y:6.09, Z:6.66 [[ 9.50169858e-01 -2.50808472e-01 -1.85127932e-01 4.77085316e+01] [ 2.40189143e-01 9.67579979e-01 -7.80907133e-02 6.08699276e+00] [ 1.98711893e-01 2.97337227e-02 9.79606803e-01 6.66457389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.23710568099999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:47.74, Y:6.09, Z:6.67 [[ 9.50356266e-01 -2.45110940e-01 -1.91686188e-01 4.77390642e+01] [ 2.40240894e-01 9.69495025e-01 -4.86179949e-02 6.08766117e+00] [ 1.97755608e-01 1.53554840e-04 9.80251343e-01 6.66565981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.26710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:47.77, Y:6.09, Z:6.67 [[ 9.50082749e-01 -2.46988059e-01 -1.90629664e-01 4.77668715e+01] [ 2.41045580e-01 9.69003038e-01 -5.41307810e-02 6.09075790e+00] [ 1.98090380e-01 5.47828331e-03 9.80168450e-01 6.67247806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.29710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:47.79, Y:6.09, Z:6.68 [[ 9.48631973e-01 -2.52078194e-01 -1.91190908e-01 4.77945457e+01] [ 2.42020922e-01 9.67395810e-01 -7.46406023e-02 6.09460026e+00] [ 2.03772551e-01 2.45342621e-02 9.78710794e-01 6.68105598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.32710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:47.82, Y:6.09, Z:6.67 [[ 9.49441311e-01 -2.42725655e-01 -1.99111661e-01 4.78249265e+01] [ 2.42693840e-01 9.69782088e-01 -2.49479904e-02 6.09109707e+00] [ 1.99150440e-01 -2.46365208e-02 9.79659198e-01 6.67476194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.357105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.85, Y:6.10, Z:6.68 [[ 9.48104775e-01 -2.54690604e-01 -1.90341881e-01 4.78528401e+01] [ 2.48472530e-01 9.67003691e-01 -5.62606696e-02 6.09747350e+00] [ 1.98390365e-01 6.04628081e-03 9.80104436e-01 6.68232034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.38710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.88, Y:6.10, Z:6.69 [[ 9.47285391e-01 -2.57600430e-01 -1.90505658e-01 4.78794933e+01] [ 2.51616295e-01 9.66240895e-01 -5.53874848e-02 6.10043248e+00] [ 1.98342197e-01 4.53342738e-03 9.80122350e-01 6.68679092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.41710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.91, Y:6.10, Z:6.69 [[ 9.44665579e-01 -2.66265993e-01 -1.91596883e-01 4.79076714e+01] [ 2.60380764e-01 9.63895614e-01 -5.57413993e-02 6.10155563e+00] [ 1.99521434e-01 2.76883862e-03 9.79889550e-01 6.69296899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.44710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:47.94, Y:6.11, Z:6.70 [[ 9.41760576e-01 -2.76626882e-01 -1.91218687e-01 4.79355507e+01] [ 2.70959558e-01 9.60977180e-01 -5.57115616e-02 6.10559899e+00] [ 1.99168110e-01 6.54421387e-04 9.79965120e-01 6.69814762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.47710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:47.96, Y:6.11, Z:6.70 [[ 9.41661684e-01 -2.76978248e-01 -1.91197078e-01 4.79623350e+01] [ 2.71303054e-01 9.60875963e-01 -5.57856292e-02 6.11366064e+00] [ 1.99168082e-01 6.58838420e-04 9.79965122e-01 6.70334771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.50710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.99, Y:6.12, Z:6.71 [[ 9.40344322e-01 -2.84112783e-01 -1.87169663e-01 4.79887693e+01] [ 2.78802234e-01 9.58790562e-01 -5.46806407e-02 6.11764044e+00] [ 1.94991975e-01 -7.64690093e-04 9.80804540e-01 6.71103505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.537105680999986 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:48.02, Y:6.12, Z:6.71 [[ 9.40126468e-01 -2.86441943e-01 -1.84697692e-01 4.80157413e+01] [ 2.81309580e-01 9.58096854e-01 -5.39938720e-02 6.12346615e+00] [ 1.92424387e-01 -1.19616199e-03 9.81311074e-01 6.71458474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.04, Y:6.13, Z:6.72 [[ 9.38886179e-01 -2.91643696e-01 -1.82857044e-01 4.80434624e+01] [ 2.86697236e-01 9.56524575e-01 -5.35297396e-02 6.12536516e+00] [ 1.90518867e-01 -2.16627628e-03 9.81681144e-01 6.72263965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.07, Y:6.13, Z:6.73 [[ 9.38033628e-01 -2.95001269e-01 -1.81843789e-01 4.80707126e+01] [ 2.90158014e-01 9.55492877e-01 -5.33074935e-02 6.13149805e+00] [ 1.89476223e-01 -2.75921098e-03 9.81881433e-01 6.72794545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.09, Y:6.14, Z:6.74 [[ 9.34772942e-01 -3.05846362e-01 -1.80714002e-01 4.80937631e+01] [ 2.98215919e-01 9.52025194e-01 -6.86680026e-02 6.13931683e+00] [ 1.93046141e-01 1.02971987e-02 9.81135646e-01 6.73679196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.12, Y:6.14, Z:6.74 [[ 9.33324438e-01 -3.07352043e-01 -1.85580749e-01 4.81233977e+01] [ 3.05348909e-01 9.51399638e-01 -4.00096635e-02 6.14433434e+00] [ 1.88858509e-01 -1.93248827e-02 9.81814143e-01 6.73930630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.15, Y:6.16, Z:6.75 [[ 9.28657954e-01 -3.23686214e-01 -1.81167436e-01 4.81478136e+01] [ 3.15472322e-01 9.46101815e-01 -7.32705261e-02 6.15814052e+00] [ 1.95119499e-01 1.08899452e-02 9.80719017e-01 6.74975968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.18, Y:6.16, Z:6.75 [[ 9.26638459e-01 -3.25650638e-01 -1.87863856e-01 4.81763212e+01] [ 3.24874699e-01 9.45079488e-01 -3.57937258e-02 6.16289797e+00] [ 1.89202527e-01 -2.78643709e-02 9.81542654e-01 6.74957623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.74710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.20, Y:6.17, Z:6.76 [[ 9.25189078e-01 -3.32207469e-01 -1.83475797e-01 4.82002911e+01] [ 3.27934337e-01 9.43151814e-01 -5.40714902e-02 6.17460849e+00] [ 1.91008484e-01 -1.01416619e-02 9.81535993e-01 6.75607532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.23, Y:6.19, Z:6.76 [[ 9.23720777e-01 -3.37337906e-01 -1.81502241e-01 4.82251899e+01] [ 3.33247806e-01 9.41318837e-01 -5.35233260e-02 6.18820573e+00] [ 1.88906925e-01 -1.10446153e-02 9.81932885e-01 6.75989790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.80710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.25, Y:6.21, Z:6.77 [[ 9.22358049e-01 -3.41402757e-01 -1.80830827e-01 4.82464031e+01] [ 3.34169518e-01 9.39907884e-01 -7.00278749e-02 6.20685859e+00] [ 1.93872029e-01 4.16262397e-03 9.81017996e-01 6.77050787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.83710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.27, Y:6.22, Z:6.77 [[ 9.22922711e-01 -3.39992016e-01 -1.80607582e-01 4.82737623e+01] [ 3.35643379e-01 9.40377416e-01 -5.50802762e-02 6.21941544e+00] [ 1.88566146e-01 -9.78490144e-03 9.82011744e-01 6.76960361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.86710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.30, Y:6.24, Z:6.77 [[ 9.22393037e-01 -3.41152639e-01 -1.81124164e-01 4.82976891e+01] [ 3.37084182e-01 9.39938040e-01 -5.37655523e-02 6.24011955e+00] [ 1.88587752e-01 -1.14611195e-02 9.81989462e-01 6.77403536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.32, Y:6.26, Z:6.78 [[ 9.22389548e-01 -3.40816369e-01 -1.81773830e-01 4.83206366e+01] [ 3.37137551e-01 9.40032203e-01 -5.17467727e-02 6.26100708e+00] [ 1.88509401e-01 -1.35521015e-02 9.81977875e-01 6.78025572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.927105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.34, Y:6.27, Z:6.79 [[ 9.22059373e-01 -3.37979674e-01 -1.88616681e-01 4.83432296e+01] [ 3.37121682e-01 9.40709427e-01 -3.76131047e-02 6.27441575e+00] [ 1.90145955e-01 -2.89052569e-02 9.81330221e-01 6.78717188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.37, Y:6.30, Z:6.79 [[ 9.23953164e-01 -3.38890027e-01 -1.77381228e-01 4.83656210e+01] [ 3.32334767e-01 9.40822988e-01 -6.63755055e-02 6.29992218e+00] [ 1.89378333e-01 2.37790945e-03 9.81901315e-01 6.79357310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.98710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:48.39, Y:6.31, Z:6.80 [[ 9.25372638e-01 -3.33687677e-01 -1.79827736e-01 4.83906261e+01] [ 3.29154063e-01 9.42650292e-01 -5.53898013e-02 6.31386633e+00] [ 1.87997562e-01 -7.93482332e-03 9.82137442e-01 6.79638908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.01710568099999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:48.41, Y:6.34, Z:6.80 [[ 9.27778334e-01 -3.22420141e-01 -1.87810055e-01 4.84113612e+01] [ 3.21027133e-01 9.46281180e-01 -3.86459209e-02 6.33615415e+00] [ 1.90181344e-01 -2.44372755e-02 9.81444790e-01 6.80079047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.04710568099999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:48.43, Y:6.36, Z:6.81 [[ 9.30745294e-01 -3.15745564e-01 -1.84439518e-01 4.84324659e+01] [ 3.10983774e-01 9.48823726e-01 -5.49784468e-02 6.35892830e+00] [ 1.92359792e-01 -6.18676688e-03 9.81304965e-01 6.80673481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.07710568099999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:48.46, Y:6.37, Z:6.81 [[ 9.32554817e-01 -3.10483365e-01 -1.84232441e-01 4.84571908e+01] [ 3.05623975e-01 9.50565336e-01 -5.49502256e-02 6.37301922e+00] [ 1.92186103e-01 -5.06175341e-03 9.81345444e-01 6.81195930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.107105680999986 meters Centerline goodness : 0.998268 Centerline is valid? [True, True] Translation: X:48.48, Y:6.39, Z:6.82 [[ 9.36553638e-01 -2.98149026e-01 -1.84321570e-01 4.84784172e+01] [ 2.93032764e-01 9.54516180e-01 -5.50514418e-02 6.39366404e+00] [ 1.92351455e-01 -2.45363107e-03 9.81323034e-01 6.81679927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13710568099999 meters Centerline goodness : 0.997754 Centerline is valid? [True, True] Translation: X:48.50, Y:6.41, Z:6.82 [[ 9.39661535e-01 -2.85515558e-01 -1.88459719e-01 4.85006853e+01] [ 2.79905010e-01 9.58374058e-01 -5.63236191e-02 6.41429610e+00] [ 1.96696175e-01 1.74318973e-04 9.80464474e-01 6.82059527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.16710568099999 meters Centerline goodness : 0.997721 Centerline is valid? [True, True] Translation: X:48.52, Y:6.43, Z:6.82 [[ 9.41281442e-01 -2.77398838e-01 -1.92455534e-01 4.85217066e+01] [ 2.69178304e-01 9.60675438e-01 -6.81596839e-02 6.43254196e+00] [ 2.03794721e-01 1.23525914e-02 9.78935710e-01 6.82486777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.19710568099999 meters Centerline goodness : 0.997189 Centerline is valid? [True, True] Translation: X:48.55, Y:6.44, Z:6.82 [[ 9.41312709e-01 -2.74041247e-01 -1.97057804e-01 4.85494904e+01] [ 2.69586145e-01 9.61696589e-01 -4.96284230e-02 6.44192688e+00] [ 2.03110053e-01 -6.40818863e-03 9.79134945e-01 6.82236059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.22710568099999 meters Centerline goodness : 0.997033 Centerline is valid? [True, True] Translation: X:48.57, Y:6.45, Z:6.83 [[ 9.40970810e-01 -2.76640401e-01 -1.95048772e-01 4.85744868e+01] [ 2.70393561e-01 9.60970736e-01 -5.85027081e-02 6.45326183e+00] [ 2.03620374e-01 2.30940867e-03 9.79047195e-01 6.82709429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.25710568099999 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:48.60, Y:6.46, Z:6.84 [[ 9.38920190e-01 -2.83913000e-01 -1.94479521e-01 4.85960405e+01] [ 2.73719509e-01 9.58641321e-01 -7.80028691e-02 6.46458455e+00] [ 2.08582134e-01 2.00056297e-02 9.77800219e-01 6.83741688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.287105680999986 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:48.62, Y:6.47, Z:6.84 [[ 9.35875142e-01 -2.89573236e-01 -2.00711384e-01 4.86243560e+01] [ 2.83024254e-01 9.57155727e-01 -6.12387651e-02 6.47276555e+00] [ 2.09845158e-01 5.05648058e-04 9.77734501e-01 6.84065721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.31710568099999 meters Centerline goodness : 0.997308 Centerline is valid? [True, True] Translation: X:48.65, Y:6.48, Z:6.84 [[ 9.34605066e-01 -2.93966768e-01 -2.00242129e-01 4.86544769e+01] [ 2.91239968e-01 9.55654642e-01 -4.36289610e-02 6.48161773e+00] [ 2.04187785e-01 -1.75426633e-02 9.78774542e-01 6.84273867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.34710568099999 meters Centerline goodness : 0.997082 Centerline is valid? [True, True] Translation: X:48.68, Y:6.49, Z:6.85 [[ 9.34461180e-01 -2.97547795e-01 -1.95569967e-01 4.86788814e+01] [ 2.91703640e-01 9.54704448e-01 -5.87231060e-02 6.49306409e+00] [ 2.04184448e-01 -2.17400820e-03 9.78930020e-01 6.85282935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.37710568099999 meters Centerline goodness : 0.997310 Centerline is valid? [True, True] Translation: X:48.70, Y:6.50, Z:6.86 [[ 9.34576735e-01 -2.97057512e-01 -1.95763024e-01 4.87040585e+01] [ 2.91175030e-01 9.54857507e-01 -5.88578282e-02 6.50400306e+00] [ 2.04409953e-01 -1.99414748e-03 9.78883341e-01 6.85764981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.40710568099999 meters Centerline goodness : 0.997345 Centerline is valid? [True, True] Translation: X:48.73, Y:6.51, Z:6.86 [[ 9.34998049e-01 -2.96848920e-01 -1.94060214e-01 4.87299696e+01] [ 2.91048394e-01 9.54922659e-01 -5.84255763e-02 6.51412077e+00] [ 2.02656065e-01 -1.85311387e-03 9.79248225e-01 6.86188802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43710568099999 meters Centerline goodness : 0.997291 Centerline is valid? [True, True] Translation: X:48.75, Y:6.52, Z:6.87 [[ 9.35294741e-01 -2.96758370e-01 -1.92764668e-01 4.87549527e+01] [ 2.91018353e-01 9.54951003e-01 -5.81111062e-02 6.52361851e+00] [ 2.01325771e-01 -1.74704427e-03 9.79522783e-01 6.86817550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.467105680999985 meters Centerline goodness : 0.997236 Centerline is valid? [True, True] Translation: X:48.78, Y:6.53, Z:6.87 [[ 9.35074850e-01 -2.98545762e-01 -1.91063999e-01 4.87798307e+01] [ 2.92937188e-01 9.54393059e-01 -5.76341226e-02 6.53431949e+00] [ 1.99556578e-01 -2.07753221e-03 9.79884103e-01 6.87392016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49710568099999 meters Centerline goodness : 0.997202 Centerline is valid? [True, True] Translation: X:48.81, Y:6.54, Z:6.88 [[ 9.34090365e-01 -3.02320821e-01 -1.89940281e-01 4.88069172e+01] [ 2.96840767e-01 9.53202138e-01 -5.73693611e-02 6.54134808e+00] [ 1.98395434e-01 -2.79385134e-03 9.80118078e-01 6.87850913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.52710568099999 meters Centerline goodness : 0.997357 Centerline is valid? [True, True] Translation: X:48.83, Y:6.55, Z:6.88 [[ 9.33432137e-01 -3.03855476e-01 -1.90725707e-01 4.88330997e+01] [ 2.98344983e-01 9.52713238e-01 -5.76867119e-02 6.54946026e+00] [ 1.99235330e-01 -3.05542729e-03 9.79946911e-01 6.88384041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.55710568099999 meters Centerline goodness : 0.997135 Centerline is valid? [True, True] Translation: X:48.86, Y:6.56, Z:6.89 [[ 9.33626595e-01 -3.02110079e-01 -1.92537998e-01 4.88581796e+01] [ 2.96440135e-01 9.53269414e-01 -5.83152662e-02 6.55962915e+00] [ 2.01158214e-01 -2.63130666e-03 9.79555230e-01 6.89099288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.58710568099999 meters Centerline goodness : 0.997165 Centerline is valid? [True, True] Translation: X:48.88, Y:6.57, Z:6.90 [[ 9.34705370e-01 -2.99578957e-01 -1.91254595e-01 4.88841339e+01] [ 2.93916514e-01 9.54069425e-01 -5.80052943e-02 6.56842312e+00] [ 1.99847327e-01 -1.99502389e-03 9.79825018e-01 6.89725316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.61710568099999 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:48.91, Y:6.58, Z:6.90 [[ 9.37681525e-01 -2.90616512e-01 -1.90513519e-01 4.89112039e+01] [ 2.84798621e-01 9.56839612e-01 -5.78593372e-02 6.57521135e+00] [ 1.99105761e-01 -4.35597858e-06 9.79978008e-01 6.90214508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.64710568099999 meters Centerline goodness : 0.997471 Centerline is valid? [True, True] Translation: X:48.94, Y:6.58, Z:6.91 [[ 9.40381432e-01 -2.80818202e-01 -1.91895544e-01 4.89373563e+01] [ 2.74696016e-01 9.59758536e-01 -5.83579640e-02 6.58156426e+00] [ 2.00561365e-01 2.16580433e-03 9.79678747e-01 6.90760288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.677105680999986 meters Centerline goodness : 0.997187 Centerline is valid? [True, True] Translation: X:48.96, Y:6.59, Z:6.91 [[ 9.42917571e-01 -2.71110486e-01 -1.93405168e-01 4.89638402e+01] [ 2.64676114e-01 9.62538525e-01 -5.88739629e-02 6.58988945e+00] [ 2.02121274e-01 4.32356587e-03 9.79350957e-01 6.91220375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.70710568099999 meters Centerline goodness : 0.997711 Centerline is valid? [True, True] Translation: X:48.99, Y:6.60, Z:6.92 [[ 9.44043425e-01 -2.66674303e-01 -1.94079439e-01 4.89900052e+01] [ 2.60084738e-01 9.63771729e-01 -5.91606564e-02 6.59713777e+00] [ 2.02824903e-01 5.37312856e-03 9.79200280e-01 6.91622009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.73710568099999 meters Centerline goodness : 0.997549 Centerline is valid? [True, True] Translation: X:49.02, Y:6.60, Z:6.92 [[ 9.45923849e-01 -2.58429275e-01 -1.96067291e-01 4.90174447e+01] [ 2.51510247e-01 9.66002623e-01 -5.98458624e-02 6.60037128e+00] [ 2.04867440e-01 7.29669581e-03 9.78762530e-01 6.91768573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.76710568099999 meters Centerline goodness : 0.997500 Centerline is valid? [True, True] Translation: X:49.05, Y:6.60, Z:6.92 [[ 9.46412180e-01 -2.55998047e-01 -1.96898414e-01 4.90453967e+01] [ 2.48959029e-01 9.66645041e-01 -6.01395657e-02 6.60268686e+00] [ 2.05726487e-01 7.89717959e-03 9.78577665e-01 6.92223702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.79710568099999 meters Centerline goodness : 0.997286 Centerline is valid? [True, True] Translation: X:49.07, Y:6.61, Z:6.93 [[ 9.45974120e-01 -2.57360828e-01 -1.97226694e-01 4.90721473e+01] [ 2.50310173e-01 9.66284743e-01 -6.03209207e-02 6.60627004e+00] [ 2.06101387e-01 7.69418210e-03 9.78500392e-01 6.92663722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.82710568099999 meters Centerline goodness : 0.997709 Centerline is valid? [True, True] Translation: X:49.10, Y:6.61, Z:6.93 [[ 9.44217659e-01 -2.62667180e-01 -1.98642808e-01 4.91011068e+01] [ 2.55620497e-01 9.64863737e-01 -6.07958063e-02 6.60582224e+00] [ 2.07632305e-01 6.62730074e-03 9.78184494e-01 6.93293358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.857105680999986 meters Centerline goodness : 0.997714 Centerline is valid? [True, True] Translation: X:49.13, Y:6.61, Z:6.94 [[ 9.41824659e-01 -2.69545147e-01 -2.00777800e-01 4.91281508e+01] [ 2.62480561e-01 9.62973434e-01 -6.15314566e-02 6.60835640e+00] [ 2.09929193e-01 5.25157372e-03 9.77702488e-01 6.93846259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.88710568099999 meters Centerline goodness : 0.997802 Centerline is valid? [True, True] Translation: X:49.15, Y:6.61, Z:6.94 [[ 9.40736564e-01 -2.73528807e-01 -2.00491171e-01 4.91549904e+01] [ 2.66562261e-01 9.61853701e-01 -6.14981201e-02 6.61207380e+00] [ 2.09664682e-01 4.41015033e-03 9.77763403e-01 6.94294022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.91710568099999 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:49.18, Y:6.61, Z:6.95 [[ 9.38758787e-01 -2.81986982e-01 -1.98028489e-01 4.91835396e+01] [ 2.75370913e-01 9.59414911e-01 -6.07773678e-02 6.60994438e+00] [ 2.07129912e-01 2.52400203e-03 9.78310191e-01 6.94768043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.94710568099999 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:49.21, Y:6.61, Z:6.95 [[ 9.37335895e-01 -2.87100424e-01 -1.97420277e-01 4.92110628e+01] [ 2.80629390e-01 9.57899425e-01 -6.06286815e-02 6.61416146e+00] [ 2.06515290e-01 1.42750750e-03 9.78442332e-01 6.95362931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.97710568099999 meters Centerline goodness : 0.998319 Centerline is valid? [True, True] Translation: X:49.23, Y:6.61, Z:6.96 [[ 9.35969118e-01 -2.92593987e-01 -1.95833014e-01 4.92319810e+01] [ 2.85499496e-01 9.56227736e-01 -6.41759722e-02 6.61309255e+00] [ 2.06038463e-01 4.15650137e-03 9.78535066e-01 6.95985898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.00710568099999 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:49.26, Y:6.61, Z:6.97 [[ 9.34714385e-01 -2.99643548e-01 -1.91109295e-01 4.92598892e+01] [ 2.91814065e-01 9.54015021e-01 -6.85557525e-02 6.61498126e+00] [ 2.02863427e-01 8.31166793e-03 9.79171765e-01 6.96815655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.037105680999986 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:49.29, Y:6.62, Z:6.97 [[ 9.33005864e-01 -3.04288925e-01 -1.92115349e-01 4.92943549e+01] [ 2.99256106e-01 9.52562206e-01 -5.54168535e-02 6.62100152e+00] [ 1.99864555e-01 -5.78744189e-03 9.79806443e-01 6.97257996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.06710568099999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:49.32, Y:6.62, Z:6.98 [[ 9.30761439e-01 -3.11375343e-01 -1.91646913e-01 4.93220960e+01] [ 3.05752556e-01 9.50279948e-01 -5.90202862e-02 6.62375603e+00] [ 2.00495680e-01 -3.66272694e-03 9.79687739e-01 6.97838904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.09710568099999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:49.35, Y:6.63, Z:6.98 [[ 9.27988997e-01 -3.18255145e-01 -1.93778438e-01 4.93489068e+01] [ 3.10863916e-01 9.48000004e-01 -6.82613880e-02 6.62535912e+00] [ 2.05426498e-01 3.10709276e-03 9.78667615e-01 6.98436110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.12710568099999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:49.38, Y:6.63, Z:6.99 [[ 9.26497338e-01 -3.20394231e-01 -1.97358099e-01 4.93783312e+01] [ 3.16074067e-01 9.47202517e-01 -5.38941181e-02 6.62900193e+00] [ 2.04205453e-01 -1.24470201e-02 9.78848918e-01 6.98710673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.15710568099999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:49.41, Y:6.64, Z:6.99 [[ 9.25761419e-01 -3.31017453e-01 -1.82738178e-01 4.94074543e+01] [ 3.20581908e-01 9.43413478e-01 -8.48425017e-02 6.63718597e+00] [ 2.00482008e-01 1.99613611e-02 9.79494006e-01 6.99368239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.18710568099999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:49.43, Y:6.64, Z:7.00 [[ 9.23818039e-01 -3.27149191e-01 -1.98830675e-01 4.94303406e+01] [ 3.22908842e-01 9.44868906e-01 -5.43381189e-02 6.63732272e+00] [ 2.05645594e-01 -1.40056485e-02 9.78526306e-01 6.99945616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.217105680999985 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:49.46, Y:6.65, Z:7.00 [[ 9.24035177e-01 -3.27144030e-01 -1.97827641e-01 4.94608035e+01] [ 3.26334763e-01 9.44504933e-01 -3.76304835e-02 6.64644051e+00] [ 1.99159771e-01 -2.97861459e-02 9.79514253e-01 6.99920566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.24710568099999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:49.48, Y:6.66, Z:7.01 [[ 9.23199734e-01 -3.32750980e-01 -1.92299339e-01 4.94838288e+01] [ 3.27442683e-01 9.42982161e-01 -5.97154429e-02 6.66104868e+00] [ 2.01205218e-01 -7.83773039e-03 9.79517754e-01 7.00781758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27710568099999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:49.51, Y:6.67, Z:7.01 [[ 9.22943535e-01 -3.34224179e-01 -1.90969706e-01 4.95097864e+01] [ 3.29005615e-01 9.42459407e-01 -5.93765216e-02 6.67060611e+00] [ 1.99826265e-01 -8.02892879e-03 9.79798449e-01 7.01246554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.30710568099999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:49.53, Y:6.68, Z:7.02 [[ 9.21944494e-01 -3.37987010e-01 -1.89164298e-01 4.95345071e+01] [ 3.32931105e-01 9.41110666e-01 -5.88862773e-02 6.68197435e+00] [ 1.97927335e-01 -8.68879958e-03 9.80178185e-01 7.01730595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.33710568099999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:49.56, Y:6.70, Z:7.02 [[ 9.19671082e-01 -3.44157060e-01 -1.89105839e-01 4.95582634e+01] [ 3.37072109e-01 9.38912081e-01 -6.94730016e-02 6.69662880e+00] [ 2.01463381e-01 1.50006543e-04 9.79496036e-01 7.02455045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.36710568099999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:49.58, Y:6.70, Z:7.03 [[ 9.19630725e-01 -3.42629172e-01 -1.92053587e-01 4.95847593e+01] [ 3.37345547e-01 9.39427210e-01 -6.06176534e-02 6.70344158e+00] [ 2.01189742e-01 -9.04256586e-03 9.79510551e-01 7.02808021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.39710568099999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:49.61, Y:6.72, Z:7.03 [[ 9.17609776e-01 -3.46928684e-01 -1.93991719e-01 4.96086674e+01] [ 3.41379704e-01 9.37849029e-01 -6.24427499e-02 6.71750931e+00] [ 2.03598126e-01 -8.92675778e-03 9.79013849e-01 7.03206689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.427105680999986 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:49.64, Y:6.73, Z:7.04 [[ 9.17016404e-01 -3.49044223e-01 -1.93000115e-01 4.96350555e+01] [ 3.44176685e-01 9.37029059e-01 -5.93207613e-02 6.72850719e+00] [ 2.01552286e-01 -1.20280288e-02 9.79403902e-01 7.03579804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45710568099999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:49.66, Y:6.74, Z:7.04 [[ 9.16672721e-01 -3.52176949e-01 -1.88898174e-01 4.96576488e+01] [ 3.47259991e-01 9.35869774e-01 -5.96511894e-02 6.74209041e+00] [ 1.97791865e-01 -1.09161600e-02 9.80183256e-01 7.04308611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.48710568099999 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:49.68, Y:6.76, Z:7.05 [[ 9.17269169e-01 -3.57822186e-01 -1.74872966e-01 4.96842035e+01] [ 3.48877099e-01 9.33701045e-01 -8.05427065e-02 6.75962157e+00] [ 1.92099039e-01 1.28701683e-02 9.81291148e-01 7.04756098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.51710568099999 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:49.71, Y:6.77, Z:7.05 [[ 9.15448136e-01 -3.52245120e-01 -1.94622934e-01 4.97089852e+01] [ 3.51104066e-01 9.35416017e-01 -4.15067478e-02 6.76661675e+00] [ 1.96673959e-01 -3.03356284e-02 9.79999543e-01 7.05164796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.54710568099999 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:49.73, Y:6.78, Z:7.06 [[ 9.15474452e-01 -3.56415163e-01 -1.86747849e-01 4.97321157e+01] [ 3.51074365e-01 9.34286958e-01 -6.20859948e-02 6.78478957e+00] [ 1.96604469e-01 -8.72424044e-03 9.80444068e-01 7.06197280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.57710568099999 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:49.76, Y:6.80, Z:7.06 [[ 9.16541421e-01 -3.53175338e-01 -1.87667271e-01 4.97582843e+01] [ 3.51094442e-01 9.35240991e-01 -4.53539620e-02 6.79858581e+00] [ 1.91532026e-01 -2.43201511e-02 9.81185005e-01 7.06110048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.607105680999986 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:49.78, Y:6.81, Z:7.07 [[ 9.16857985e-01 -3.54440717e-01 -1.83693261e-01 4.97820862e+01] [ 3.49963202e-01 9.35005400e-01 -5.73642632e-02 6.81234868e+00] [ 1.92086422e-01 -1.16909990e-02 9.81308375e-01 7.06689172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63710568099999 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:49.81, Y:6.83, Z:7.07 [[ 9.18074160e-01 -3.50431302e-01 -1.85304451e-01 4.98050473e+01] [ 3.45443933e-01 9.36542635e-01 -5.96354102e-02 6.82612425e+00] [ 1.94443634e-01 -9.26256922e-03 9.80869960e-01 7.07060692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.66710568099999 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:49.83, Y:6.84, Z:7.07 [[ 9.18422367e-01 -3.48440776e-01 -1.87321600e-01 4.98310475e+01] [ 3.43863121e-01 9.37258765e-01 -5.74818375e-02 6.83843603e+00] [ 1.95597828e-01 -1.16203850e-02 9.80615346e-01 7.07447377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.69710568099999 meters Centerline goodness : 0.997876 Centerline is valid? [True, True] Translation: X:49.85, Y:6.86, Z:7.08 [[ 9.20715220e-01 -3.41140227e-01 -1.89490976e-01 4.98527487e+01] [ 3.36050308e-01 9.39969399e-01 -5.93946008e-02 6.85889099e+00] [ 1.98377606e-01 -8.99298796e-03 9.80084410e-01 7.07985440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.72710568099999 meters Centerline goodness : 0.997164 Centerline is valid? [True, True] Translation: X:49.88, Y:6.88, Z:7.08 [[ 9.24439778e-01 -3.29711573e-01 -1.91576030e-01 4.98752411e+01] [ 3.24253505e-01 9.44058938e-01 -6.01031316e-02 6.87979385e+00] [ 2.00675761e-01 -6.55747352e-03 9.79635768e-01 7.08368729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.75710568099999 meters Centerline goodness : 0.997326 Centerline is valid? [True, True] Translation: X:49.90, Y:6.89, Z:7.09 [[ 9.26916690e-01 -3.22649271e-01 -1.91632192e-01 4.98993389e+01] [ 3.17023513e-01 9.46505609e-01 -6.01932242e-02 6.89257355e+00] [ 2.00802244e-01 -4.95780650e-03 9.79619252e-01 7.08717081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.787105680999986 meters Centerline goodness : 0.996766 Centerline is valid? [True, True] Translation: X:49.92, Y:6.91, Z:7.09 [[ 9.32042737e-01 -3.07156804e-01 -1.92226518e-01 4.99233931e+01] [ 3.01160454e-01 9.51657607e-01 -6.04167188e-02 6.90892446e+00] [ 2.01491234e-01 -1.58006127e-03 9.79489043e-01 7.08978428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.81710568099999 meters Centerline goodness : 0.996974 Centerline is valid? [True, True] Translation: X:49.95, Y:6.92, Z:7.09 [[ 9.33605835e-01 -3.01655563e-01 -1.93349597e-01 4.99481402e+01] [ 2.95454687e-01 9.53416919e-01 -6.08498696e-02 6.92208626e+00] [ 2.02698478e-01 -3.16251356e-04 9.79241148e-01 7.09463665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.84710568099999 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:49.97, Y:6.94, Z:7.10 [[ 9.35206399e-01 -2.95416088e-01 -1.95239153e-01 4.99700596e+01] [ 2.88941111e-01 9.55368030e-01 -6.15220382e-02 6.93934953e+00] [ 2.04699845e-01 1.12318612e-03 9.78824148e-01 7.10070401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.87710568099999 meters Centerline goodness : 0.996603 Centerline is valid? [True, True] Translation: X:49.99, Y:6.95, Z:7.11 [[ 9.35217042e-01 -2.96170607e-01 -1.94041375e-01 4.99947417e+01] [ 2.89783736e-01 9.55134541e-01 -6.11832828e-02 6.95060987e+00] [ 2.03456310e-01 9.89614252e-04 9.79083526e-01 7.10652896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.90710568099999 meters Centerline goodness : 0.996883 Centerline is valid? [True, True] Translation: X:50.02, Y:6.96, Z:7.11 [[ 9.34670035e-01 -2.99755462e-01 -1.91150695e-01 5.00200325e+01] [ 2.92129105e-01 9.53987924e-01 -6.75842166e-02 6.95653079e+00] [ 2.02614193e-01 7.32826064e-03 9.79231222e-01 7.11277550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93710568099999 meters Centerline goodness : 0.996766 Centerline is valid? [True, True] Translation: X:50.05, Y:6.96, Z:7.11 [[ 9.34054358e-01 -3.00213617e-01 -1.93427610e-01 5.00486369e+01] [ 2.95341176e-01 9.53850178e-01 -5.42533679e-02 6.96187048e+00] [ 2.00788560e-01 -6.45154316e-03 9.79613358e-01 7.11352699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.967105680999985 meters Centerline goodness : 0.996883 Centerline is valid? [True, True] Translation: X:50.07, Y:6.97, Z:7.12 [[ 9.32565829e-01 -3.05533142e-01 -1.92277074e-01 5.00729377e+01] [ 2.98358307e-01 9.52172446e-01 -6.59541814e-02 6.96980231e+00] [ 2.03232120e-01 4.13915352e-03 9.79121838e-01 7.12310167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99710568099999 meters Centerline goodness : 0.996912 Centerline is valid? [True, True] Translation: X:50.10, Y:6.98, Z:7.13 [[ 9.31411437e-01 -3.07861384e-01 -1.94149694e-01 5.01009696e+01] [ 3.02509223e-01 9.51416623e-01 -5.73984338e-02 6.97693734e+00] [ 2.02388008e-01 -5.27051548e-03 9.79291231e-01 7.12541014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.02710568099999 meters Centerline goodness : 0.996836 Centerline is valid? [True, True] Translation: X:50.13, Y:6.98, Z:7.13 [[ 9.30074910e-01 -3.12739774e-01 -1.92755017e-01 5.01270101e+01] [ 3.06407663e-01 9.49838492e-01 -6.26193566e-02 6.98248820e+00] [ 2.02669698e-01 -8.20921949e-04 9.79246812e-01 7.13203100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.05710568099999 meters Centerline goodness : 0.996959 Centerline is valid? [True, True] Translation: X:50.15, Y:6.99, Z:7.14 [[ 9.27235841e-01 -3.21859582e-01 -1.91416052e-01 5.01533299e+01] [ 3.14548277e-01 9.46782323e-01 -6.82833391e-02 6.98866988e+00] [ 2.03206981e-01 3.10517017e-03 9.79130880e-01 7.14103540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.08710568099999 meters Centerline goodness : 0.996957 Centerline is valid? [True, True] Translation: X:50.18, Y:6.99, Z:7.14 [[ 9.25551593e-01 -3.25637424e-01 -1.93169661e-01 5.01834848e+01] [ 3.21098120e-01 9.45432152e-01 -5.52634078e-02 6.99474707e+00] [ 2.00624642e-01 -1.08772799e-02 9.79607798e-01 7.14228946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.11710568099999 meters Centerline goodness : 0.996954 Centerline is valid? [True, True] Translation: X:50.21, Y:7.00, Z:7.15 [[ 9.23311796e-01 -3.33311418e-01 -1.90784762e-01 5.02105442e+01] [ 3.27801424e-01 9.42794441e-01 -6.07031184e-02 6.99885489e+00] [ 2.00103855e-01 -6.49161124e-03 9.79753186e-01 7.14895058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.147105680999985 meters Centerline goodness : 0.996966 Centerline is valid? [True, True] Translation: X:50.24, Y:7.00, Z:7.15 [[ 9.22718290e-01 -3.35573841e-01 -1.89686991e-01 5.02362124e+01] [ 3.31028393e-01 9.41949717e-01 -5.61331685e-02 7.00388268e+00] [ 1.97512430e-01 -1.09966785e-02 9.80238702e-01 7.15407566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.177105680999986 meters Centerline goodness : 0.997216 Centerline is valid? [True, True] Translation: X:50.26, Y:7.01, Z:7.16 [[ 9.21772216e-01 -3.39011555e-01 -1.88167869e-01 5.02623024e+01] [ 3.32798753e-01 9.40777406e-01 -6.46750551e-02 7.01303108e+00] [ 1.98949671e-01 -3.00636332e-03 9.80005097e-01 7.16305602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.20710568099999 meters Centerline goodness : 0.997402 Centerline is valid? [True, True] Translation: X:50.29, Y:7.02, Z:7.17 [[ 9.21838094e-01 -3.38889207e-01 -1.88065502e-01 5.02902518e+01] [ 3.33605814e-01 9.40797402e-01 -6.00617207e-02 7.01784443e+00] [ 1.97285805e-01 -7.37256274e-03 9.80318294e-01 7.16652120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.23710568099999 meters Centerline goodness : 0.997527 Centerline is valid? [True, True] Translation: X:50.32, Y:7.03, Z:7.17 [[ 9.21834999e-01 -3.38740160e-01 -1.88348979e-01 5.03158765e+01] [ 3.33422370e-01 9.40851802e-01 -6.02279870e-02 7.02596838e+00] [ 1.97610114e-01 -7.27949658e-03 9.80253667e-01 7.17131719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.26710568099999 meters Centerline goodness : 0.997136 Centerline is valid? [True, True] Translation: X:50.34, Y:7.03, Z:7.18 [[ 9.21681360e-01 -3.38732380e-01 -1.89113311e-01 5.03404457e+01] [ 3.33360443e-01 9.40854760e-01 -6.05238504e-02 7.03498691e+00] [ 1.98429547e-01 -7.25919226e-03 9.80088271e-01 7.17636262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.29710568099999 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:50.37, Y:7.05, Z:7.18 [[ 9.21051166e-01 -3.40457639e-01 -1.89085553e-01 5.03658027e+01] [ 3.35115926e-01 9.40229180e-01 -6.05508577e-02 7.04523607e+00] [ 1.98398757e-01 -7.59514218e-03 9.80091959e-01 7.18138865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.32710568099999 meters Centerline goodness : 0.997333 Centerline is valid? [True, True] Translation: X:50.39, Y:7.05, Z:7.19 [[ 9.20902425e-01 -3.40993694e-01 -1.88843915e-01 5.03904711e+01] [ 3.35212901e-01 9.40049473e-01 -6.27638344e-02 7.05297199e+00] [ 1.98924694e-01 -5.50354930e-03 9.79999325e-01 7.18652114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.357105680999986 meters Centerline goodness : 0.997372 Centerline is valid? [True, True] Translation: X:50.42, Y:7.06, Z:7.19 [[ 9.18216422e-01 -3.47716773e-01 -1.89661928e-01 5.04190647e+01] [ 3.42598577e-01 9.37549651e-01 -6.02234735e-02 7.06232633e+00] [ 1.98758187e-01 -9.67972435e-03 9.80000758e-01 7.18884995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.38710568099999 meters Centerline goodness : 0.997358 Centerline is valid? [True, True] Translation: X:50.44, Y:7.07, Z:7.19 [[ 9.15964083e-01 -3.53303310e-01 -1.90227678e-01 5.04404666e+01] [ 3.47731532e-01 9.35471218e-01 -6.30585601e-02 7.07139224e+00] [ 2.00231316e-01 -8.38878577e-03 9.79712738e-01 7.19428646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.41710568099999 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:50.47, Y:7.08, Z:7.20 [[ 9.13919196e-01 -3.57903168e-01 -1.91460245e-01 5.04672721e+01] [ 3.52735605e-01 9.33691390e-01 -6.16277586e-02 7.08157834e+00] [ 2.00821552e-01 -1.12120538e-02 9.79563675e-01 7.19922275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.44710568099999 meters Centerline goodness : 0.997047 Centerline is valid? [True, True] Translation: X:50.49, Y:7.09, Z:7.21 [[ 9.10150938e-01 -3.66836696e-01 -1.92499634e-01 5.04918947e+01] [ 3.60208116e-01 9.30266475e-01 -6.96735134e-02 7.09394216e+00] [ 2.04634757e-01 -5.92651690e-03 9.78820460e-01 7.20713726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.47710568099999 meters Centerline goodness : 0.997048 Centerline is valid? [True, True] Translation: X:50.52, Y:7.10, Z:7.21 [[ 9.08113002e-01 -3.70468462e-01 -1.95150951e-01 5.05202029e+01] [ 3.66130537e-01 9.28676984e-01 -5.92240670e-02 7.10458199e+00] [ 2.03172846e-01 -1.76685771e-02 9.78983461e-01 7.20943472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.50710568099999 meters Centerline goodness : 0.996786 Centerline is valid? [True, True] Translation: X:50.54, Y:7.12, Z:7.21 [[ 9.06118815e-01 -3.75847276e-01 -1.94132735e-01 5.05432619e+01] [ 3.70960747e-01 9.26551922e-01 -6.23671413e-02 7.11836573e+00] [ 2.03314579e-01 -1.55035842e-02 9.78990715e-01 7.21433817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.537105680999986 meters Centerline goodness : 0.996442 Centerline is valid? [True, True] Translation: X:50.57, Y:7.13, Z:7.22 [[ 9.04390471e-01 -3.79988023e-01 -1.94131343e-01 5.05667540e+01] [ 3.75187781e-01 9.24846009e-01 -6.24018355e-02 7.13343928e+00] [ 2.03253548e-01 -1.64000825e-02 9.78988781e-01 7.21988287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.56710568099999 meters Centerline goodness : 0.996217 Centerline is valid? [True, True] Translation: X:50.59, Y:7.14, Z:7.22 [[ 9.05708441e-01 -3.79634683e-01 -1.88599381e-01 5.05927450e+01] [ 3.74827500e-01 9.25021690e-01 -6.19614190e-02 7.14288227e+00] [ 1.97981222e-01 -1.45732544e-02 9.80097473e-01 7.22146525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59710568099999 meters Centerline goodness : 0.996491 Centerline is valid? [True, True] Translation: X:50.62, Y:7.16, Z:7.23 [[ 9.02081783e-01 -3.89030253e-01 -1.86825905e-01 5.06158877e+01] [ 3.81400897e-01 9.21222653e-01 -7.66953638e-02 7.16320044e+00] [ 2.01945072e-01 -2.07007706e-03 9.79394661e-01 7.23133835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.62710568099999 meters Centerline goodness : 0.996325 Centerline is valid? [True, True] Translation: X:50.64, Y:7.18, Z:7.23 [[ 9.02400396e-01 -3.85746608e-01 -1.92023645e-01 5.06420033e+01] [ 3.81796909e-01 9.22380423e-01 -5.86981761e-02 7.17806276e+00] [ 1.99761474e-01 -2.03447768e-02 9.79633321e-01 7.23343144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.65710568099999 meters Centerline goodness : 0.996042 Centerline is valid? [True, True] Translation: X:50.66, Y:7.20, Z:7.24 [[ 9.02354562e-01 -3.83486964e-01 -1.96707888e-01 5.06621037e+01] [ 3.81805121e-01 9.22997696e-01 -4.79593962e-02 7.19647375e+00] [ 1.99952731e-01 -3.18276990e-02 9.79288468e-01 7.24016209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.68710568099999 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:50.69, Y:7.22, Z:7.25 [[ 9.02873500e-01 -3.88214801e-01 -1.84685440e-01 5.06887451e+01] [ 3.81184727e-01 9.21560649e-01 -7.36489895e-02 7.21526972e+00] [ 1.98790462e-01 -3.90354807e-03 9.80034242e-01 7.25062914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.717105680999985 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:50.72, Y:7.23, Z:7.25 [[ 9.02960494e-01 -3.81478990e-01 -1.97828525e-01 5.07153330e+01] [ 3.79663640e-01 9.23848952e-01 -4.85657817e-02 7.23092481e+00] [ 2.01290501e-01 -3.12553158e-02 9.79032808e-01 7.25078329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.74710568099999 meters Centerline goodness : 0.996320 Centerline is valid? [True, True] Translation: X:50.74, Y:7.25, Z:7.26 [[ 9.03862853e-01 -3.81891373e-01 -1.92849481e-01 5.07368579e+01] [ 3.77151515e-01 9.24059848e-01 -6.22103822e-02 7.24587534e+00] [ 2.01962071e-01 -1.65038204e-02 9.79254281e-01 7.26037001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77710568099999 meters Centerline goodness : 0.996159 Centerline is valid? [True, True] Translation: X:50.76, Y:7.26, Z:7.26 [[ 9.09556122e-01 -3.68041778e-01 -1.93010134e-01 5.07595438e+01] [ 3.66068558e-01 9.29393844e-01 -4.71263581e-02 7.26186418e+00] [ 1.96726899e-01 -2.77908738e-02 9.80064383e-01 7.25867676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.80710568099999 meters Centerline goodness : 0.996041 Centerline is valid? [True, True] Translation: X:50.78, Y:7.28, Z:7.28 [[ 9.11730417e-01 -3.65889893e-01 -1.86741088e-01 5.07811617e+01] [ 3.57611801e-01 9.30650117e-01 -7.74865113e-02 7.28125042e+00] [ 2.02142147e-01 3.86599245e-03 9.79348562e-01 7.27756460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.83710568099999 meters Centerline goodness : 0.996906 Centerline is valid? [True, True] Translation: X:50.81, Y:7.30, Z:7.28 [[ 9.18458073e-01 -3.43625895e-01 -1.95846910e-01 5.08115616e+01] [ 3.41766361e-01 9.38739949e-01 -4.43064541e-02 7.29845366e+00] [ 1.99074164e-01 -2.62402654e-02 9.79633057e-01 7.27595019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.86710568099999 meters Centerline goodness : 0.997532 Centerline is valid? [True, True] Translation: X:50.83, Y:7.32, Z:7.29 [[ 9.22432222e-01 -3.39787718e-01 -1.83475074e-01 5.08339742e+01] [ 3.30684831e-01 9.40422048e-01 -7.90816878e-02 7.32201703e+00] [ 1.99414991e-01 1.22750733e-02 9.79838244e-01 7.29215738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.897105680999985 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:50.87, Y:7.33, Z:7.29 [[ 9.23201466e-01 -3.34315967e-01 -1.89557081e-01 5.08661676e+01] [ 3.28705279e-01 9.42443506e-01 -6.12623734e-02 7.33204507e+00] [ 1.99127830e-01 -5.75090025e-03 9.79956649e-01 7.28983173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.927105680999986 meters Centerline goodness : 0.997653 Centerline is valid? [True, True] Translation: X:50.90, Y:7.34, Z:7.29 [[ 9.22320913e-01 -3.36437107e-01 -1.90089995e-01 5.08959237e+01] [ 3.30843865e-01 9.41685201e-01 -6.14110666e-02 7.34392285e+00] [ 1.99665897e-01 -6.24939771e-03 9.79844107e-01 7.29257902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95710568099999 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:50.93, Y:7.35, Z:7.30 [[ 9.17868439e-01 -3.42989768e-01 -1.99688625e-01 5.09257688e+01] [ 3.41489879e-01 9.38900424e-01 -4.30192558e-02 7.35494653e+00] [ 2.02242900e-01 -2.87056274e-02 9.78914601e-01 7.29535290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.98710568099999 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:50.95, Y:7.37, Z:7.31 [[ 9.15990953e-01 -3.50450003e-01 -1.95308395e-01 5.09539196e+01] [ 3.44858088e-01 9.36532559e-01 -6.30845887e-02 7.36710211e+00] [ 2.05020665e-01 -9.56876719e-03 9.78710869e-01 7.31118797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.01710568099999 meters Centerline goodness : 0.997472 Centerline is valid? [True, True] Translation: X:50.98, Y:7.38, Z:7.32 [[ 9.12091832e-01 -3.63781957e-01 -1.89079817e-01 5.09831411e+01] [ 3.55487355e-01 9.31478290e-01 -7.73106415e-02 7.38013222e+00] [ 2.04247961e-01 3.29892058e-03 9.78913626e-01 7.31875688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.04710568099999 meters Centerline goodness : 0.997577 Centerline is valid? [True, True] Translation: X:51.01, Y:7.39, Z:7.32 [[ 9.08823905e-01 -3.69348634e-01 -1.93960552e-01 5.10141990e+01] [ 3.63582789e-01 9.29229849e-01 -6.58744511e-02 7.38906038e+00] [ 2.04564573e-01 -1.06524427e-02 9.78795107e-01 7.31678480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.07710568099999 meters Centerline goodness : 0.997981 Centerline is valid? [True, True] Translation: X:51.04, Y:7.40, Z:7.32 [[ 9.07623987e-01 -3.71739465e-01 -1.95008893e-01 5.10440878e+01] [ 3.66113863e-01 9.28260488e-01 -6.55217964e-02 7.39918603e+00] [ 2.05376088e-01 -1.19263049e-02 9.78610457e-01 7.32177558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.107105680999986 meters Centerline goodness : 0.997355 Centerline is valid? [True, True] Translation: X:51.07, Y:7.41, Z:7.33 [[ 9.05573266e-01 -3.76127725e-01 -1.96124946e-01 5.10739566e+01] [ 3.71006221e-01 9.26444756e-01 -6.36749322e-02 7.41139098e+00] [ 2.05648836e-01 -1.51012590e-02 9.78509330e-01 7.32663226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.13710568099999 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:51.10, Y:7.42, Z:7.33 [[ 9.05866057e-01 -3.77966202e-01 -1.91175931e-01 5.11034582e+01] [ 3.71656770e-01 9.25782182e-01 -6.92719097e-02 7.42429053e+00] [ 2.03169711e-01 -8.30075749e-03 9.79108352e-01 7.33404771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.16710568099999 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:51.13, Y:7.44, Z:7.34 [[ 9.06650473e-01 -3.75355988e-01 -1.92594918e-01 5.11322318e+01] [ 3.70212350e-01 9.26778265e-01 -6.34418039e-02 7.43792839e+00] [ 2.02306045e-01 -1.37814758e-02 9.79225375e-01 7.33955919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.19710568099999 meters Centerline goodness : 0.998008 Centerline is valid? [True, True] Translation: X:51.16, Y:7.45, Z:7.35 [[ 9.07135503e-01 -3.73256347e-01 -1.94383329e-01 5.11622272e+01] [ 3.68057293e-01 9.27624941e-01 -6.36065815e-02 7.44996830e+00] [ 2.04056384e-01 -1.38444136e-02 9.78861239e-01 7.34573796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.22710568099999 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:51.19, Y:7.46, Z:7.35 [[ 9.09328041e-01 -3.68693624e-01 -1.92840672e-01 5.11896027e+01] [ 3.62976483e-01 9.29492510e-01 -6.55114245e-02 7.46472926e+00] [ 2.03397605e-01 -1.04252535e-02 9.79040719e-01 7.35023325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.25710568099999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:51.22, Y:7.48, Z:7.36 [[ 9.14357352e-01 -3.57817176e-01 -1.89519134e-01 5.12175940e+01] [ 3.51130131e-01 9.33785074e-01 -6.89424945e-02 7.48133959e+00] [ 2.01638947e-01 -3.50780146e-03 9.79453639e-01 7.35821301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.287105680999986 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:51.25, Y:7.49, Z:7.36 [[ 9.14377564e-01 -3.56149188e-01 -1.92539414e-01 5.12501538e+01] [ 3.51047309e-01 9.34356554e-01 -6.11851041e-02 7.49016247e+00] [ 2.01691488e-01 -1.16441566e-02 9.79379884e-01 7.36138300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.31710568099999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:51.28, Y:7.50, Z:7.37 [[ 9.18181267e-01 -3.46083169e-01 -1.92794196e-01 5.12779296e+01] [ 3.41448691e-01 9.38117826e-01 -5.78596192e-02 7.50342848e+00] [ 2.00887912e-01 -1.27037072e-02 9.79531859e-01 7.36915856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.34710568099999 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:51.30, Y:7.52, Z:7.38 [[ 9.26948666e-01 -3.27580494e-01 -1.82913067e-01 5.13039910e+01] [ 3.19905849e-01 9.44796108e-01 -7.08559306e-02 7.52488095e+00] [ 1.96026575e-01 7.16485031e-03 9.80572408e-01 7.38240163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.37710568099999 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:51.33, Y:7.54, Z:7.38 [[ 9.32502130e-01 -3.08314543e-01 -1.88100825e-01 5.13332251e+01] [ 3.03335590e-01 9.51269393e-01 -5.54442215e-02 7.53615551e+00] [ 1.96028817e-01 -5.35582012e-03 9.80583509e-01 7.38126939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.40710568099999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:51.37, Y:7.54, Z:7.39 [[ 9.33280265e-01 -2.96054423e-01 -2.03321730e-01 5.13656222e+01] [ 2.95361472e-01 9.54763805e-01 -3.44626965e-02 7.53949516e+00] [ 2.04327062e-01 -2.78900509e-02 9.78505287e-01 7.38653575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43710568099999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:51.39, Y:7.55, Z:7.40 [[ 9.35262026e-01 -2.95364200e-01 -1.95051102e-01 5.13930959e+01] [ 2.88737149e-01 9.55382850e-01 -6.22452275e-02 7.55180796e+00] [ 2.04733490e-01 1.89709832e-03 9.78815917e-01 7.40435994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.467105680999985 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:51.42, Y:7.56, Z:7.41 [[ 9.35816616e-01 -2.93520971e-01 -1.95173513e-01 5.14245790e+01] [ 2.86861263e-01 9.55950034e-01 -6.22105190e-02 7.55943649e+00] [ 2.04836218e-01 2.22991688e-03 9.78793722e-01 7.40990246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49710568099999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:51.46, Y:7.57, Z:7.42 [[ 9.37035156e-01 -2.98322831e-01 -1.81572591e-01 5.14557169e+01] [ 2.86771268e-01 9.53996486e-01 -8.74811121e-02 7.56994005e+00] [ 1.99317227e-01 2.99030752e-02 9.79478662e-01 7.41745878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.52710568099999 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:51.49, Y:7.56, Z:7.41 [[ 9.35929039e-01 -2.84767889e-01 -2.07229543e-01 5.14925520e+01] [ 2.83744777e-01 9.58250104e-01 -3.52936282e-02 7.56056547e+00] [ 2.08628223e-01 -2.57679692e-02 9.77655500e-01 7.40933275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.55710568099999 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:51.52, Y:7.57, Z:7.43 [[ 9.36528045e-01 -2.88473234e-01 -1.99244609e-01 5.15215769e+01] [ 2.81447725e-01 9.57482402e-01 -6.33610966e-02 7.57032601e+00] [ 2.09051187e-01 3.26250203e-03 9.77899257e-01 7.42815631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.58710568099999 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:51.55, Y:7.57, Z:7.43 [[ 9.36293571e-01 -2.87567486e-01 -2.01641490e-01 5.15544069e+01] [ 2.80364588e-01 9.57754208e-01 -6.40513476e-02 7.57120056e+00] [ 2.11542070e-01 3.43773181e-03 9.77362847e-01 7.43396011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.61710568099999 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:51.59, Y:7.57, Z:7.44 [[ 9.35526178e-01 -2.90526367e-01 -2.00960693e-01 5.15888466e+01] [ 2.83445501e-01 9.56863080e-01 -6.38098305e-02 7.56911860e+00] [ 2.10830306e-01 2.73436242e-03 9.77518852e-01 7.43673295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.647105680999985 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:51.62, Y:7.57, Z:7.44 [[ 9.35143741e-01 -2.92836477e-01 -1.99381498e-01 5.16184895e+01] [ 2.85923519e-01 9.56160057e-01 -6.32904945e-02 7.57170281e+00] [ 2.09174390e-01 2.17785045e-03 9.77875929e-01 7.44119802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.677105680999986 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:51.65, Y:7.57, Z:7.45 [[ 9.33256794e-01 -2.99268710e-01 -1.98670570e-01 5.16507071e+01] [ 2.92548387e-01 9.54168587e-01 -6.30693937e-02 7.56911322e+00] [ 2.08439913e-01 7.39185518e-04 9.78034895e-01 7.44612871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.70710568099999 meters Centerline goodness : 0.996673 Centerline is valid? [True, True] Translation: X:51.68, Y:7.57, Z:7.45 [[ 9.30133754e-01 -3.08084701e-01 -1.99837476e-01 5.16820168e+01] [ 3.01484606e-01 9.51358124e-01 -6.34409302e-02 7.56580244e+00] [ 2.09662186e-01 -1.23937204e-03 9.77773098e-01 7.45064584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.73710568099999 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:51.71, Y:7.57, Z:7.46 [[ 9.28440496e-01 -3.13110822e-01 -1.99899623e-01 5.17091483e+01] [ 3.06618653e-01 9.49713662e-01 -6.34741093e-02 7.56837414e+00] [ 2.09721834e-01 -2.36101976e-03 9.77758241e-01 7.45667002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.76710568099999 meters Centerline goodness : 0.995645 Centerline is valid? [True, True] Translation: X:51.74, Y:7.56, Z:7.46 [[ 9.25824407e-01 -3.21436513e-01 -1.98815836e-01 5.17385248e+01] [ 3.14201039e-01 9.46931078e-01 -6.78176994e-02 7.56307214e+00] [ 2.10063979e-01 3.19139069e-04 9.77687590e-01 7.46312285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.79710568099999 meters Centerline goodness : 0.995874 Centerline is valid? [True, True] Translation: X:51.77, Y:7.56, Z:7.47 [[ 9.24347221e-01 -3.25073783e-01 -1.99772996e-01 5.17680585e+01] [ 3.19494543e-01 9.45655541e-01 -6.04883100e-02 7.56430815e+00] [ 2.08579605e-01 -7.91418083e-03 9.77973371e-01 7.46530749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.82710568099999 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:51.80, Y:7.56, Z:7.47 [[ 9.24863126e-01 -3.26139103e-01 -1.95605427e-01 5.17965059e+01] [ 3.20181336e-01 9.45308308e-01 -6.22584581e-02 7.56119233e+00] [ 2.05212353e-01 -5.04865464e-03 9.78704450e-01 7.47404674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.857105680999986 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:51.82, Y:7.56, Z:7.48 [[ 9.28395514e-01 -3.16369861e-01 -1.94915058e-01 5.18237772e+01] [ 3.12294974e-01 9.48553889e-01 -5.21283947e-02 7.55940905e+00] [ 2.01379289e-01 -1.24752251e-02 9.79433893e-01 7.47869910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.88710568099999 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:51.85, Y:7.57, Z:7.49 [[ 9.28752102e-01 -3.17577627e-01 -1.91217112e-01 5.18498057e+01] [ 3.09213160e-01 9.48193339e-01 -7.29151168e-02 7.56948981e+00] [ 2.04467002e-01 8.59322054e-03 9.78835738e-01 7.49235752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.91710568099999 meters Centerline goodness : 0.995850 Centerline is valid? [True, True] Translation: X:51.88, Y:7.57, Z:7.49 [[ 9.32473616e-01 -3.05554428e-01 -1.92690028e-01 5.18799159e+01] [ 2.99303832e-01 9.52174552e-01 -6.14885193e-02 7.56905093e+00] [ 2.02262631e-01 -3.36441959e-04 9.79331259e-01 7.49189883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.94710568099999 meters Centerline goodness : 0.996034 Centerline is valid? [True, True] Translation: X:51.91, Y:7.57, Z:7.49 [[ 9.34803633e-01 -2.98900803e-01 -1.91834507e-01 5.19084464e+01] [ 2.92551106e-01 9.54283462e-01 -6.12937489e-02 7.57072206e+00] [ 2.01385248e-01 1.17622186e-03 9.79511408e-01 7.49460630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.97710568099999 meters Centerline goodness : 0.995822 Centerline is valid? [True, True] Translation: X:51.93, Y:7.58, Z:7.50 [[ 9.35199037e-01 -2.97262575e-01 -1.92451874e-01 5.19342361e+01] [ 2.90820952e-01 9.54794411e-01 -6.15695272e-02 7.57653717e+00] [ 2.02054290e-01 1.61072531e-03 9.79372998e-01 7.49878776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.00710568099999 meters Centerline goodness : 0.996502 Centerline is valid? [True, True] Translation: X:51.96, Y:7.58, Z:7.50 [[ 9.36035698e-01 -2.97240968e-01 -1.88374572e-01 5.19612427e+01] [ 2.88515799e-01 9.54702701e-01 -7.28106121e-02 7.58089841e+00] [ 2.01484010e-01 1.38042918e-02 9.79394525e-01 7.50430461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.037105680999986 meters Centerline goodness : 0.996366 Centerline is valid? [True, True] Translation: X:51.99, Y:7.58, Z:7.51 [[ 9.35257924e-01 -2.93606747e-01 -1.97706079e-01 5.19898027e+01] [ 2.89168697e-01 9.55884993e-01 -5.16269793e-02 7.58262019e+00] [ 2.04142304e-01 -8.88586789e-03 9.78900895e-01 7.50524613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.06710568099999 meters Centerline goodness : 0.996592 Centerline is valid? [True, True] Translation: X:52.02, Y:7.58, Z:7.51 [[ 9.35301881e-01 -2.94743847e-01 -1.95796978e-01 5.20159948e+01] [ 2.87981147e-01 9.55573360e-01 -6.28204784e-02 7.58481865e+00] [ 2.05614325e-01 2.37027332e-03 9.78630232e-01 7.51401287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09710568099999 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:52.04, Y:7.58, Z:7.52 [[ 9.36675549e-01 -2.90688887e-01 -1.95291798e-01 5.20433181e+01] [ 2.85017348e-01 9.56815317e-01 -5.71800714e-02 7.58376538e+00] [ 2.03479795e-01 -2.10237569e-03 9.79076888e-01 7.51726039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.12710568099999 meters Centerline goodness : 0.996840 Centerline is valid? [True, True] Translation: X:52.07, Y:7.59, Z:7.53 [[ 9.36722360e-01 -2.92830756e-01 -1.91836828e-01 5.20699413e+01] [ 2.84797281e-01 9.56113687e-01 -6.88267900e-02 7.59199411e+00] [ 2.03572418e-01 9.83698612e-03 9.79010472e-01 7.52757515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.15710568099999 meters Centerline goodness : 0.996766 Centerline is valid? [True, True] Translation: X:52.10, Y:7.59, Z:7.53 [[ 9.39075375e-01 -2.84080276e-01 -1.93483426e-01 5.20950655e+01] [ 2.76127985e-01 9.58748925e-01 -6.74821002e-02 7.59313870e+00] [ 2.04672360e-01 9.94459010e-03 9.78780021e-01 7.53265849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18710568099999 meters Centerline goodness : 0.996690 Centerline is valid? [True, True] Translation: X:52.13, Y:7.59, Z:7.53 [[ 9.39633694e-01 -2.80814506e-01 -1.95529367e-01 5.21280057e+01] [ 2.74274062e-01 9.59757180e-01 -6.03315440e-02 7.59397800e+00] [ 2.04602687e-01 3.06091780e-03 9.78840320e-01 7.53235056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.217105680999985 meters Centerline goodness : 0.997041 Centerline is valid? [True, True] Translation: X:52.15, Y:7.60, Z:7.54 [[ 9.40254755e-01 -2.79857350e-01 -1.93909409e-01 5.21528407e+01] [ 2.70989427e-01 9.59930813e-01 -7.13972365e-02 7.59789381e+00] [ 2.06120658e-01 1.45841915e-02 9.78417894e-01 7.53937348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.24710568099999 meters Centerline goodness : 0.996775 Centerline is valid? [True, True] Translation: X:52.18, Y:7.60, Z:7.54 [[ 9.38257057e-01 -2.83128031e-01 -1.98776791e-01 5.21834769e+01] [ 2.77251986e-01 9.59081297e-01 -5.73968737e-02 7.59968338e+00] [ 2.06893767e-01 -1.25823833e-03 9.78362605e-01 7.54040195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27710568099999 meters Centerline goodness : 0.996781 Centerline is valid? [True, True] Translation: X:52.21, Y:7.60, Z:7.54 [[ 9.38801101e-01 -2.81931792e-01 -1.97906434e-01 5.22094483e+01] [ 2.77270351e-01 9.59412095e-01 -5.14741216e-02 7.60139616e+00] [ 2.04386018e-01 -6.54962447e-03 9.78868458e-01 7.54211436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.30710568099999 meters Centerline goodness : 0.997358 Centerline is valid? [True, True] Translation: X:52.24, Y:7.60, Z:7.56 [[ 9.37476873e-01 -2.92019689e-01 -1.89371631e-01 5.22361995e+01] [ 2.80781110e-01 9.56062796e-01 -8.42964891e-02 7.60470438e+00] [ 2.05667406e-01 2.58540323e-02 9.78280373e-01 7.55763273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.33710568099999 meters Centerline goodness : 0.997236 Centerline is valid? [True, True] Translation: X:52.27, Y:7.60, Z:7.56 [[ 9.37072874e-01 -2.90239608e-01 -1.94049990e-01 5.22663579e+01] [ 2.82497520e-01 9.56920289e-01 -6.70724424e-02 7.60062958e+00] [ 2.05157452e-01 8.03312544e-03 9.78696015e-01 7.56136884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.36710568099999 meters Centerline goodness : 0.997706 Centerline is valid? [True, True] Translation: X:52.30, Y:7.60, Z:7.56 [[ 9.38092741e-01 -2.88154325e-01 -1.92221471e-01 5.22983668e+01] [ 2.82890219e-01 9.57579671e-01 -5.49026225e-02 7.60110838e+00] [ 1.99887801e-01 -2.87382255e-03 9.79814578e-01 7.56484214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.397105680999985 meters Centerline goodness : 0.997764 Centerline is valid? [True, True] Translation: X:52.32, Y:7.60, Z:7.57 [[ 9.39655078e-01 -2.85815307e-01 -1.88037082e-01 5.23223487e+01] [ 2.76670999e-01 9.58128570e-01 -7.37753508e-02 7.60460681e+00] [ 2.01249825e-01 1.72989756e-02 9.79387183e-01 7.57453150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.427105680999986 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:52.36, Y:7.60, Z:7.57 [[ 9.40424621e-01 -2.80207826e-01 -1.92574935e-01 5.23569650e+01] [ 2.75326738e-01 9.59931388e-01 -5.22198990e-02 7.60040773e+00] [ 1.99491149e-01 -3.91214991e-03 9.79891819e-01 7.57415186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45710568099999 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:52.38, Y:7.60, Z:7.58 [[ 9.41294598e-01 -2.78151982e-01 -1.91300693e-01 5.23804803e+01] [ 2.70747722e-01 9.60496940e-01 -6.43529280e-02 7.60388481e+00] [ 2.01643625e-01 8.78083663e-03 9.79419596e-01 7.58074350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.48710568099999 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:52.41, Y:7.61, Z:7.58 [[ 9.40295995e-01 -2.79970430e-01 -1.93545858e-01 5.24134001e+01] [ 2.72757316e-01 9.59983551e-01 -6.35218767e-02 7.60655730e+00] [ 2.03585087e-01 6.93831774e-03 9.79032672e-01 7.58402611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.51710568099999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:52.44, Y:7.60, Z:7.59 [[ 9.40247905e-01 -2.79946921e-01 -1.93813310e-01 5.24436766e+01] [ 2.72860573e-01 9.59995078e-01 -6.29011687e-02 7.60141354e+00] [ 2.03668813e-01 6.25868104e-03 9.79019838e-01 7.58930699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.54710568099999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:52.47, Y:7.61, Z:7.60 [[ 9.39585266e-01 -2.84111058e-01 -1.90946156e-01 5.24706631e+01] [ 2.73724172e-01 9.58533270e-01 -7.93035232e-02 7.60683249e+00] [ 2.05559251e-01 2.22458435e-02 9.78391801e-01 7.60074920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.577105680999985 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:52.50, Y:7.60, Z:7.60 [[ 9.39439575e-01 -2.81779750e-01 -1.95072956e-01 5.25009238e+01] [ 2.78242816e-01 9.59414089e-01 -4.58861640e-02 7.60125857e+00] [ 2.00085534e-01 -1.11703702e-02 9.79714755e-01 7.60206164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.607105680999986 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:52.53, Y:7.60, Z:7.61 [[ 9.37987357e-01 -2.89715261e-01 -1.90380635e-01 5.25283538e+01] [ 2.83043589e-01 9.57103522e-01 -6.19610768e-02 7.60338627e+00] [ 2.00165045e-01 4.23268862e-03 9.79753050e-01 7.60859528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.63710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:52.56, Y:7.61, Z:7.61 [[ 9.36777454e-01 -2.93044593e-01 -1.91240343e-01 5.25563516e+01] [ 2.86363542e-01 9.56091927e-01 -6.23229383e-02 7.60762233e+00] [ 2.01106748e-01 3.61846147e-03 9.79562649e-01 7.61229664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.66710568099999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:52.58, Y:7.61, Z:7.62 [[ 9.33744502e-01 -3.01860978e-01 -1.92356845e-01 5.25837888e+01] [ 2.95268808e-01 9.53350235e-01 -6.27667210e-02 7.60830332e+00] [ 2.02330267e-01 1.81110437e-03 9.79315671e-01 7.61621656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.69710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:52.61, Y:7.61, Z:7.62 [[ 9.30079750e-01 -3.14230972e-01 -1.90290713e-01 5.26098172e+01] [ 3.08029187e-01 9.49346198e-01 -6.21274159e-02 7.61163033e+00] [ 2.00174123e-01 -8.31642022e-04 9.79759985e-01 7.62243627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.72710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:52.64, Y:7.62, Z:7.63 [[ 9.28364561e-01 -3.20804816e-01 -1.87679277e-01 5.26366085e+01] [ 3.14899302e-01 9.47142813e-01 -6.13100414e-02 7.61717504e+00] [ 1.97427635e-01 -2.18200375e-03 9.80315035e-01 7.62863861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.75710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:52.66, Y:7.62, Z:7.64 [[ 9.25838456e-01 -3.31000304e-01 -1.82378596e-01 5.26630474e+01] [ 3.25607523e-01 9.43621492e-01 -5.96508288e-02 7.62012548e+00] [ 1.91840805e-01 -4.15681144e-03 9.81417254e-01 7.63608667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.787105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.69, Y:7.63, Z:7.64 [[ 9.24741966e-01 -3.34186950e-01 -1.82130117e-01 5.26888754e+01] [ 3.28860068e-01 9.42494781e-01 -5.96208362e-02 7.62780260e+00] [ 1.91581190e-01 -4.76143341e-03 9.81465219e-01 7.64155732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.71, Y:7.64, Z:7.64 [[ 9.23052996e-01 -3.36900360e-01 -1.85664518e-01 5.27137807e+01] [ 3.31401881e-01 9.41525066e-01 -6.08551063e-02 7.63669808e+00] [ 1.95309905e-01 -5.35708229e-03 9.80726946e-01 7.64472870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.74, Y:7.65, Z:7.65 [[ 9.22473654e-01 -3.37655410e-01 -1.87166188e-01 5.27402515e+01] [ 3.32074992e-01 9.41253558e-01 -6.13835454e-02 7.64641110e+00] [ 1.96897327e-01 -5.52850703e-03 9.80408526e-01 7.64871050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.77, Y:7.66, Z:7.65 [[ 9.21182790e-01 -3.39411977e-01 -1.90320196e-01 5.27656988e+01] [ 3.33661093e-01 9.40619124e-01 -6.24975169e-02 7.65807097e+00] [ 2.00231222e-01 -5.93080750e-03 9.79730720e-01 7.65191104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.79, Y:7.67, Z:7.66 [[ 9.19480349e-01 -3.43059189e-01 -1.92005942e-01 5.27909205e+01] [ 3.37267151e-01 9.39289823e-01 -6.31307913e-02 7.66933049e+00] [ 2.02006825e-01 -6.70977502e-03 9.79361129e-01 7.65635176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.82, Y:7.68, Z:7.66 [[ 9.19115073e-01 -3.45890572e-01 -1.88645686e-01 5.28188145e+01] [ 3.39185584e-01 9.38273366e-01 -6.77954977e-02 7.68026273e+00] [ 2.00451046e-01 -1.67403327e-03 9.79702289e-01 7.66106616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.967105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.84, Y:7.69, Z:7.67 [[ 9.17406807e-01 -3.48753726e-01 -1.91665306e-01 5.28410765e+01] [ 3.44420781e-01 9.37108352e-01 -5.65885413e-02 7.69122655e+00] [ 1.99346623e-01 -1.40988013e-02 9.79827611e-01 7.66808108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:52.86, Y:7.71, Z:7.67 [[ 9.15742518e-01 -3.55095904e-01 -1.87942918e-01 5.28645873e+01] [ 3.49760495e-01 9.34786757e-01 -6.19783503e-02 7.70791334e+00] [ 1.97694809e-01 -8.97879748e-03 9.80222497e-01 7.67442422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.02710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.89, Y:7.72, Z:7.68 [[ 9.14382739e-01 -3.60503880e-01 -1.84231265e-01 5.28883977e+01] [ 3.55472159e-01 9.32705499e-01 -6.08275948e-02 7.72377086e+00] [ 1.93762097e-01 -9.86938264e-03 9.80998902e-01 7.67907269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.05710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.91, Y:7.74, Z:7.69 [[ 9.13195971e-01 -3.63970615e-01 -1.83298961e-01 5.29098676e+01] [ 3.55842423e-01 9.31398267e-01 -7.66383660e-02 7.73775868e+00] [ 1.98618448e-01 4.76030072e-03 9.80065330e-01 7.68613170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.08710568099999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:52.94, Y:7.75, Z:7.69 [[ 9.11454803e-01 -3.64376018e-01 -1.90998060e-01 5.29404440e+01] [ 3.61973235e-01 9.30920626e-01 -4.86021022e-02 7.75129511e+00] [ 1.95513474e-01 -2.48375662e-02 9.80386442e-01 7.68533746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.11710568099999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:52.96, Y:7.77, Z:7.69 [[ 9.11703770e-01 -3.66359995e-01 -1.85947816e-01 5.29621242e+01] [ 3.61232436e-01 9.30412304e-01 -6.20005851e-02 7.76512496e+00] [ 1.95722670e-01 -1.06442152e-02 9.80601518e-01 7.69080472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.147105680999985 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:52.98, Y:7.78, Z:7.69 [[ 9.10650383e-01 -3.67148203e-01 -1.89520649e-01 5.29809662e+01] [ 3.63361530e-01 9.29984648e-01 -5.56502702e-02 7.78412498e+00] [ 1.96683191e-01 -1.81865732e-02 9.80298409e-01 7.69041003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.177105680999986 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:53.01, Y:7.79, Z:7.70 [[ 9.10569941e-01 -3.68874805e-01 -1.86530857e-01 5.30067294e+01] [ 3.63351461e-01 9.29432981e-01 -6.42654569e-02 7.79440213e+00] [ 1.97073838e-01 -9.25806621e-03 9.80344934e-01 7.69707774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.20710568099999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:53.03, Y:7.81, Z:7.71 [[ 9.09567865e-01 -3.70369222e-01 -1.88448767e-01 5.30334080e+01] [ 3.61280409e-01 9.28863182e-01 -8.17903131e-02 7.81022483e+00] [ 2.05335736e-01 6.31099265e-03 9.78671246e-01 7.70708416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.23710568099999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:53.06, Y:7.83, Z:7.71 [[ 9.09507927e-01 -3.66552783e-01 -1.96046904e-01 5.30564589e+01] [ 3.60557129e-01 9.30343991e-01 -6.67728612e-02 7.82606732e+00] [ 2.06866837e-01 -9.95566222e-03 9.78318454e-01 7.70755384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.26710568099999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:53.09, Y:7.84, Z:7.71 [[ 9.09841034e-01 -3.65949413e-01 -1.95628016e-01 5.30854576e+01] [ 3.61587735e-01 9.30476548e-01 -5.88872110e-02 7.84011151e+00] [ 2.03577021e-01 -1.71586900e-02 9.78908564e-01 7.71105268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.29710568099999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:53.10, Y:7.87, Z:7.72 [[ 9.12600919e-01 -3.68281626e-01 -1.77561838e-01 5.31012539e+01] [ 3.58382869e-01 9.29593927e-01 -8.61211340e-02 7.86948835e+00] [ 1.96777237e-01 1.49591052e-02 9.80334098e-01 7.71554554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.327105680999985 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:53.13, Y:7.87, Z:7.72 [[ 9.12274727e-01 -3.58862929e-01 -1.97413832e-01 5.31266073e+01] [ 3.58367839e-01 9.32744539e-01 -3.94983183e-02 7.87294082e+00] [ 1.98311156e-01 -3.47134507e-02 9.79524202e-01 7.71534899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.357105680999986 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:53.15, Y:7.89, Z:7.72 [[ 9.14341367e-01 -3.59729367e-01 -1.85942591e-01 5.31508215e+01] [ 3.58128004e-01 9.32666662e-01 -4.33270234e-02 7.88835220e+00] [ 1.89008458e-01 -2.69755591e-02 9.81604871e-01 7.71722727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.38710568099999 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:53.18, Y:7.91, Z:7.73 [[ 9.12539301e-01 -3.67834182e-01 -1.78801673e-01 5.31750799e+01] [ 3.61063277e-01 9.29891290e-01 -7.02530982e-02 7.90821859e+00] [ 1.92107610e-01 -4.50005045e-04 9.81373764e-01 7.73125469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.41710568099999 meters Centerline goodness : 0.997935 Centerline is valid? [True, True] Translation: X:53.20, Y:7.93, Z:7.74 [[ 9.11920164e-01 -3.68385510e-01 -1.80814076e-01 5.31965312e+01] [ 3.63701160e-01 9.29603672e-01 -5.96529949e-02 7.92932289e+00] [ 1.90060727e-01 -1.13635202e-02 9.81706570e-01 7.73523775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.44710568099999 meters Centerline goodness : 0.997854 Centerline is valid? [True, True] Translation: X:53.22, Y:7.94, Z:7.74 [[ 9.11146265e-01 -3.69982635e-01 -1.81453390e-01 5.32207377e+01] [ 3.65290086e-01 9.28964869e-01 -5.98951185e-02 7.94454655e+00] [ 1.90723979e-01 -1.17099110e-02 9.81573860e-01 7.74022553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.47710568099999 meters Centerline goodness : 0.997533 Centerline is valid? [True, True] Translation: X:53.24, Y:7.96, Z:7.74 [[ 9.09500549e-01 -3.72327745e-01 -1.84880509e-01 5.32443991e+01] [ 3.67488065e-01 9.28018889e-01 -6.11020785e-02 7.96217276e+00] [ 1.94322603e-01 -1.23690064e-02 9.80859691e-01 7.74112779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.50710568099999 meters Centerline goodness : 0.997331 Centerline is valid? [True, True] Translation: X:53.26, Y:7.98, Z:7.74 [[ 9.08622509e-01 -3.78221344e-01 -1.77069904e-01 5.32606886e+01] [ 3.69889388e-01 9.25692500e-01 -7.92163849e-02 7.98185810e+00] [ 1.93873610e-01 6.48151179e-03 9.81005104e-01 7.73920957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.537105680999986 meters Centerline goodness : 0.997432 Centerline is valid? [True, True] Translation: X:53.30, Y:7.99, Z:7.74 [[ 9.09478692e-01 -3.70460917e-01 -1.88698747e-01 5.32953396e+01] [ 3.68409869e-01 9.28466385e-01 -4.71629116e-02 7.99027218e+00] [ 1.92672459e-01 -2.66248175e-02 9.80901852e-01 7.73829885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.56710568099999 meters Centerline goodness : 0.996821 Centerline is valid? [True, True] Translation: X:53.31, Y:8.02, Z:7.76 [[ 9.07864322e-01 -3.72678402e-01 -1.92075980e-01 5.33131622e+01] [ 3.67480532e-01 9.27868917e-01 -6.33824243e-02 8.01509952e+00] [ 2.01842592e-01 -1.30415415e-02 9.79331142e-01 7.75523642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.59710568099999 meters Centerline goodness : 0.996078 Centerline is valid? [True, True] Translation: X:53.34, Y:8.03, Z:7.76 [[ 9.07182238e-01 -3.73925533e-01 -1.92873233e-01 5.33375871e+01] [ 3.68703940e-01 9.27362787e-01 -6.36841018e-02 8.02978094e+00] [ 2.02676570e-01 -1.33400349e-02 9.79154866e-01 7.76037373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.62710568099999 meters Centerline goodness : 0.995365 Centerline is valid? [True, True] Translation: X:53.36, Y:8.05, Z:7.76 [[ 9.05779684e-01 -3.77337941e-01 -1.92819197e-01 5.33607627e+01] [ 3.72179891e-01 9.25969372e-01 -6.37405024e-02 8.04551991e+00] [ 2.02596380e-01 -1.40285754e-02 9.79161838e-01 7.76295993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.65710568099999 meters Centerline goodness : 0.995714 Centerline is valid? [True, True] Translation: X:53.39, Y:8.06, Z:7.76 [[ 9.05565462e-01 -3.77823382e-01 -1.92874793e-01 5.33864925e+01] [ 3.77715648e-01 9.25108792e-01 -3.87893452e-02 8.05842537e+00] [ 1.93085688e-01 -3.77255361e-02 9.80456374e-01 7.75850968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.68710568099999 meters Centerline goodness : 0.995617 Centerline is valid? [True, True] Translation: X:53.40, Y:8.09, Z:7.78 [[ 9.01836279e-01 -3.90631831e-01 -1.84656704e-01 5.34035764e+01] [ 3.80895275e-01 9.20510687e-01 -8.70566714e-02 8.08620645e+00] [ 2.03985576e-01 8.17599864e-03 9.78939752e-01 7.78247707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.717105680999985 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:53.43, Y:8.10, Z:7.78 [[ 9.01727431e-01 -3.87316182e-01 -1.92025559e-01 5.34306402e+01] [ 3.82388884e-01 9.21807350e-01 -6.36392258e-02 8.09697093e+00] [ 2.01659074e-01 -1.60432036e-02 9.79324376e-01 7.78032855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.74710568099999 meters Centerline goodness : 0.995921 Centerline is valid? [True, True] Translation: X:53.45, Y:8.12, Z:7.79 [[ 9.01901839e-01 -3.87562210e-01 -1.90705548e-01 5.34526297e+01] [ 3.82693074e-01 9.21706181e-01 -6.32750166e-02 8.11725728e+00] [ 2.00297487e-01 -1.59138384e-02 9.79605873e-01 7.78583257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77710568099999 meters Centerline goodness : 0.995556 Centerline is valid? [True, True] Translation: X:53.48, Y:8.13, Z:7.79 [[ 9.02230035e-01 -3.86963849e-01 -1.90367913e-01 5.34755206e+01] [ 3.82084260e-01 9.21961487e-01 -6.32347678e-02 8.13155045e+00] [ 1.99981454e-01 -1.56842765e-02 9.79674141e-01 7.79079917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.80710568099999 meters Centerline goodness : 0.995498 Centerline is valid? [True, True] Translation: X:53.50, Y:8.15, Z:7.79 [[ 9.04493310e-01 -3.82586181e-01 -1.88466618e-01 5.34984826e+01] [ 3.78323072e-01 9.23755418e-01 -5.95615789e-02 8.14870910e+00] [ 1.96884497e-01 -1.74282204e-02 9.80271775e-01 7.79199656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.83710568099999 meters Centerline goodness : 0.995983 Centerline is valid? [True, True] Translation: X:53.52, Y:8.17, Z:7.80 [[ 9.04621415e-01 -3.81949780e-01 -1.89141381e-01 5.35219239e+01] [ 3.76249080e-01 9.24119015e-01 -6.66384031e-02 8.16876511e+00] [ 2.00241670e-01 -1.08817442e-02 9.79686103e-01 7.79817382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.86710568099999 meters Centerline goodness : 0.996129 Centerline is valid? [True, True] Translation: X:53.55, Y:8.18, Z:7.80 [[ 9.05323295e-01 -3.79497649e-01 -1.90712523e-01 5.35485305e+01] [ 3.74416729e-01 9.25087296e-01 -6.34476812e-02 8.18248739e+00] [ 2.00503978e-01 -1.39652953e-02 9.79593347e-01 7.80274963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.897105680999985 meters Centerline goodness : 0.996507 Centerline is valid? [True, True] Translation: X:53.57, Y:8.20, Z:7.81 [[ 9.05701915e-01 -3.78996188e-01 -1.89910324e-01 5.35742159e+01] [ 3.73946528e-01 9.25295479e-01 -6.31844153e-02 8.20290822e+00] [ 1.99669817e-01 -1.37900603e-02 9.79766196e-01 7.81095201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.927105680999986 meters Centerline goodness : 0.996718 Centerline is valid? [True, True] Translation: X:53.60, Y:8.22, Z:7.82 [[ 9.06281414e-01 -3.77981487e-01 -1.89166577e-01 5.36022691e+01] [ 3.72951693e-01 9.25714426e-01 -6.29272205e-02 8.21782852e+00] [ 1.98899554e-01 -1.35202250e-02 9.79926615e-01 7.81899600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95710568099999 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:53.63, Y:8.24, Z:7.83 [[ 9.09565735e-01 -3.75905634e-01 -1.77158485e-01 5.36317016e+01] [ 3.67336956e-01 9.26624605e-01 -8.01897846e-02 8.23958922e+00] [ 1.94303203e-01 7.86102148e-03 9.80910021e-01 7.82972955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.98710568099999 meters Centerline goodness : 0.997999 Centerline is valid? [True, True] Translation: X:53.66, Y:8.25, Z:7.83 [[ 9.12079276e-01 -3.64113714e-01 -1.88500921e-01 5.36633450e+01] [ 3.60828602e-01 9.31141114e-01 -5.27157057e-02 8.25195551e+00] [ 1.94715469e-01 -1.99356213e-02 9.80657156e-01 7.82604023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.01710568099999 meters Centerline goodness : 0.998196 Centerline is valid? [True, True] Translation: X:53.69, Y:8.27, Z:7.83 [[ 9.13944186e-01 -3.60888525e-01 -1.85648857e-01 5.36922729e+01] [ 3.55983780e-01 9.32544392e-01 -6.03034400e-02 8.26651478e+00] [ 1.94888620e-01 -1.09740034e-02 9.80763986e-01 7.83428907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.04710568099999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:53.72, Y:8.29, Z:7.84 [[ 9.18665522e-01 -3.49836268e-01 -1.83489086e-01 5.37188101e+01] [ 3.44070239e-01 9.36798289e-01 -6.34400206e-02 8.28696701e+00] [ 1.94085882e-01 -4.85297401e-03 9.80972537e-01 7.84149828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.077105680999985 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:53.74, Y:8.30, Z:7.85 [[ 9.22592349e-01 -3.32466760e-01 -1.95676292e-01 5.37423125e+01] [ 3.30448671e-01 9.42804465e-01 -4.38567692e-02 8.30299852e+00] [ 1.99065400e-01 -2.41990510e-02 9.79687385e-01 7.84622271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.107105680999986 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:53.77, Y:8.32, Z:7.86 [[ 9.24817187e-01 -3.29864697e-01 -1.89479423e-01 5.37688925e+01] [ 3.23794030e-01 9.44023365e-01 -6.30659389e-02 8.31966900e+00] [ 1.99676229e-01 -3.02784169e-03 9.79857253e-01 7.86136929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.13710568099999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:53.80, Y:8.33, Z:7.87 [[ 9.28791416e-01 -3.19269852e-01 -1.88184130e-01 5.37986347e+01] [ 3.13081575e-01 9.47663497e-01 -6.25605594e-02 8.33340345e+00] [ 1.98308932e-01 -8.11273499e-04 9.80139230e-01 7.86721677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.16710568099999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:53.83, Y:8.34, Z:7.87 [[ 9.31379010e-01 -3.13237092e-01 -1.85514591e-01 5.38290179e+01] [ 3.07120408e-01 9.49674873e-01 -6.16010566e-02 8.34249968e+00] [ 1.95474281e-01 3.98614404e-04 9.80708747e-01 7.87246902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.19710568099999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:53.86, Y:8.35, Z:7.88 [[ 9.32377801e-01 -3.11518757e-01 -1.83378573e-01 5.38603682e+01] [ 3.05523616e-01 9.50239756e-01 -6.08253759e-02 8.35114954e+00] [ 1.93201856e-01 6.85745574e-04 9.81158791e-01 7.87828379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.22710568099999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:53.89, Y:8.36, Z:7.89 [[ 9.32993059e-01 -3.10406932e-01 -1.82130417e-01 5.38915266e+01] [ 3.04486791e-01 9.50603403e-01 -6.03404050e-02 8.35792897e+00] [ 1.91863874e-01 8.40872774e-04 9.81421187e-01 7.88563086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.257105680999985 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:53.92, Y:8.37, Z:7.89 [[ 9.32980531e-01 -3.10417676e-01 -1.82176272e-01 5.39231623e+01] [ 3.04500317e-01 9.50599920e-01 -6.03270169e-02 8.36609342e+00] [ 1.91903322e-01 8.11199678e-04 9.81413499e-01 7.89239175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.287105680999986 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:53.96, Y:8.37, Z:7.90 [[ 9.31892647e-01 -3.13256500e-01 -1.82883734e-01 5.39570313e+01] [ 3.07352416e-01 9.49668535e-01 -6.05323638e-02 8.36905981e+00] [ 1.92641084e-01 1.99907307e-04 9.81269266e-01 7.89711270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.31710568099999 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:53.99, Y:8.37, Z:7.90 [[ 9.30852183e-01 -3.15868626e-01 -1.83687845e-01 5.39893970e+01] [ 3.09968107e-01 9.48802863e-01 -6.07692269e-02 8.37437260e+00] [ 1.93478645e-01 -3.70205996e-04 9.81104417e-01 7.90173787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.34710568099999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:54.02, Y:8.37, Z:7.91 [[ 9.28349726e-01 -3.22283931e-01 -1.85202198e-01 5.40228834e+01] [ 3.16416637e-01 9.46641439e-01 -6.12413116e-02 8.37484634e+00] [ 1.95057166e-01 -1.74770172e-03 9.80790318e-01 7.90639183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.37710568099999 meters Centerline goodness : 0.998078 Centerline is valid? [True, True] Translation: X:54.05, Y:8.38, Z:7.91 [[ 9.26540121e-01 -3.26317917e-01 -1.87189801e-01 5.40545626e+01] [ 3.20408083e-01 9.45256382e-01 -6.18791702e-02 8.37767930e+00] [ 1.97134636e-01 -2.64359148e-03 9.80372861e-01 7.91196325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.40710568099999 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:54.08, Y:8.38, Z:7.92 [[ 9.24323142e-01 -3.30629401e-01 -1.90554267e-01 5.40846572e+01] [ 3.24596761e-01 9.43753638e-01 -6.29762947e-02 8.38075899e+00] [ 2.00658097e-01 -3.64285133e-03 9.79654560e-01 7.91649795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43710568099999 meters Centerline goodness : 0.997811 Centerline is valid? [True, True] Translation: X:54.12, Y:8.39, Z:7.92 [[ 9.23487398e-01 -3.32795906e-01 -1.90834775e-01 5.41160857e+01] [ 3.26794491e-01 9.42989809e-01 -6.30522061e-02 8.38629319e+00] [ 2.00938764e-01 -4.13583529e-03 9.79595074e-01 7.92094479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.467105680999985 meters Centerline goodness : 0.997381 Centerline is valid? [True, True] Translation: X:54.15, Y:8.39, Z:7.92 [[ 9.21794064e-01 -3.38034533e-01 -1.89811376e-01 5.41470365e+01] [ 3.32211063e-01 9.41118985e-01 -6.26966142e-02 8.38521875e+00] [ 1.99828710e-01 -5.26407208e-03 9.79816705e-01 7.92328060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49710568099999 meters Centerline goodness : 0.996852 Centerline is valid? [True, True] Translation: X:54.17, Y:8.39, Z:7.93 [[ 9.20920498e-01 -3.40637428e-01 -1.89397940e-01 5.41737777e+01] [ 3.34889437e-01 9.40176881e-01 -6.25819259e-02 8.39035844e+00] [ 1.99385310e-01 -5.79439109e-03 9.79904038e-01 7.92870888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.52710568099999 meters Centerline goodness : 0.996665 Centerline is valid? [True, True] Translation: X:54.20, Y:8.39, Z:7.94 [[ 9.20508168e-01 -3.41105556e-01 -1.90556322e-01 5.42017699e+01] [ 3.35280564e-01 9.40006738e-01 -6.30418543e-02 8.39468390e+00] [ 2.00628154e-01 -5.85928926e-03 9.79649944e-01 7.93744825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.55710568099999 meters Centerline goodness : 0.996431 Centerline is valid? [True, True] Translation: X:54.23, Y:8.40, Z:7.94 [[ 9.21141142e-01 -3.39392718e-01 -1.90555974e-01 5.42275609e+01] [ 3.33517828e-01 9.40629143e-01 -6.31084336e-02 8.39961793e+00] [ 2.00661045e-01 -5.42203968e-03 9.79645725e-01 7.94247572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.58710568099999 meters Centerline goodness : 0.996344 Centerline is valid? [True, True] Translation: X:54.26, Y:8.40, Z:7.95 [[ 9.24509254e-01 -3.30893006e-01 -1.89188948e-01 5.42557975e+01] [ 3.24919365e-01 9.43661734e-01 -6.26892249e-02 8.39978955e+00] [ 1.99273797e-01 -3.51438421e-03 9.79937551e-01 7.94777514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61710568099999 meters Centerline goodness : 0.995856 Centerline is valid? [True, True] Translation: X:54.28, Y:8.40, Z:7.95 [[ 9.28817643e-01 -3.19180408e-01 -1.88206410e-01 5.42824816e+01] [ 3.13023319e-01 9.47693490e-01 -6.23975173e-02 8.40377791e+00] [ 1.98278054e-01 -9.57080181e-04 9.80145345e-01 7.95492069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.647105680999985 meters Centerline goodness : 0.996727 Centerline is valid? [True, True] Translation: X:54.31, Y:8.41, Z:7.96 [[ 9.32525783e-01 -3.09079056e-01 -1.86723864e-01 5.43101077e+01] [ 3.02803264e-01 9.51035517e-01 -6.19808751e-02 8.40665617e+00] [ 1.96738017e-01 1.25816850e-03 9.80455287e-01 7.95992571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.677105680999986 meters Centerline goodness : 0.996240 Centerline is valid? [True, True] Translation: X:54.34, Y:8.41, Z:7.96 [[ 9.34293702e-01 -3.04919213e-01 -1.84714783e-01 5.43371621e+01] [ 2.98683931e-01 9.52375719e-01 -6.13872869e-02 8.41051829e+00] [ 1.94636038e-01 2.18241800e-03 9.80873106e-01 7.96414980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.70710568099999 meters Centerline goodness : 0.995951 Centerline is valid? [True, True] Translation: X:54.37, Y:8.41, Z:7.97 [[ 9.35329848e-01 -3.03211472e-01 -1.82265954e-01 5.43653434e+01] [ 2.97099988e-01 9.52919875e-01 -6.06243269e-02 8.41160495e+00] [ 1.92066841e-01 2.55252968e-03 9.81378527e-01 7.96928855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.73710568099999 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:54.39, Y:8.42, Z:7.97 [[ 9.35078493e-01 -3.04042537e-01 -1.82171203e-01 5.43925670e+01] [ 2.97938768e-01 9.52655303e-01 -6.06660143e-02 8.41674759e+00] [ 1.91991411e-01 2.45162153e-03 9.81393544e-01 7.97490955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.76710568099999 meters Centerline goodness : 0.996312 Centerline is valid? [True, True] Translation: X:54.42, Y:8.42, Z:7.98 [[ 9.35285210e-01 -3.03489227e-01 -1.82032592e-01 5.44210775e+01] [ 2.97369492e-01 9.52831219e-01 -6.06963969e-02 8.41627386e+00] [ 1.91867039e-01 2.63750291e-03 9.81417385e-01 7.98051197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.79710568099999 meters Centerline goodness : 0.995890 Centerline is valid? [True, True] Translation: X:54.45, Y:8.42, Z:7.99 [[ 9.35198603e-01 -3.02785087e-01 -1.83643033e-01 5.44494894e+01] [ 2.96526525e-01 9.53054497e-01 -6.13118667e-02 8.41721572e+00] [ 1.93586137e-01 2.88374179e-03 9.81079044e-01 7.98617508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.827105680999985 meters Centerline goodness : 0.996103 Centerline is valid? [True, True] Translation: X:54.48, Y:8.42, Z:7.99 [[ 9.34812378e-01 -3.03485226e-01 -1.84451987e-01 5.44763540e+01] [ 2.97168833e-01 9.52831950e-01 -6.16600345e-02 8.42115046e+00] [ 1.94464656e-01 2.82718161e-03 9.80905451e-01 7.99090805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.857105680999986 meters Centerline goodness : 0.996645 Centerline is valid? [True, True] Translation: X:54.51, Y:8.42, Z:8.00 [[ 9.33691907e-01 -3.07100434e-01 -1.84143279e-01 5.45054195e+01] [ 3.00868139e-01 9.51674785e-01 -6.15911300e-02 8.41902724e+00] [ 1.94159178e-01 2.10429394e-03 9.80967780e-01 7.99511484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.88710568099999 meters Centerline goodness : 0.996833 Centerline is valid? [True, True] Translation: X:54.53, Y:8.42, Z:8.00 [[ 9.33290034e-01 -3.08448663e-01 -1.83926983e-01 5.45325600e+01] [ 3.02250180e-01 9.51239181e-01 -6.15536300e-02 8.42267646e+00] [ 1.93944688e-01 1.85542577e-03 9.81010711e-01 8.00039313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.91710568099999 meters Centerline goodness : 0.996917 Centerline is valid? [True, True] Translation: X:54.56, Y:8.42, Z:8.01 [[ 9.32860159e-01 -3.09725916e-01 -1.83961356e-01 5.45609893e+01] [ 3.03534574e-01 9.50824425e-01 -6.16415044e-02 8.42220290e+00] [ 1.94006922e-01 1.66427188e-03 9.80998749e-01 8.00662594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.94710568099999 meters Centerline goodness : 0.997441 Centerline is valid? [True, True] Translation: X:54.59, Y:8.43, Z:8.01 [[ 9.32788245e-01 -3.09710972e-01 -1.84350762e-01 5.45882483e+01] [ 3.03477324e-01 9.50829144e-01 -6.18502378e-02 8.42648479e+00] [ 1.94441774e-01 1.74689894e-03 9.80912506e-01 8.01191371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.97710568099999 meters Centerline goodness : 0.997048 Centerline is valid? [True, True] Translation: X:54.62, Y:8.43, Z:8.02 [[ 9.34310630e-01 -3.04843536e-01 -1.84754068e-01 5.46179521e+01] [ 2.98472380e-01 9.52398203e-01 -6.20636860e-02 8.42524895e+00] [ 1.94879156e-01 2.84277509e-03 9.80823141e-01 8.01565614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.007105680999985 meters Centerline goodness : 0.996835 Centerline is valid? [True, True] Translation: X:54.65, Y:8.43, Z:8.02 [[ 9.36351811e-01 -2.97395783e-01 -1.86550352e-01 5.46463376e+01] [ 2.90736109e-01 9.54743606e-01 -6.27468136e-02 8.42553527e+00] [ 1.96768393e-01 4.51616928e-03 9.80439597e-01 8.02122769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.037105680999986 meters Centerline goodness : 0.996917 Centerline is valid? [True, True] Translation: X:54.67, Y:8.43, Z:8.03 [[ 9.37372402e-01 -2.94058217e-01 -1.86715679e-01 5.46735755e+01] [ 2.87305192e-01 9.55772823e-01 -6.28811342e-02 8.43054228e+00] [ 1.96948486e-01 5.29865577e-03 9.80399520e-01 8.02692181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.06710568099999 meters Centerline goodness : 0.997185 Centerline is valid? [True, True] Translation: X:54.70, Y:8.43, Z:8.03 [[ 9.38410027e-01 -2.89566472e-01 -1.88514932e-01 5.47032644e+01] [ 2.82574809e-01 9.57136617e-01 -6.35686453e-02 8.42917664e+00] [ 1.98841892e-01 6.38388336e-03 9.80010790e-01 8.03093928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.09710568099999 meters Centerline goodness : 0.997185 Centerline is valid? [True, True] Translation: X:54.73, Y:8.44, Z:8.04 [[ 9.38307399e-01 -2.89914699e-01 -1.88490562e-01 5.47296185e+01] [ 2.82915502e-01 9.57031172e-01 -6.36408278e-02 8.43832071e+00] [ 1.98841755e-01 6.38775768e-03 9.80010792e-01 8.03629500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.12710568099999 meters Centerline goodness : 0.997549 Centerline is valid? [True, True] Translation: X:54.76, Y:8.43, Z:8.04 [[ 9.36702793e-01 -2.91991128e-01 -1.93207297e-01 5.47595365e+01] [ 2.84660466e-01 9.56401076e-01 -6.53100323e-02 8.43301488e+00] [ 2.03853617e-01 6.17761021e-03 9.78981889e-01 8.03839680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.15710568099999 meters Centerline goodness : 0.997524 Centerline is valid? [True, True] Translation: X:54.79, Y:8.44, Z:8.04 [[ 9.35414351e-01 -2.94840208e-01 -1.95113414e-01 5.47871284e+01] [ 2.87415461e-01 9.55529857e-01 -6.59927730e-02 8.43502922e+00] [ 2.05894016e-01 5.65197500e-03 9.78557974e-01 8.04221434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.18710568099999 meters Centerline goodness : 0.998202 Centerline is valid? [True, True] Translation: X:54.82, Y:8.43, Z:8.05 [[ 9.33843677e-01 -3.00440998e-01 -1.94090682e-01 5.48165418e+01] [ 2.93202140e-01 9.53790021e-01 -6.57046574e-02 8.43199525e+00] [ 2.04862129e-01 4.45007556e-03 9.78780724e-01 8.05030372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.217105680999985 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:54.84, Y:8.44, Z:8.06 [[ 9.32965230e-01 -3.04122435e-01 -1.92575765e-01 5.48423699e+01] [ 2.97058861e-01 9.52625816e-01 -6.52693463e-02 8.43541532e+00] [ 2.03302517e-01 3.68769348e-03 9.79109027e-01 8.05757625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.24710568099999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:54.87, Y:8.43, Z:8.07 [[ 9.31533591e-01 -3.09718772e-01 -1.90576627e-01 5.48704656e+01] [ 3.02910726e-01 9.50824983e-01 -6.46292769e-02 8.43433820e+00] [ 2.01221919e-01 2.47663777e-03 9.79542549e-01 8.06838362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.27710568099999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:54.90, Y:8.43, Z:8.08 [[ 9.30909326e-01 -3.12437036e-01 -1.89184898e-01 5.48993173e+01] [ 3.05768495e-01 9.49936466e-01 -6.42365789e-02 8.43207428e+00] [ 1.99783520e-01 1.95164872e-03 9.79838117e-01 8.07506949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.30710568099999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:54.93, Y:8.44, Z:8.08 [[ 9.30414898e-01 -3.14637333e-01 -1.87966664e-01 5.49257615e+01] [ 3.08088952e-01 9.49210744e-01 -6.38761466e-02 8.43648546e+00] [ 1.98517797e-01 1.52086594e-03 9.80096103e-01 8.08053959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.33710568099999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:54.95, Y:8.44, Z:8.09 [[ 9.28912828e-01 -3.20338855e-01 -1.85752458e-01 5.49537003e+01] [ 3.14051221e-01 9.47302965e-01 -6.31579202e-02 8.43866132e+00] [ 1.96195790e-01 3.32415864e-04 9.80564685e-01 8.08713940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.36710568099999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:54.98, Y:8.44, Z:8.09 [[ 9.27137168e-01 -3.26443860e-01 -1.83986624e-01 5.49813489e+01] [ 3.20379891e-01 9.45216187e-01 -6.26345298e-02 8.44288386e+00] [ 1.94353793e-01 -8.74813914e-04 9.80931108e-01 8.09308998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.397105680999985 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:55.01, Y:8.45, Z:8.10 [[ 9.26296955e-01 -3.28876512e-01 -1.83886354e-01 5.50077008e+01] [ 3.22851317e-01 9.44372027e-01 -6.26777666e-02 8.44949070e+00] [ 1.94270374e-01 -1.30972727e-03 9.80947148e-01 8.09907521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.427105680999986 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:55.04, Y:8.45, Z:8.10 [[ 9.25579568e-01 -3.30198596e-01 -1.85125231e-01 5.50358298e+01] [ 3.24101568e-01 9.43910256e-01 -6.31791312e-02 8.45291713e+00] [ 1.95603264e-01 -1.52206473e-03 9.80681929e-01 8.10487144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.45710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:55.06, Y:8.46, Z:8.11 [[ 9.26100859e-01 -3.28081647e-01 -1.86278371e-01 5.50614270e+01] [ 3.21849619e-01 9.44648834e-01 -6.36506381e-02 8.45941741e+00] [ 1.96850252e-01 -1.00671197e-03 9.80433050e-01 8.11099754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.48710568099999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:55.09, Y:8.47, Z:8.12 [[ 9.28518693e-01 -3.20113117e-01 -1.88097393e-01 5.50869407e+01] [ 3.13588134e-01 9.47379051e-01 -6.43071976e-02 8.46623549e+00] [ 1.98785107e-01 7.25324561e-04 9.80042833e-01 8.11947137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.51710568099999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:55.11, Y:8.47, Z:8.13 [[ 9.31673000e-01 -3.11449854e-01 -1.87041199e-01 5.51142502e+01] [ 3.04818025e-01 9.50259041e-01 -6.39822424e-02 8.47122831e+00] [ 1.97664850e-01 2.59699894e-03 9.80266220e-01 8.12700616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.54710568099999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:55.14, Y:8.48, Z:8.13 [[ 9.33063615e-01 -3.07836365e-01 -1.86088859e-01 5.51405287e+01] [ 3.01186059e-01 9.51433172e-01 -6.37328639e-02 8.47630741e+00] [ 1.96670407e-01 3.41944621e-03 9.80463696e-01 8.13301630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.577105680999985 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:55.17, Y:8.48, Z:8.14 [[ 9.34769884e-01 -3.02453089e-01 -1.86352870e-01 5.51686076e+01] [ 2.95670729e-01 9.53153205e-01 -6.38575510e-02 8.47647197e+00] [ 1.96936749e-01 4.59302673e-03 9.80405437e-01 8.13972123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.607105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.20, Y:8.48, Z:8.14 [[ 9.35005018e-01 -3.01352812e-01 -1.86954806e-01 5.51957952e+01] [ 2.94497000e-01 9.53500239e-01 -6.41000094e-02 8.48177570e+00] [ 1.97578170e-01 4.87620102e-03 9.80275007e-01 8.14456752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.63710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.22, Y:8.48, Z:8.15 [[ 9.34862717e-01 -3.00902542e-01 -1.88386203e-01 5.52238435e+01] [ 2.93915083e-01 9.53641325e-01 -6.46695234e-02 8.48466564e+00] [ 1.99112092e-01 5.08758000e-03 9.79963515e-01 8.14857948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.66710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:55.25, Y:8.49, Z:8.15 [[ 9.34032557e-01 -3.01253425e-01 -1.91910281e-01 5.52510557e+01] [ 2.93990173e-01 9.53530009e-01 -6.59568008e-02 8.48856745e+00] [ 2.02861924e-01 5.18606276e-03 9.79193620e-01 8.15147388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.69710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:55.28, Y:8.49, Z:8.16 [[ 9.33009754e-01 -3.01828867e-01 -1.95939108e-01 5.52784619e+01] [ 2.94258532e-01 9.53347903e-01 -6.73772405e-02 8.48990750e+00] [ 2.07134534e-01 5.20686825e-03 9.78298612e-01 8.15610657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.72710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:55.31, Y:8.50, Z:8.16 [[ 9.32327337e-01 -3.02818989e-01 -1.97652211e-01 5.53055380e+01] [ 2.95127419e-01 9.53034595e-01 -6.80063822e-02 8.49510876e+00] [ 2.08963019e-01 5.07162225e-03 9.77910392e-01 8.16165190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.757105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.33, Y:8.50, Z:8.17 [[ 9.31770246e-01 -3.04861748e-01 -1.97138333e-01 5.53338751e+01] [ 2.97238643e-01 9.52385120e-01 -6.79100262e-02 8.49735531e+00] [ 2.08454784e-01 4.67941140e-03 9.78020811e-01 8.16796869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.787105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.36, Y:8.51, Z:8.18 [[ 9.31814228e-01 -3.06895766e-01 -1.93745279e-01 5.53584957e+01] [ 2.96235171e-01 9.51543304e-01 -8.25231109e-02 8.50505413e+00] [ 2.09683016e-01 1.95020430e-02 9.77574909e-01 8.17659669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.39, Y:8.51, Z:8.18 [[ 9.32156957e-01 -3.05384686e-01 -1.94482908e-01 5.53891144e+01] [ 3.00928446e-01 9.52183626e-01 -5.28054283e-02 8.50523917e+00] [ 2.01309410e-01 -9.30249190e-03 9.79483530e-01 8.18082164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.42, Y:8.51, Z:8.19 [[ 9.31806609e-01 -3.10555099e-01 -1.87861583e-01 5.54153021e+01] [ 3.03722274e-01 9.50549324e-01 -6.48749843e-02 8.51310008e+00] [ 1.98718958e-01 3.39319187e-03 9.80050643e-01 8.18810430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.44, Y:8.51, Z:8.19 [[ 9.30171831e-01 -3.17611370e-01 -1.84128714e-01 5.54434228e+01] [ 3.11171816e-01 9.48219031e-01 -6.36613765e-02 8.51395514e+00] [ 1.94813928e-01 1.92035267e-03 9.80838338e-01 8.19483408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.47, Y:8.52, Z:8.20 [[ 9.26770576e-01 -3.28742108e-01 -1.81727615e-01 5.54703060e+01] [ 3.17949861e-01 9.44154710e-01 -8.64856635e-02 8.51924658e+00] [ 2.00010463e-01 2.23720981e-02 9.79538312e-01 8.20232970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.937105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.50, Y:8.52, Z:8.20 [[ 9.27193246e-01 -3.21494994e-01 -1.92233333e-01 5.55006867e+01] [ 3.19402712e-01 9.46658958e-01 -4.26464998e-02 8.51894311e+00] [ 1.95690043e-01 -2.18583013e-02 9.80422165e-01 8.20221949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.967105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.52, Y:8.53, Z:8.21 [[ 9.27706581e-01 -3.22226657e-01 -1.88495309e-01 5.55249944e+01] [ 3.15528573e-01 9.46661829e-01 -6.53689643e-02 8.52876350e+00] [ 1.99504937e-01 1.16756242e-03 9.79896126e-01 8.20676150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.99710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.55, Y:8.53, Z:8.21 [[ 9.30495452e-01 -3.11993041e-01 -1.91933730e-01 5.55516188e+01] [ 3.04822011e-01 9.50078077e-01 -6.65972232e-02 8.53486469e+00] [ 2.03129899e-01 3.46278770e-03 9.79145675e-01 8.21095770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.02710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.58, Y:8.54, Z:8.22 [[ 9.31966679e-01 -3.06902541e-01 -1.92999845e-01 5.55782067e+01] [ 2.99534389e-01 9.51729649e-01 -6.70061605e-02 8.54250248e+00] [ 2.04248036e-01 4.63741825e-03 9.78908185e-01 8.21671513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.05710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.60, Y:8.55, Z:8.22 [[ 9.33906357e-01 -3.01046605e-01 -1.92846720e-01 5.56043534e+01] [ 2.93550494e-01 9.53590618e-01 -6.70301567e-02 8.54852623e+00] [ 2.04076024e-01 5.98963963e-03 9.78936719e-01 8.22297330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.08710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.63, Y:8.56, Z:8.22 [[ 9.35366870e-01 -3.09692019e-01 -1.70820583e-01 5.56284921e+01] [ 2.95182829e-01 9.49621411e-01 -1.05291370e-01 8.56157239e+00] [ 1.94822780e-01 4.80627568e-02 9.79660174e-01 8.22073267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.66, Y:8.55, Z:8.23 [[ 9.33367520e-01 -2.94857630e-01 -2.04655931e-01 5.56614000e+01] [ 2.95803607e-01 9.54876276e-01 -2.66744128e-02 8.55269963e+00] [ 2.03286247e-01 -3.56409320e-02 9.78470452e-01 8.23389132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.147105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.68, Y:8.57, Z:8.23 [[ 9.34095897e-01 -3.14189897e-01 -1.69556964e-01 5.56835946e+01] [ 2.99002120e-01 9.47964299e-01 -1.09368275e-01 8.57375703e+00] [ 1.95096356e-01 5.14625648e-02 9.79433008e-01 8.23035690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.177105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.72, Y:8.57, Z:8.25 [[ 9.31804222e-01 -2.98170169e-01 -2.06967247e-01 5.57170921e+01] [ 2.99978488e-01 9.53660254e-01 -2.33458068e-02 8.56566576e+00] [ 2.04337461e-01 -4.03320005e-02 9.78069288e-01 8.24541515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.74, Y:8.58, Z:8.25 [[ 9.31601714e-01 -3.07995315e-01 -1.93021067e-01 5.57413895e+01] [ 3.00613250e-01 9.51376929e-01 -6.71834350e-02 8.58034653e+00] [ 2.04327973e-01 4.56351315e-03 9.78891850e-01 8.25035356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.77, Y:8.59, Z:8.26 [[ 9.30915346e-01 -3.09952950e-01 -1.93198829e-01 5.57668835e+01] [ 2.99483634e-01 9.50572692e-01 -8.19823816e-02 8.58961984e+00] [ 2.09060212e-01 1.84587700e-02 9.77728542e-01 8.25672616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.80, Y:8.59, Z:8.26 [[ 9.30693297e-01 -3.05847284e-01 -2.00667451e-01 5.57979452e+01] [ 3.00703965e-01 9.52048240e-01 -5.64027925e-02 8.59207269e+00] [ 2.08295734e-01 -7.84779705e-03 9.78034406e-01 8.25979821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.82, Y:8.60, Z:8.26 [[ 9.30615311e-01 -3.09276365e-01 -1.95712218e-01 5.58232177e+01] [ 3.01678092e-01 9.50961544e-01 -6.82822907e-02 8.60203765e+00] [ 2.07232891e-01 4.50245683e-03 9.78281277e-01 8.26485565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.327105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.85, Y:8.61, Z:8.27 [[ 9.28469391e-01 -3.16061491e-01 -1.95063385e-01 5.58473641e+01] [ 3.03513505e-01 9.48376913e-01 -9.19825189e-02 8.61061928e+00] [ 2.14065743e-01 2.61985815e-02 9.76467865e-01 8.27141731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.357105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.88, Y:8.61, Z:8.27 [[ 9.27837637e-01 -3.12408982e-01 -2.03759532e-01 5.58769429e+01] [ 3.09165143e-01 9.49775597e-01 -4.84069197e-02 8.61259451e+00] [ 2.08648588e-01 -1.80815830e-02 9.77823513e-01 8.27270353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.38710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.90, Y:8.63, Z:8.28 [[ 9.25697852e-01 -3.24345996e-01 -1.94635970e-01 5.58990181e+01] [ 3.11431453e-01 9.45556614e-01 -9.45152862e-02 8.62761563e+00] [ 2.14694983e-01 2.68768345e-02 9.76311272e-01 8.27978951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.41710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.93, Y:8.63, Z:8.29 [[ 9.22060987e-01 -3.31169494e-01 -2.00325492e-01 5.59273899e+01] [ 3.24777156e-01 9.43557148e-01 -6.49592749e-02 8.62902900e+00] [ 2.10531080e-01 -5.16473045e-03 9.77573521e-01 8.28509100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.44710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.95, Y:8.64, Z:8.29 [[ 9.20337369e-01 -3.38309314e-01 -1.96280246e-01 5.59529012e+01] [ 3.32300516e-01 9.41012539e-01 -6.38104144e-02 8.63628306e+00] [ 2.06289830e-01 -6.49691821e-03 9.78469364e-01 8.29029320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.47710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.98, Y:8.65, Z:8.30 [[ 9.14749672e-01 -3.56843976e-01 -1.89460851e-01 5.59803425e+01] [ 3.49650866e-01 9.34163433e-01 -7.12948311e-02 8.64675418e+00] [ 2.02428530e-01 -1.02822737e-03 9.79296499e-01 8.29797332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.507105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.00, Y:8.65, Z:8.31 [[ 9.10240739e-01 -3.67393441e-01 -1.91007476e-01 5.60028003e+01] [ 3.60455331e-01 9.30056759e-01 -7.11785028e-02 8.65413569e+00] [ 2.03798309e-01 -4.06008998e-03 9.79004476e-01 8.30531914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.537105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.03, Y:8.67, Z:8.31 [[ 9.07154584e-01 -3.75383535e-01 -1.90151948e-01 5.60294926e+01] [ 3.70295891e-01 9.26774745e-01 -6.30041696e-02 8.66601914e+00] [ 1.99878751e-01 -1.32579636e-02 9.79730938e-01 8.31275803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.05, Y:8.68, Z:8.32 [[ 9.05317032e-01 -3.80561804e-01 -1.88610142e-01 5.60533079e+01] [ 3.73432492e-01 9.24747006e-01 -7.34244392e-02 8.67973112e+00] [ 2.02359202e-01 -3.96076012e-03 9.79303357e-01 8.31938899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.08, Y:8.69, Z:8.32 [[ 9.03259108e-01 -3.84095560e-01 -1.91294496e-01 5.60772598e+01] [ 3.78812074e-01 9.23190473e-01 -6.49673978e-02 8.69434072e+00] [ 2.01554945e-01 -1.37822708e-02 9.79380239e-01 8.32370933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.10, Y:8.71, Z:8.33 [[ 9.03132421e-01 -3.85080554e-01 -1.89907338e-01 5.61029563e+01] [ 3.81264336e-01 9.22660731e-01 -5.77467007e-02 8.70685326e+00] [ 1.97457174e-01 -2.02519774e-02 9.80102302e-01 8.32835640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.13, Y:8.73, Z:8.33 [[ 9.03455773e-01 -3.94390135e-01 -1.68000260e-01 5.61254189e+01] [ 3.85227509e-01 9.18858537e-01 -8.54327562e-02 8.73319362e+00] [ 1.88062309e-01 1.24663952e-02 9.82077979e-01 8.33128482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.687105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.15, Y:8.74, Z:8.34 [[ 9.02536806e-01 -3.85396920e-01 -1.92084687e-01 5.61499754e+01] [ 3.86136103e-01 9.21772940e-01 -3.51220449e-02 8.74074018e+00] [ 1.90594395e-01 -4.24718942e-02 9.80749670e-01 8.34445389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.717105680999985 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:56.17, Y:8.77, Z:8.35 [[ 9.02927378e-01 -3.95193291e-01 -1.68950918e-01 5.61665792e+01] [ 3.82949048e-01 9.18210898e-01 -1.01186825e-01 8.77483767e+00] [ 1.95120929e-01 2.66647613e-02 9.80416653e-01 8.34563654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.74710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.19, Y:8.79, Z:8.35 [[ 9.06432594e-01 -3.80000025e-01 -1.84336466e-01 5.61939794e+01] [ 3.76638820e-01 9.24766115e-01 -5.43215576e-02 8.79114184e+00] [ 1.91110311e-01 -2.01894386e-02 9.81360910e-01 8.34743255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.22, Y:8.81, Z:8.36 [[ 9.07608296e-01 -3.71301343e-01 -1.95914507e-01 5.62159250e+01] [ 3.70707935e-01 9.27839979e-01 -4.10925828e-02 8.80506628e+00] [ 1.97035043e-01 -3.53310931e-02 9.79759616e-01 8.35898576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.80710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.23, Y:8.84, Z:8.37 [[ 9.12491469e-01 -3.66334549e-01 -1.82094257e-01 5.62305054e+01] [ 3.52070569e-01 9.29895619e-01 -1.06491559e-01 8.83978143e+00] [ 2.08340189e-01 3.30626104e-02 9.77497432e-01 8.36667042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.83710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.26, Y:8.85, Z:8.37 [[ 9.13964439e-01 -3.50583965e-01 -2.04352362e-01 5.62605633e+01] [ 3.46190835e-01 9.36364711e-01 -5.80778243e-02 8.85067100e+00] [ 2.11709495e-01 -1.76638490e-02 9.77173003e-01 8.37059293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.28, Y:8.87, Z:8.37 [[ 9.19255487e-01 -3.35849637e-01 -2.05363995e-01 5.62839292e+01] [ 3.33104464e-01 9.41622757e-01 -4.88671575e-02 8.87286384e+00] [ 2.09787429e-01 -2.34862609e-02 9.77464900e-01 8.37215733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.897105680999985 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:56.30, Y:8.90, Z:8.38 [[ 9.22488028e-01 -3.30954416e-01 -1.98708363e-01 5.63037640e+01] [ 3.23509255e-01 9.43646736e-01 -6.98040074e-02 8.89585022e+00] [ 2.10612443e-01 1.09366620e-04 9.77569633e-01 8.37966253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.927105680999986 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:56.33, Y:8.91, Z:8.38 [[ 9.24249154e-01 -3.25571613e-01 -1.99415712e-01 5.63275619e+01] [ 3.17940043e-01 9.45516377e-01 -7.00921513e-02 8.91300795e+00] [ 2.11370836e-01 1.38037168e-03 9.77404964e-01 8.38291935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:56.35, Y:8.93, Z:8.39 [[ 9.24863083e-01 -3.24111166e-01 -1.98947806e-01 5.63520464e+01] [ 3.16464981e-01 9.46017312e-01 -7.00082894e-02 8.92520046e+00] [ 2.10898537e-01 1.78806856e-03 9.77506322e-01 8.38708690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.98710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:56.38, Y:8.93, Z:8.39 [[ 9.24755670e-01 -3.24424969e-01 -1.98935642e-01 5.63782607e+01] [ 3.16778531e-01 9.45909807e-01 -7.00428376e-02 8.93468538e+00] [ 2.10898821e-01 1.75397061e-03 9.77506323e-01 8.39270093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.01710568099999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:56.40, Y:8.95, Z:8.40 [[ 9.25502914e-01 -3.23103230e-01 -1.97607337e-01 5.64026282e+01] [ 3.15513803e-01 9.46361365e-01 -6.96506026e-02 8.94911191e+00] [ 2.09512284e-01 2.11399339e-03 9.77803730e-01 8.39714292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.04710568099999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:56.43, Y:8.96, Z:8.40 [[ 9.25520491e-01 -3.23093998e-01 -1.97540096e-01 5.64272258e+01] [ 3.15491528e-01 9.46364328e-01 -6.97112154e-02 8.95939920e+00] [ 2.09468176e-01 2.19693142e-03 9.77812997e-01 8.40264678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.077105680999985 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:56.45, Y:8.97, Z:8.41 [[ 9.24295400e-01 -3.25826989e-01 -1.98783265e-01 5.64529052e+01] [ 3.18180938e-01 9.45428010e-01 -7.01909415e-02 8.96973093e+00] [ 2.10805370e-01 1.62811869e-03 9.77526698e-01 8.40765724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.107105680999986 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:56.48, Y:8.98, Z:8.42 [[ 9.22732232e-01 -3.30923175e-01 -1.97623584e-01 5.64759248e+01] [ 3.19958799e-01 9.43519889e-01 -8.60034006e-02 8.98055262e+00] [ 2.14922300e-01 1.61267053e-02 9.76497995e-01 8.41852216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13710568099999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:56.51, Y:8.99, Z:8.42 [[ 9.22613101e-01 -3.27903694e-01 -2.03135996e-01 5.65062520e+01] [ 3.23042935e-01 9.44628912e-01 -5.76149300e-02 8.98656102e+00] [ 2.10780283e-01 -1.24653589e-02 9.77453982e-01 8.42001783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.16710568099999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:56.53, Y:9.00, Z:8.43 [[ 9.22453570e-01 -3.32812586e-01 -1.95742673e-01 5.65316044e+01] [ 3.25528663e-01 9.42992978e-01 -6.92483377e-02 8.99625998e+00] [ 2.07630685e-01 1.58525596e-04 9.78207275e-01 8.42717402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.19710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:56.56, Y:9.00, Z:8.44 [[ 9.21388334e-01 -3.37155176e-01 -1.93313021e-01 5.65554492e+01] [ 3.26672604e-01 9.41330660e-01 -8.47443076e-02 9.00457052e+00] [ 2.10543456e-01 1.49323484e-02 9.77470449e-01 8.43637296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.22710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:56.58, Y:9.01, Z:8.44 [[ 9.18644485e-01 -3.42745859e-01 -1.96513579e-01 5.65819052e+01] [ 3.34036151e-01 9.39414650e-01 -7.69413139e-02 9.00681891e+00] [ 2.10979051e-01 5.03907417e-03 9.77477594e-01 8.44300640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.257105680999985 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:56.61, Y:9.01, Z:8.45 [[ 9.15997164e-01 -3.48089165e-01 -1.99457086e-01 5.66070694e+01] [ 3.40654703e-01 9.37458450e-01 -7.15962887e-02 9.01051006e+00] [ 2.11904623e-01 -2.36399705e-03 9.77287492e-01 8.44919318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.287105680999986 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.64, Y:9.02, Z:8.46 [[ 9.14202923e-01 -3.52092201e-01 -2.00659157e-01 5.66357015e+01] [ 3.43269107e-01 9.35961216e-01 -7.83768041e-02 9.01967312e+00] [ 2.15405050e-01 2.77221372e-03 9.76520854e-01 8.45654784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.31710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.66, Y:9.03, Z:8.46 [[ 9.15004151e-01 -3.49297479e-01 -2.01887779e-01 5.66594577e+01] [ 3.39802380e-01 9.36995219e-01 -8.10820743e-02 9.02635624e+00] [ 2.17489648e-01 5.58848682e-03 9.76046629e-01 8.46202973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.34710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:56.69, Y:9.03, Z:8.46 [[ 9.19109418e-01 -3.35370552e-01 -2.06795720e-01 5.66914109e+01] [ 3.30491846e-01 9.41977326e-01 -5.87695292e-02 9.02992015e+00] [ 2.14506449e-01 -1.43286715e-02 9.76617465e-01 8.46367628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.72, Y:9.04, Z:8.47 [[ 9.24248023e-01 -3.24034416e-01 -2.01909113e-01 5.67195583e+01] [ 3.19063308e-01 9.45979512e-01 -5.76313136e-02 9.03673723e+00] [ 2.09676413e-01 -1.11561619e-02 9.77707186e-01 8.47014686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.74, Y:9.05, Z:8.48 [[ 9.26060719e-01 -3.22952823e-01 -1.95225558e-01 5.67403924e+01] [ 3.11001657e-01 9.46146293e-01 -8.99175212e-02 9.04842504e+00] [ 2.13751056e-01 2.25536121e-02 9.76627780e-01 8.48206546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.437105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.77, Y:9.05, Z:8.48 [[ 9.28988173e-01 -3.09242617e-01 -2.03346941e-01 5.67723287e+01] [ 3.04625572e-01 9.50915184e-01 -5.44387160e-02 9.05085860e+00] [ 2.10200464e-01 -1.13717548e-02 9.77592169e-01 8.48274549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.467105680999985 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.80, Y:9.06, Z:8.49 [[ 9.31325179e-01 -3.05166969e-01 -1.98762503e-01 5.67985323e+01] [ 2.96968425e-01 9.52275240e-01 -7.05806022e-02 9.05581778e+00] [ 2.10815479e-01 6.70730441e-03 9.77502862e-01 8.48840028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.49710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.83, Y:9.06, Z:8.49 [[ 9.32128466e-01 -3.02218359e-01 -1.99500843e-01 5.68256957e+01] [ 2.93877796e-01 9.53209505e-01 -7.09047330e-02 9.06134691e+00] [ 2.11594812e-01 7.46345207e-03 9.77328979e-01 8.49344575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.52710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.85, Y:9.06, Z:8.50 [[ 9.34028847e-01 -2.95089273e-01 -2.01277009e-01 5.68545274e+01] [ 2.86413826e-01 9.55424880e-01 -7.16269481e-02 9.06333335e+00] [ 2.13441406e-01 9.25311760e-03 9.76912046e-01 8.49906557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.55710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.88, Y:9.07, Z:8.51 [[ 9.35398177e-01 -2.91451065e-01 -2.00216200e-01 5.68796048e+01] [ 2.78178674e-01 9.56099572e-01 -9.21424614e-02 9.06802505e+00] [ 2.18281642e-01 3.04940133e-02 9.75409268e-01 8.50882522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.58710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.91, Y:9.07, Z:8.51 [[ 9.35989789e-01 -2.84973587e-01 -2.06671646e-01 5.69082021e+01] [ 2.76154810e-01 9.58489786e-01 -7.09637243e-02 9.07002661e+00] [ 2.18315449e-01 9.34795218e-03 9.75833480e-01 8.51207368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.617105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.94, Y:9.07, Z:8.52 [[ 9.36604897e-01 -2.82515530e-01 -2.07258876e-01 5.69370629e+01] [ 2.73174245e-01 9.59190704e-01 -7.30001755e-02 9.07032353e+00] [ 2.19424471e-01 1.17545349e-02 9.75558677e-01 8.51862233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.647105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.97, Y:9.07, Z:8.52 [[ 9.38464674e-01 -2.82507661e-01 -1.98679333e-01 5.69673949e+01] [ 2.69789576e-01 9.58798630e-01 -8.89874757e-02 9.07183608e+00] [ 2.15633116e-01 2.99099893e-02 9.76016266e-01 8.52221585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.677105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.00, Y:9.07, Z:8.53 [[ 9.38195533e-01 -2.72707937e-01 -2.13118563e-01 5.69997494e+01] [ 2.69961383e-01 9.61934196e-01 -4.24670944e-02 9.06800052e+00] [ 2.16587148e-01 -1.76913439e-02 9.76102978e-01 8.52870493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.03, Y:9.07, Z:8.54 [[ 9.39550048e-01 -2.77215486e-01 -2.00990750e-01 5.70280664e+01] [ 2.68091616e-01 9.60711365e-01 -7.18370249e-02 9.06956891e+00] [ 2.13008433e-01 1.36105454e-02 9.76955557e-01 8.53591137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.73710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.06, Y:9.07, Z:8.54 [[ 9.39172854e-01 -2.77983491e-01 -2.01691666e-01 5.70576868e+01] [ 2.68793482e-01 9.60489995e-01 -7.21736311e-02 9.06675259e+00] [ 2.13785906e-01 1.35701098e-02 9.76786281e-01 8.54042606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.76710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.09, Y:9.06, Z:8.55 [[ 9.38478432e-01 -2.79733232e-01 -2.02503215e-01 5.70885257e+01] [ 2.70494634e-01 9.59985818e-01 -7.25250469e-02 9.06348048e+00] [ 2.14687880e-01 1.32871593e-02 9.76592323e-01 8.54574793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.79710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.11, Y:9.07, Z:8.55 [[ 9.37122457e-01 -2.84835148e-01 -2.01669132e-01 5.71144937e+01] [ 2.70925569e-01 9.57989119e-01 -9.41072964e-02 9.06883516e+00] [ 2.20001900e-01 3.35527365e-02 9.74922242e-01 8.55338917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.827105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.15, Y:9.06, Z:8.56 [[ 9.35039043e-01 -2.86656931e-01 -2.08637943e-01 5.71464137e+01] [ 2.77232293e-01 9.57968872e-01 -7.37420942e-02 9.06052151e+00] [ 2.21007337e-01 1.11105620e-02 9.75208856e-01 8.55899003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.857105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.18, Y:9.06, Z:8.57 [[ 9.32915725e-01 -2.96348889e-01 -2.04561938e-01 5.71782651e+01] [ 2.86209537e-01 9.54971195e-01 -7.81928254e-02 9.05628759e+00] [ 2.18523116e-01 1.43997388e-02 9.75725523e-01 8.56731927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.88710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.21, Y:9.05, Z:8.57 [[ 9.32851630e-01 -2.96558812e-01 -2.04550011e-01 5.72079725e+01] [ 2.92659014e-01 9.54920217e-01 -4.97803311e-02 9.05374878e+00] [ 2.10091737e-01 -1.34257415e-02 9.77589490e-01 8.57257442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.91710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.24, Y:9.05, Z:8.58 [[ 9.28620155e-01 -3.16005234e-01 -1.94435852e-01 5.72368969e+01] [ 3.08217866e-01 9.48744371e-01 -6.98989641e-02 9.05240560e+00] [ 2.06558358e-01 4.98098359e-03 9.78421604e-01 8.58113863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.94710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.27, Y:9.06, Z:8.58 [[ 9.26341596e-01 -3.29928938e-01 -1.81763979e-01 5.72654350e+01] [ 3.17431879e-01 9.43522884e-01 -9.48766046e-02 9.06080035e+00] [ 2.02801011e-01 3.01904640e-02 9.78754456e-01 8.57987916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.97710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.29, Y:9.05, Z:8.59 [[ 9.19770673e-01 -3.32303682e-01 -2.08796966e-01 5.72946511e+01] [ 3.30319003e-01 9.42778758e-01 -4.53604368e-02 9.05321631e+00] [ 2.11922784e-01 -2.72484060e-02 9.76906473e-01 8.59362859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.007105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.32, Y:9.06, Z:8.60 [[ 9.17836900e-01 -3.42968791e-01 -1.99869539e-01 5.73205038e+01] [ 3.35314137e-01 9.39346388e-01 -7.20610395e-02 9.06233186e+00] [ 2.12461417e-01 -8.78800814e-04 9.77169061e-01 8.59762295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.037105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.35, Y:9.07, Z:8.60 [[ 9.18770508e-01 -3.47064103e-01 -1.88168176e-01 5.73480334e+01] [ 3.35474011e-01 9.37610819e-01 -9.13407942e-02 9.07376310e+00] [ 2.08129629e-01 2.07956951e-02 9.77880155e-01 8.59859750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.38, Y:9.08, Z:8.61 [[ 9.20382978e-01 -3.39068801e-01 -1.94749895e-01 5.73751395e+01] [ 3.31582536e-01 9.40761360e-01 -7.08596218e-02 9.07849558e+00] [ 2.07239463e-01 6.42325544e-04 9.78290035e-01 8.60872224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.40, Y:9.09, Z:8.62 [[ 9.21104894e-01 -3.27398547e-01 -2.10656039e-01 5.73984369e+01] [ 3.23995006e-01 9.44656770e-01 -5.14861462e-02 9.08589278e+00] [ 2.15854142e-01 -2.08273634e-02 9.76203468e-01 8.62162637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.42, Y:9.10, Z:8.63 [[ 9.22156327e-01 -3.27836923e-01 -2.05306261e-01 5.74230198e+01] [ 3.19307846e-01 9.44729532e-01 -7.43546345e-02 9.09971794e+00] [ 2.18335083e-01 3.01069652e-03 9.75869216e-01 8.62538343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.45, Y:9.11, Z:8.63 [[ 9.25683377e-01 -3.18677830e-01 -2.03849765e-01 5.74480182e+01] [ 3.10031875e-01 9.47848721e-01 -7.39123758e-02 9.10930509e+00] [ 2.16772975e-01 5.21953258e-03 9.76208089e-01 8.63163012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.187105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.47, Y:9.12, Z:8.64 [[ 9.29467161e-01 -3.11056681e-01 -1.98329367e-01 5.74724252e+01] [ 3.02698940e-01 9.50366760e-01 -7.19470138e-02 9.11798543e+00] [ 2.10865238e-01 6.83829735e-03 9.77491222e-01 8.63785932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.217105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.50, Y:9.13, Z:8.64 [[ 9.30728085e-01 -3.06148436e-01 -2.00045913e-01 5.74980822e+01] [ 2.97522758e-01 9.51949661e-01 -7.26088950e-02 9.12892909e+00] [ 2.12662738e-01 8.06092605e-03 9.77092412e-01 8.64167181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.24710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.52, Y:9.14, Z:8.65 [[ 9.30630673e-01 -3.04579295e-01 -2.02874351e-01 5.75231149e+01] [ 2.95649026e-01 9.52447919e-01 -7.37198365e-02 9.13956386e+00] [ 2.15680790e-01 8.62633672e-03 9.76425821e-01 8.64543128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.55, Y:9.15, Z:8.65 [[ 9.30449965e-01 -3.02082988e-01 -2.07385467e-01 5.75487511e+01] [ 2.92674785e-01 9.53234702e-01 -7.53994197e-02 9.14787776e+00] [ 2.20463906e-01 9.45889059e-03 9.75349269e-01 8.64805853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.30710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.58, Y:9.15, Z:8.66 [[ 9.30540271e-01 -3.01535834e-01 -2.07776187e-01 5.75756702e+01] [ 2.92064535e-01 9.53405844e-01 -7.56016134e-02 9.15444090e+00] [ 2.20891626e-01 9.66629046e-03 9.75250456e-01 8.65503599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.33710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.60, Y:9.16, Z:8.66 [[ 9.30137242e-01 -3.03240801e-01 -2.07098355e-01 5.76012322e+01] [ 2.93854577e-01 9.52868453e-01 -7.54400362e-02 9.16301071e+00] [ 2.20213986e-01 9.31278778e-03 9.75407132e-01 8.66216176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.367105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.63, Y:9.17, Z:8.67 [[ 9.29228432e-01 -3.08167244e-01 -2.03881022e-01 5.76270445e+01] [ 2.99173164e-01 9.51297776e-01 -7.43502432e-02 9.17096613e+00] [ 2.16863872e-01 8.09262948e-03 9.76168310e-01 8.67044243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.397105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.65, Y:9.18, Z:8.68 [[ 9.28553071e-01 -3.12499090e-01 -2.00333506e-01 5.76529850e+01] [ 3.03901341e-01 9.49892043e-01 -7.31374173e-02 9.17755642e+00] [ 2.13150580e-01 7.03035226e-03 9.76994066e-01 8.67781611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.427105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.68, Y:9.19, Z:8.68 [[ 9.27815265e-01 -3.15385740e-01 -1.99225171e-01 5.76790258e+01] [ 3.06932007e-01 9.48941908e-01 -7.28148181e-02 9.18500764e+00] [ 2.12017869e-01 6.41011817e-03 9.77244766e-01 8.68349448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.70, Y:9.19, Z:8.69 [[ 9.25218972e-01 -3.23118284e-01 -1.98908090e-01 5.77047470e+01] [ 3.14849498e-01 9.46346843e-01 -7.27835597e-02 9.19114703e+00] [ 2.11753742e-01 4.71461787e-03 9.77311683e-01 8.68835171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.73, Y:9.20, Z:8.69 [[ 9.23972460e-01 -3.31066344e-01 -1.91494043e-01 5.77335852e+01] [ 3.18769885e-01 9.43285986e-01 -9.27216693e-02 9.20188739e+00] [ 2.11330672e-01 2.46297346e-02 9.77104254e-01 8.68671989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.76, Y:9.20, Z:8.70 [[ 9.22301946e-01 -3.24462163e-01 -2.09960533e-01 5.77579375e+01] [ 3.20708484e-01 9.45712591e-01 -5.26665372e-02 9.20261471e+00] [ 2.15650618e-01 -1.87616744e-02 9.76290331e-01 8.70053424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.78, Y:9.21, Z:8.71 [[ 9.21963255e-01 -3.28899041e-01 -2.04472924e-01 5.77843794e+01] [ 3.20241906e-01 9.44357766e-01 -7.50568495e-02 9.21095157e+00] [ 2.17781720e-01 3.71885830e-03 9.75990416e-01 8.70525799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.577105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.81, Y:9.22, Z:8.71 [[ 9.21619631e-01 -3.28685817e-01 -2.06356221e-01 5.78104822e+01] [ 3.19841910e-01 9.44431321e-01 -7.58329301e-02 9.21753812e+00] [ 2.19814487e-01 3.88774931e-03 9.75533945e-01 8.71089340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.607105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.84, Y:9.22, Z:8.72 [[ 9.21853783e-01 -3.26735203e-01 -2.08397962e-01 5.78378549e+01] [ 3.17654085e-01 9.45105497e-01 -7.66255899e-02 9.22198782e+00] [ 2.21994338e-01 4.43912592e-03 9.75037850e-01 8.71661693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.63710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.86, Y:9.23, Z:8.72 [[ 9.22639994e-01 -3.24253306e-01 -2.08794720e-01 5.78632583e+01] [ 3.15055862e-01 9.45956409e-01 -7.68522998e-02 9.23029979e+00] [ 2.22430316e-01 5.12500517e-03 9.74935120e-01 8.72231920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.66710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.89, Y:9.24, Z:8.73 [[ 9.25292706e-01 -3.16114865e-01 -2.09534724e-01 5.78888484e+01] [ 3.06635245e-01 9.48693979e-01 -7.71657959e-02 9.23986263e+00] [ 2.23177586e-01 7.15021665e-03 9.74751578e-01 8.72611692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.69710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.91, Y:9.25, Z:8.73 [[ 9.27980015e-01 -3.08465420e-01 -2.09050657e-01 5.79148713e+01] [ 2.98818633e-01 9.51192463e-01 -7.70734887e-02 9.24830842e+00] [ 2.22621915e-01 9.05442570e-03 9.74862811e-01 8.73135653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.72710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.94, Y:9.26, Z:8.74 [[ 9.28785132e-01 -3.06759461e-01 -2.07982721e-01 5.79411123e+01] [ 2.95452615e-01 9.51639569e-01 -8.42014417e-02 9.25748771e+00] [ 2.23754176e-01 1.67560082e-02 9.74501567e-01 8.73828536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.757105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.97, Y:9.26, Z:8.75 [[ 9.29983872e-01 -3.03051844e-01 -2.08061478e-01 5.79665170e+01] [ 2.91536249e-01 9.52801806e-01 -8.47073401e-02 9.26350077e+00] [ 2.23912067e-01 1.81189974e-02 9.74440910e-01 8.74699742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.787105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.99, Y:9.27, Z:8.75 [[ 9.29760471e-01 -3.03070724e-01 -2.09030148e-01 5.79934930e+01] [ 2.92305393e-01 9.52856907e-01 -8.13711946e-02 9.27401072e+00] [ 2.23837047e-01 1.45550807e-02 9.74517894e-01 8.75441096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.02, Y:9.28, Z:8.76 [[ 9.30426332e-01 -2.98808299e-01 -2.12180207e-01 5.80197049e+01] [ 2.93289028e-01 9.54275640e-01 -5.77888325e-02 9.27972698e+00] [ 2.19746186e-01 -8.46187530e-03 9.75520379e-01 8.75887731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.05, Y:9.29, Z:8.76 [[ 9.29703869e-01 -3.04233307e-01 -2.07588080e-01 5.80466851e+01] [ 2.94552830e-01 9.52542086e-01 -7.68258097e-02 9.28916666e+00] [ 2.21109353e-01 1.02795959e-02 9.75194844e-01 8.76090786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.07, Y:9.30, Z:8.77 [[ 9.29516861e-01 -3.05412459e-01 -2.06692125e-01 5.80735922e+01] [ 2.95825607e-01 9.52167235e-01 -7.65817631e-02 9.29607866e+00] [ 2.20194494e-01 1.00392169e-02 9.75404326e-01 8.76609449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.10, Y:9.31, Z:8.77 [[ 9.29413359e-01 -3.05746542e-01 -2.06663641e-01 5.80996883e+01] [ 2.96150795e-01 9.52059963e-01 -7.66585565e-02 9.30600459e+00] [ 2.20194267e-01 1.00438848e-02 9.75404329e-01 8.77191554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.937105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.13, Y:9.31, Z:8.78 [[ 9.29591032e-01 -3.07367295e-01 -2.03435147e-01 5.81255842e+01] [ 2.98094516e-01 9.51542764e-01 -7.55382590e-02 9.31076229e+00] [ 2.16795232e-01 9.57678658e-03 9.76170125e-01 8.77830016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.967105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.15, Y:9.32, Z:8.78 [[ 9.29729568e-01 -3.07075152e-01 -2.03243160e-01 5.81522030e+01] [ 2.97804373e-01 9.51636096e-01 -7.55069315e-02 9.31684019e+00] [ 2.16599830e-01 9.67432477e-03 9.76212539e-01 8.78462130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.99710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.18, Y:9.32, Z:8.79 [[ 9.30140010e-01 -3.04968790e-01 -2.04532637e-01 5.81801701e+01] [ 2.95508951e-01 9.52306476e-01 -7.60712578e-02 9.32152724e+00] [ 2.17977114e-01 1.03156955e-02 9.75899362e-01 8.78938623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.02710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.21, Y:9.33, Z:8.79 [[ 9.29466140e-01 -3.07165558e-01 -2.04308628e-01 5.82061605e+01] [ 2.94416383e-01 9.51345013e-01 -9.08936786e-02 9.33185308e+00] [ 2.22287402e-01 2.43307892e-02 9.74677548e-01 8.79439622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.05710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.23, Y:9.33, Z:8.80 [[ 9.29283759e-01 -3.02563381e-01 -2.11865750e-01 5.82349066e+01] [ 2.95667137e-01 9.53124877e-01 -6.42955102e-02 9.33284207e+00] [ 2.21387984e-01 -2.89296620e-03 9.75181517e-01 8.80105026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.08710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.26, Y:9.34, Z:8.81 [[ 9.28619532e-01 -3.07354107e-01 -2.07844213e-01 5.82629193e+01] [ 2.97592473e-01 9.51541356e-01 -7.75097899e-02 9.33673024e+00] [ 2.21595317e-01 1.01242315e-02 9.75086158e-01 8.80632443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.117105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.29, Y:9.34, Z:8.81 [[ 9.26855468e-01 -3.14527861e-01 -2.04966257e-01 5.82897674e+01] [ 3.00692411e-01 9.48845962e-01 -9.63089519e-02 9.34391984e+00] [ 2.24773254e-01 2.76326807e-02 9.74019209e-01 8.81276223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.147105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.32, Y:9.35, Z:8.82 [[ 9.26161159e-01 -3.13635164e-01 -2.09424188e-01 5.83166454e+01] [ 3.02673778e-01 9.49443251e-01 -8.33432530e-02 9.35020583e+00] [ 2.24975757e-01 1.38020736e-02 9.74266602e-01 8.82126973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.177105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.34, Y:9.35, Z:8.83 [[ 9.25998064e-01 -3.12587244e-01 -2.11699786e-01 5.83443516e+01] [ 3.08356346e-01 9.49760083e-01 -5.35924354e-02 9.35225758e+00] [ 2.17816318e-01 -1.56524811e-02 9.75864259e-01 8.82822898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.37, Y:9.36, Z:8.83 [[ 9.22746821e-01 -3.26065722e-01 -2.05473719e-01 5.83709492e+01] [ 3.16938871e-01 9.45329518e-01 -7.68235287e-02 9.36161181e+00] [ 2.19289891e-01 5.76605836e-03 9.75642709e-01 8.82927424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.40, Y:9.37, Z:8.83 [[ 9.20513207e-01 -3.32283622e-01 -2.05531095e-01 5.83972118e+01] [ 3.23284153e-01 9.43169370e-01 -7.69343541e-02 9.36920398e+00] [ 2.19414659e-01 4.37414297e-03 9.75621891e-01 8.83479063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.42, Y:9.37, Z:8.84 [[ 9.16497889e-01 -3.45298845e-01 -2.01990909e-01 5.84238799e+01] [ 3.36902475e-01 9.38491852e-01 -7.56952137e-02 9.37456482e+00] [ 2.15704292e-01 1.32326654e-03 9.76457837e-01 8.84227266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.29710568099999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:58.45, Y:9.38, Z:8.85 [[ 9.14203800e-01 -3.52335748e-01 -2.00227204e-01 5.84496092e+01] [ 3.44234781e-01 9.35873634e-01 -7.51196200e-02 9.38254627e+00] [ 2.13854689e-01 -2.50525853e-04 9.76865451e-01 8.84888336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.327105680999985 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:58.48, Y:9.39, Z:8.85 [[ 9.10133608e-01 -3.63281469e-01 -1.99206901e-01 5.84753304e+01] [ 3.55503032e-01 9.31675467e-01 -7.48225802e-02 9.39063322e+00] [ 2.12777839e-01 -2.72011223e-03 9.77096818e-01 8.85492846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.357105680999986 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:58.50, Y:9.40, Z:8.86 [[ 9.08889733e-01 -3.66526394e-01 -1.98941838e-01 5.84998201e+01] [ 3.58826992e-01 9.30401467e-01 -7.48084235e-02 9.40086987e+00] [ 2.12515040e-01 -3.39309336e-03 9.77151905e-01 8.86050787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.38710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:58.52, Y:9.41, Z:8.87 [[ 9.08585804e-01 -3.67688568e-01 -1.98184141e-01 5.85241046e+01] [ 3.60062789e-01 9.29942042e-01 -7.45827538e-02 9.41475242e+00] [ 2.11722991e-01 -3.59390331e-03 9.77323109e-01 8.86530099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.41710568099999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:58.55, Y:9.43, Z:8.87 [[ 9.08972361e-01 -3.65169022e-01 -2.01049327e-01 5.85491512e+01] [ 3.57238499e-01 9.30936502e-01 -7.57488250e-02 9.42816358e+00] [ 2.14825281e-01 -2.96897128e-03 9.76647984e-01 8.86935678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.44710568099999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:58.57, Y:9.44, Z:8.88 [[ 9.10283421e-01 -3.60531406e-01 -2.03472844e-01 5.85721872e+01] [ 3.52272702e-01 9.32745307e-01 -7.67472267e-02 9.44153679e+00] [ 2.17458126e-01 -1.81620025e-03 9.76067961e-01 8.87608402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.47710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.60, Y:9.45, Z:8.88 [[ 9.11469838e-01 -3.57528820e-01 -2.03459767e-01 5.85961358e+01] [ 3.49188122e-01 9.33901504e-01 -7.67830534e-02 9.45446537e+00] [ 2.17463536e-01 -1.06029644e-03 9.76067870e-01 8.88348045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.507105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.62, Y:9.47, Z:8.89 [[ 9.14891865e-01 -3.48911469e-01 -2.03060733e-01 5.86174262e+01] [ 3.40373959e-01 9.37155075e-01 -7.67198421e-02 9.47258037e+00] [ 2.17067829e-01 1.07377387e-03 9.76155933e-01 8.88943955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.537105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.64, Y:9.49, Z:8.89 [[ 9.17015012e-01 -3.42907945e-01 -2.03709617e-01 5.86401533e+01] [ 3.34158989e-01 9.39365564e-01 -7.70071929e-02 9.49144642e+00] [ 2.17764178e-01 2.54535215e-03 9.75998096e-01 8.89278907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.66, Y:9.51, Z:8.90 [[ 9.16124184e-01 -3.46474439e-01 -2.01672858e-01 5.86649203e+01] [ 3.33908864e-01 9.37863550e-01 -9.44289773e-02 9.50794543e+00] [ 2.21858850e-01 1.91683147e-02 9.74890366e-01 8.89856161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.69, Y:9.52, Z:8.91 [[ 9.15825862e-01 -3.44581120e-01 -2.06220372e-01 5.86892065e+01] [ 3.39804857e-01 9.38624234e-01 -5.93060387e-02 9.51651929e+00] [ 2.13999180e-01 -1.57606800e-02 9.76706687e-01 8.90752082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.71, Y:9.53, Z:8.91 [[ 9.14282851e-01 -3.53607102e-01 -1.97607908e-01 5.87131196e+01] [ 3.45588832e-01 9.35394029e-01 -7.48756902e-02 9.53130179e+00] [ 2.11317833e-01 1.66473480e-04 9.77417386e-01 8.91303260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.74, Y:9.55, Z:8.92 [[ 9.09711451e-01 -3.66036858e-01 -1.96066555e-01 5.87365807e+01] [ 3.58410939e-01 9.30596682e-01 -7.43734721e-02 9.54650083e+00] [ 2.09682318e-01 -2.61399898e-03 9.77766073e-01 8.91951469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.687105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.76, Y:9.56, Z:8.92 [[ 9.04582197e-01 -3.76710407e-01 -1.99550291e-01 5.87595317e+01] [ 3.69045077e-01 9.26317068e-01 -7.57787597e-02 9.56253480e+00] [ 2.13393488e-01 -5.09493561e-03 9.76953049e-01 8.92318160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.717105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.78, Y:9.58, Z:8.93 [[ 9.02509621e-01 -3.81039517e-01 -2.00711911e-01 5.87836598e+01] [ 3.73376249e-01 9.24538639e-01 -7.62789790e-02 9.57616475e+00] [ 2.14631223e-01 -6.09854814e-03 9.76676121e-01 8.92787184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.74710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.81, Y:9.60, Z:8.93 [[ 9.01719833e-01 -3.84422333e-01 -1.97789817e-01 5.88053200e+01] [ 3.77044452e-01 9.23132895e-01 -7.52538291e-02 9.59529644e+00] [ 2.11515539e-01 -6.71768294e-03 9.77351549e-01 8.93444849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.77710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.83, Y:9.62, Z:8.94 [[ 9.05294725e-01 -3.83366179e-01 -1.82953090e-01 5.88275895e+01] [ 3.72033562e-01 9.23437785e-01 -9.40940277e-02 9.61951539e+00] [ 2.05018264e-01 1.71181373e-02 9.78608441e-01 8.93771827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.80710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.85, Y:9.63, Z:8.95 [[ 9.06852788e-01 -3.68765204e-01 -2.04034910e-01 5.88513401e+01] [ 3.65905302e-01 9.29141950e-01 -5.29957201e-02 9.62763924e+00] [ 2.09120372e-01 -2.65981391e-02 9.77528112e-01 8.95221386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.83710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.87, Y:9.65, Z:8.95 [[ 9.10879466e-01 -3.61335092e-01 -1.99337777e-01 5.88709361e+01] [ 3.53242754e-01 9.32435333e-01 -7.60519974e-02 9.65312393e+00] [ 2.13349842e-01 -1.14042269e-03 9.76975201e-01 8.95429187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.867105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.89, Y:9.67, Z:8.96 [[ 9.13058516e-01 -3.55275991e-01 -2.00257625e-01 5.88943310e+01] [ 3.46954679e-01 9.34761397e-01 -7.64433203e-02 9.66985469e+00] [ 2.14351573e-01 3.16904792e-04 9.76756522e-01 8.95883385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.897105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.91, Y:9.69, Z:8.96 [[ 9.17675299e-01 -3.43186753e-01 -2.00237106e-01 5.89144149e+01] [ 3.34562347e-01 9.39261633e-01 -7.65220213e-02 9.69055797e+00] [ 2.14336375e-01 3.23057272e-03 9.76754566e-01 8.96336049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.927105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.94, Y:9.71, Z:8.97 [[ 9.20813036e-01 -3.34711700e-01 -2.00178498e-01 5.89373133e+01] [ 3.25885057e-01 9.42305991e-01 -7.65398485e-02 9.70842537e+00] [ 2.14248181e-01 5.24370905e-03 9.76765182e-01 8.96905116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.96, Y:9.73, Z:8.97 [[ 9.23565227e-01 -3.36459330e-01 -1.83908648e-01 5.89629924e+01] [ 3.21585771e-01 9.40885626e-01 -1.06380598e-01 9.72825464e+00] [ 2.08829748e-01 3.91070162e-02 9.77169779e-01 8.96617324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.98710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.99, Y:9.73, Z:8.98 [[ 9.21915472e-01 -3.22786337e-01 -2.14198142e-01 5.89891015e+01] [ 3.20758500e-01 9.46084318e-01 -4.51491673e-02 9.72923026e+00] [ 2.17223037e-01 -2.70821588e-02 9.75746232e-01 8.98137943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.01710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.01, Y:9.75, Z:8.99 [[ 9.21954802e-01 -3.29643954e-01 -2.03308158e-01 5.90103656e+01] [ 3.20380399e-01 9.44081761e-01 -7.78847113e-02 9.74920072e+00] [ 2.17613748e-01 6.67023481e-03 9.76012174e-01 8.98510484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.047105680999984 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:59.04, Y:9.76, Z:8.99 [[ 9.21607490e-01 -3.29992399e-01 -2.04315078e-01 5.90353934e+01] [ 3.20630280e-01 9.43959943e-01 -7.83316578e-02 9.76083502e+00] [ 2.18714101e-01 6.68144180e-03 9.75766109e-01 8.99055813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.077105680999985 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:59.06, Y:9.78, Z:8.99 [[ 9.20965602e-01 -3.40577916e-01 -1.89285613e-01 5.90592115e+01] [ 3.22101814e-01 9.38810720e-01 -1.22003502e-01 9.78106424e+00] [ 2.19255061e-01 5.13917894e-02 9.74313144e-01 8.99075154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.107105680999986 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:59.09, Y:9.79, Z:9.00 [[ 9.20487102e-01 -3.33628700e-01 -2.03458558e-01 5.90887138e+01] [ 3.25397347e-01 9.42703191e-01 -7.36699335e-02 9.78574434e+00] [ 2.16379436e-01 1.60734846e-03 9.76308023e-01 8.99957977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.13710568099999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:59.11, Y:9.80, Z:9.01 [[ 9.19912774e-01 -3.37902662e-01 -1.98952960e-01 5.91121478e+01] [ 3.27411019e-01 9.41096928e-01 -8.44902162e-02 9.79829508e+00] [ 2.15783488e-01 1.25842379e-02 9.76360140e-01 9.00589036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.16710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:59.14, Y:9.80, Z:9.02 [[ 9.17555997e-01 -3.30529618e-01 -2.21000371e-01 5.91394267e+01] [ 3.32187607e-01 9.42712275e-01 -3.07402086e-02 9.80014915e+00] [ 2.18500312e-01 -4.52077218e-02 9.74789144e-01 9.01992688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.19710568099999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:59.16, Y:9.82, Z:9.03 [[ 9.15941640e-01 -3.47273508e-01 -2.01126884e-01 5.91618759e+01] [ 3.34262536e-01 9.37524756e-01 -9.65188477e-02 9.81985439e+00] [ 2.22079872e-01 2.11764492e-02 9.74798486e-01 9.02704115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.22710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.19, Y:9.83, Z:9.03 [[ 9.15248896e-01 -3.45474835e-01 -2.07283857e-01 5.91902543e+01] [ 3.40410595e-01 9.38309419e-01 -6.07952350e-02 9.82579790e+00] [ 2.15499620e-01 -1.49188495e-02 9.76389954e-01 9.03122011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.257105680999985 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:59.21, Y:9.84, Z:9.04 [[ 9.12853038e-01 -3.55090292e-01 -2.01519767e-01 5.92132071e+01] [ 3.46489882e-01 9.34831372e-01 -7.76856952e-02 9.83999999e+00] [ 2.15972436e-01 1.09106256e-03 9.76398851e-01 9.03543520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.287105680999986 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:59.24, Y:9.85, Z:9.04 [[ 9.11194542e-01 -3.58533359e-01 -2.02924463e-01 5.92386405e+01] [ 3.49886354e-01 9.33516861e-01 -7.82675486e-02 9.85001013e+00] [ 2.17494935e-01 3.16462493e-04 9.76061398e-01 9.04061778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.26, Y:9.86, Z:9.05 [[ 9.07464958e-01 -3.66444024e-01 -2.05489970e-01 5.92639179e+01] [ 3.55344892e-01 9.30400582e-01 -8.99153140e-02 9.86224126e+00] [ 2.24136917e-01 8.57518555e-03 9.74519938e-01 9.04607339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.34710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.29, Y:9.87, Z:9.05 [[ 9.06417089e-01 -3.65492104e-01 -2.11715805e-01 5.92910004e+01] [ 3.58693410e-01 9.30743492e-01 -7.11026752e-02 9.86990378e+00] [ 2.23040574e-01 -1.14923842e-02 9.74741416e-01 9.04954026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.32, Y:9.88, Z:9.06 [[ 9.04608633e-01 -3.71217801e-01 -2.09476886e-01 5.93150426e+01] [ 3.59803289e-01 9.28515176e-01 -9.16578469e-02 9.88276035e+00] [ 2.28527492e-01 7.54400712e-03 9.73508230e-01 9.05629619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.40710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:59.34, Y:9.89, Z:9.06 [[ 9.03283129e-01 -3.71652212e-01 -2.14369359e-01 5.93427318e+01] [ 3.64616941e-01 9.28291584e-01 -7.30015200e-02 9.89032794e+00] [ 2.26128448e-01 -1.22216583e-02 9.74020819e-01 9.06161785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.437105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.37, Y:9.90, Z:9.07 [[ 9.04605521e-01 -3.71315593e-01 -2.09316942e-01 5.93669082e+01] [ 3.62374246e-01 9.28503229e-01 -8.10349322e-02 9.90237449e+00] [ 2.24440990e-01 -2.54642194e-03 9.74484355e-01 9.07009882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.467105680999985 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.39, Y:9.92, Z:9.08 [[ 9.10045733e-01 -3.60388967e-01 -2.04784170e-01 5.93893605e+01] [ 3.51540449e-01 9.32802088e-01 -7.93698826e-02 9.91596671e+00] [ 2.19627131e-01 2.40304007e-04 9.75583859e-01 9.07775271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.49710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.41, Y:9.93, Z:9.08 [[ 9.12913158e-01 -3.54318445e-01 -2.02603073e-01 5.94128276e+01] [ 3.45497934e-01 9.35123200e-01 -7.85861180e-02 9.92868841e+00] [ 2.17303346e-01 1.74335786e-03 9.76102565e-01 9.08416294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.52710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.44, Y:9.94, Z:9.09 [[ 9.17933923e-01 -3.42580993e-01 -2.00088920e-01 5.94363711e+01] [ 3.33690605e-01 9.39477380e-01 -7.76713080e-02 9.94344489e+00] [ 2.14587729e-01 4.52933561e-03 9.76694216e-01 9.09109016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.55710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.46, Y:9.96, Z:9.10 [[ 9.20495418e-01 -3.35678705e-01 -2.00019982e-01 5.94612375e+01] [ 3.26613803e-01 9.41955986e-01 -7.77325143e-02 9.95559851e+00] [ 2.14503169e-01 6.22313622e-03 9.76703467e-01 9.09624351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.58710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.49, Y:9.97, Z:9.10 [[ 9.20835011e-01 -3.34701235e-01 -2.00094890e-01 5.94859321e+01] [ 3.25586659e-01 9.42301595e-01 -7.78526265e-02 9.96590206e+00] [ 2.14607105e-01 6.54119732e-03 9.76678557e-01 9.10125168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.617105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.51, Y:9.98, Z:9.11 [[ 9.20398573e-01 -3.35653902e-01 -2.00506672e-01 5.95118718e+01] [ 3.26509695e-01 9.41963683e-01 -7.80758471e-02 9.97632180e+00] [ 2.15076466e-01 6.39352589e-03 9.76576283e-01 9.10667077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.647105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.54, Y:9.99, Z:9.11 [[ 9.19841036e-01 -3.35653585e-01 -2.03049599e-01 5.95381285e+01] [ 3.26252727e-01 9.41962617e-01 -7.91554517e-02 9.98541960e+00] [ 2.17833943e-01 6.56494708e-03 9.75963767e-01 9.11198923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.677105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.56, Y:9.99, Z:9.12 [[ 9.19876467e-01 -3.34610605e-01 -2.04604567e-01 5.95633353e+01] [ 3.25017499e-01 9.42330831e-01 -7.98513006e-02 9.99417833e+00] [ 2.19524284e-01 6.95326751e-03 9.75582257e-01 9.11696470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.59, Y:10.00, Z:9.12 [[ 9.21370727e-01 -3.31387653e-01 -2.03121165e-01 5.95881916e+01] [ 3.19888426e-01 9.43356745e-01 -8.80309370e-02 1.00013129e+01] [ 2.20788086e-01 1.61330188e-02 9.75188365e-01 9.12373866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.73710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.62, Y:10.01, Z:9.13 [[ 9.22495364e-01 -3.27497784e-01 -2.04322063e-01 5.96151017e+01] [ 3.15560132e-01 9.44679592e-01 -8.94554122e-02 1.00071163e+01] [ 2.22315332e-01 1.80463060e-02 9.74807788e-01 9.13078688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.76710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.64, Y:10.01, Z:9.14 [[ 9.22658533e-01 -3.24700419e-01 -2.08016510e-01 5.96411131e+01] [ 3.13849002e-01 9.45736154e-01 -8.41542146e-02 1.00146290e+01] [ 2.24053643e-01 1.23598303e-02 9.74498435e-01 9.13676725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.797105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.67, Y:10.02, Z:9.14 [[ 9.22458361e-01 -3.24624694e-01 -2.09020047e-01 5.96670810e+01] [ 3.14139116e-01 9.45785233e-01 -8.25039859e-02 1.00246813e+01] [ 2.24470905e-01 1.04451189e-02 9.74424811e-01 9.14303597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.827105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.69, Y:10.03, Z:9.15 [[ 9.23747486e-01 -3.19962053e-01 -2.10510965e-01 5.96939527e+01] [ 3.11008391e-01 9.47421649e-01 -7.52728289e-02 1.00291892e+01] [ 2.23527095e-01 4.06240983e-03 9.74689250e-01 9.14691709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.857105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.72, Y:10.03, Z:9.15 [[ 9.23211191e-01 -3.22002731e-01 -2.09750657e-01 5.97247018e+01] [ 3.14000708e-01 9.46738740e-01 -7.13394273e-02 1.00301685e+01] [ 2.21550563e-01 -4.97252041e-07 9.75148885e-01 9.15111411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.88710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.75, Y:10.04, Z:9.16 [[ 9.22361494e-01 -3.26281365e-01 -2.06856823e-01 5.97515093e+01] [ 3.16163419e-01 9.45225202e-01 -8.11788824e-02 1.00358073e+01] [ 2.22013439e-01 9.47571502e-03 9.74997561e-01 9.15663146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.91710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.78, Y:10.04, Z:9.17 [[ 9.18902249e-01 -3.38211615e-01 -2.03055560e-01 5.97793441e+01] [ 3.23539246e-01 9.40635972e-01 -1.02597882e-01 1.00390392e+01] [ 2.25701160e-01 2.85809817e-02 9.73777240e-01 9.16539072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.94710568099999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:59.81, Y:10.04, Z:9.17 [[ 9.15340844e-01 -3.44775106e-01 -2.08041499e-01 5.98082422e+01] [ 3.34668718e-01 9.38663122e-01 -8.31167382e-02 1.00361583e+01] [ 2.23937465e-01 6.45516377e-03 9.74582138e-01 9.17382361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.97710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.84, Y:10.04, Z:9.18 [[ 9.14042967e-01 -3.47078679e-01 -2.09909135e-01 5.98381023e+01] [ 3.42522038e-01 9.37661995e-01 -5.88951310e-02 1.00384664e+01] [ 2.17265062e-01 -1.80658244e-02 9.75945449e-01 9.17958140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.87, Y:10.05, Z:9.18 [[ 9.09864682e-01 -3.71209043e-01 -1.85337821e-01 5.98663454e+01] [ 3.56961542e-01 9.28044605e-01 -1.06356328e-01 1.00492722e+01] [ 2.11482195e-01 3.06113922e-02 9.76902361e-01 9.17678597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.037105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.89, Y:10.05, Z:9.19 [[ 9.05009328e-01 -3.71557554e-01 -2.07130636e-01 5.98923933e+01] [ 3.62855007e-01 9.28405808e-01 -7.99931154e-02 1.00510813e+01] [ 2.22023332e-01 -2.76387286e-03 9.75037436e-01 9.19413100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.067105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.92, Y:10.06, Z:9.19 [[ 9.03843043e-01 -3.79563043e-01 -1.97483291e-01 5.99208733e+01] [ 3.71236009e-01 9.25164070e-01 -7.90902637e-02 1.00596649e+01] [ 2.12724186e-01 -1.82772397e-03 9.77110577e-01 9.19216355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.95, Y:10.07, Z:9.20 [[ 9.03363740e-01 -3.82360437e-01 -1.94253571e-01 5.99465597e+01] [ 3.74667706e-01 9.24005610e-01 -7.64051276e-02 1.00700868e+01] [ 2.08705688e-01 -3.75891821e-03 9.77971271e-01 9.20100199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.97, Y:10.08, Z:9.22 [[ 9.02548730e-01 -3.76363223e-01 -2.09180579e-01 5.99704226e+01] [ 3.75032334e-01 9.25790888e-01 -4.75602745e-02 1.00764679e+01] [ 2.11557413e-01 -3.55240154e-02 9.76719768e-01 9.21848616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.15710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:59.99, Y:10.10, Z:9.21 [[ 9.03721555e-01 -3.89699509e-01 -1.77261513e-01 5.99935743e+01] [ 3.75244210e-01 9.20346506e-01 -1.10245596e-01 1.01028381e+01] [ 2.06104669e-01 3.31149654e-02 9.77969460e-01 9.21301372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.18710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.02, Y:10.11, Z:9.22 [[ 9.04235477e-01 -3.82918948e-01 -1.89027198e-01 6.00207139e+01] [ 3.74679267e-01 9.23781735e-01 -7.90110917e-02 1.01107517e+01] [ 2.04874717e-01 6.20060314e-04 9.78788009e-01 9.22150170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.21710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.04, Y:10.13, Z:9.23 [[ 9.05467076e-01 -3.81015080e-01 -1.86967600e-01 6.00442382e+01] [ 3.72949780e-01 9.24568401e-01 -7.79854696e-02 1.01269411e+01] [ 2.02577975e-01 8.83749713e-04 9.79265737e-01 9.22935138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.07, Y:10.13, Z:9.25 [[ 9.04881193e-01 -3.69447484e-01 -2.11420395e-01 6.00684405e+01] [ 3.70590033e-01 9.28110143e-01 -3.57014074e-02 1.01325731e+01] [ 2.09411208e-01 -4.60447592e-02 9.76742968e-01 9.24822890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.09, Y:10.16, Z:9.25 [[ 9.05880013e-01 -3.74578425e-01 -1.97667412e-01 6.00900660e+01] [ 3.65596208e-01 9.27193834e-01 -8.15537026e-02 1.01558206e+01] [ 2.13824263e-01 1.61141286e-03 9.76870814e-01 9.25157628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.307105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.11, Y:10.17, Z:9.26 [[ 9.08824733e-01 -3.66620620e-01 -1.99065127e-01 6.01120796e+01] [ 3.56243684e-01 9.30334885e-01 -8.69910330e-02 1.01702456e+01] [ 2.17089939e-01 8.14390803e-03 9.76117634e-01 9.25696999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.337105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.14, Y:10.18, Z:9.26 [[ 9.09673638e-01 -3.61118112e-01 -2.05152579e-01 6.01377700e+01] [ 3.52389260e-01 9.32519950e-01 -7.89199139e-02 1.01827509e+01] [ 2.19808283e-01 -5.02200196e-04 9.75542960e-01 9.26132222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.367105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.16, Y:10.20, Z:9.26 [[ 9.10394546e-01 -3.56198934e-01 -2.10485370e-01 6.01596972e+01] [ 3.44153468e-01 9.34334690e-01 -9.26125175e-02 1.02016294e+01] [ 2.29652263e-01 1.18746606e-02 9.73200303e-01 9.26330841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.397105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.19, Y:10.21, Z:9.27 [[ 9.11098395e-01 -3.50092593e-01 -2.17565831e-01 6.01869767e+01] [ 3.43387420e-01 9.36642313e-01 -6.91827798e-02 1.02128509e+01] [ 2.28001742e-01 -1.16770497e-02 9.73590700e-01 9.26669674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.427105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.21, Y:10.23, Z:9.27 [[ 9.11785188e-01 -3.51420689e-01 -2.12488282e-01 6.02090586e+01] [ 3.41168262e-01 9.36207105e-01 -8.43829032e-02 1.02283110e+01] [ 2.28586938e-01 4.44482345e-03 9.73513357e-01 9.27241281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.23, Y:10.24, Z:9.28 [[ 9.11243683e-01 -3.54864803e-01 -2.09059612e-01 6.02332493e+01] [ 3.40560967e-01 9.34662508e-01 -1.02099092e-01 1.02427240e+01] [ 2.31631556e-01 2.18396089e-02 9.72558406e-01 9.27999842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.26, Y:10.25, Z:9.29 [[ 9.10842953e-01 -3.51467672e-01 -2.16415318e-01 6.02592065e+01] [ 3.40810072e-01 9.36188755e-01 -8.60180793e-02 1.02518844e+01] [ 2.32838161e-01 4.59244146e-03 9.72504653e-01 9.28678701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.28, Y:10.26, Z:9.29 [[ 9.11011947e-01 -3.51308331e-01 -2.15962237e-01 6.02824201e+01] [ 3.39892657e-01 9.36227047e-01 -8.91734145e-02 1.02647788e+01] [ 2.33517051e-01 7.83406737e-03 9.72321148e-01 9.29279480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.31, Y:10.28, Z:9.30 [[ 9.10332573e-01 -3.54249201e-01 -2.14014275e-01 6.03073737e+01] [ 3.43751717e-01 9.35140414e-01 -8.57155897e-02 1.02790065e+01] [ 2.30498077e-01 4.46191873e-03 9.73062551e-01 9.29995454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.33, Y:10.29, Z:9.31 [[ 9.08985577e-01 -3.58851490e-01 -2.12063265e-01 6.03314888e+01] [ 3.47550281e-01 9.33361869e-01 -8.96907080e-02 1.02914051e+01] [ 2.30117409e-01 7.82491272e-03 9.73131414e-01 9.30653171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.36, Y:10.30, Z:9.31 [[ 9.07613255e-01 -3.60527070e-01 -2.15077686e-01 6.03568268e+01] [ 3.49696633e-01 9.32737924e-01 -8.78192969e-02 1.03005909e+01] [ 2.32272348e-01 4.49401539e-03 9.72640406e-01 9.31239397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.637105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.38, Y:10.31, Z:9.32 [[ 9.05404957e-01 -3.62648259e-01 -2.20744431e-01 6.03839258e+01] [ 3.56123703e-01 9.31803483e-01 -7.01297181e-02 1.03087961e+01] [ 2.31122850e-01 -1.51165297e-02 9.72807133e-01 9.31572921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.667105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.41, Y:10.32, Z:9.32 [[ 9.04519346e-01 -3.68874087e-01 -2.13954811e-01 6.04076280e+01] [ 3.56995066e-01 9.29445668e-01 -9.31948135e-02 1.03233816e+01] [ 2.33236524e-01 7.91569988e-03 9.72387817e-01 9.32284228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.697105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.43, Y:10.34, Z:9.33 [[ 9.04376554e-01 -3.68229468e-01 -2.15662023e-01 6.04314067e+01] [ 3.57350537e-01 9.29728942e-01 -8.89083124e-02 1.03356640e+01] [ 2.33245885e-01 3.33965354e-03 9.72412055e-01 9.32969447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.727105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.46, Y:10.35, Z:9.33 [[ 9.04362959e-01 -3.67007661e-01 -2.17791221e-01 6.04565361e+01] [ 3.57785777e-01 9.30209736e-01 -8.18485479e-02 1.03465981e+01] [ 2.32630558e-01 -3.90180630e-03 9.72557350e-01 9.33492754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.757105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.48, Y:10.36, Z:9.34 [[ 9.02478979e-01 -3.72736232e-01 -2.15868927e-01 6.04803696e+01] [ 3.59050552e-01 9.27837037e-01 -1.01000665e-01 1.03624548e+01] [ 2.37937793e-01 1.36431203e-02 9.71184572e-01 9.34209735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.787105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.51, Y:10.37, Z:9.35 [[ 9.02411165e-01 -3.68718191e-01 -2.22937176e-01 6.05091328e+01] [ 3.62640677e-01 9.29358566e-01 -6.91693212e-02 1.03699260e+01] [ 2.32692561e-01 -1.84269207e-02 9.72375761e-01 9.34633309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.817105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.53, Y:10.39, Z:9.35 [[ 8.99786499e-01 -3.79789228e-01 -2.14812472e-01 6.05319768e+01] [ 3.66349536e-01 9.24994452e-01 -1.00862684e-01 1.03857686e+01] [ 2.37006905e-01 1.20584316e-02 9.71433127e-01 9.35487922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.56, Y:10.39, Z:9.36 [[ 8.97952843e-01 -3.81088182e-01 -2.20119262e-01 6.05583319e+01] [ 3.72191240e-01 9.24503560e-01 -8.22608570e-02 1.03938783e+01] [ 2.34849682e-01 -8.06009091e-03 9.71998283e-01 9.36053965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.58, Y:10.40, Z:9.37 [[ 8.98128636e-01 -3.82507032e-01 -2.16917780e-01 6.05840476e+01] [ 3.74231093e-01 9.23902886e-01 -7.97154115e-02 1.04049927e+01] [ 2.30902669e-01 -9.58268419e-03 9.72929663e-01 9.36648617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.61, Y:10.43, Z:9.36 [[ 9.01655073e-01 -3.94195710e-01 -1.77842268e-01 6.06066368e+01] [ 3.73166087e-01 9.17032805e-01 -1.40705033e-01 1.04291002e+01] [ 2.18552514e-01 6.05027039e-02 9.73947751e-01 9.35823857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.63, Y:10.43, Z:9.38 [[ 9.01055586e-01 -3.65920567e-01 -2.32811017e-01 6.06321823e+01] [ 3.65433420e-01 9.29658158e-01 -4.68414939e-02 1.04261432e+01] [ 2.33574927e-01 -4.28701364e-02 9.71393280e-01 9.37949174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.96710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.66, Y:10.45, Z:9.38 [[ 9.04928779e-01 -3.64212645e-01 -2.20120547e-01 6.06577634e+01] [ 3.57916061e-01 9.31177367e-01 -6.93166889e-02 1.04457388e+01] [ 2.30217286e-01 -1.60580126e-02 9.73006753e-01 9.38247372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.997105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:60.68, Y:10.46, Z:9.39 [[ 9.06519177e-01 -3.63425709e-01 -2.14813258e-01 6.06810790e+01] [ 3.50899173e-01 9.31558881e-01 -9.52251138e-02 1.04612147e+01] [ 2.34718453e-01 1.09455973e-02 9.72001771e-01 9.38897915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.71, Y:10.48, Z:9.39 [[ 9.09783721e-01 -3.52241658e-01 -2.19589153e-01 6.07063762e+01] [ 3.42901576e-01 9.35907016e-01 -8.06012813e-02 1.04752951e+01] [ 2.33906158e-01 -1.96773321e-03 9.72257187e-01 9.39161660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.057105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.73, Y:10.49, Z:9.40 [[ 9.10983328e-01 -3.52470639e-01 -2.14181755e-01 6.07268957e+01] [ 3.37466940e-01 9.35547951e-01 -1.04240568e-01 1.04905126e+01] [ 2.37119042e-01 2.26821576e-02 9.71215774e-01 9.39977116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.087105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.76, Y:10.50, Z:9.40 [[ 9.13669045e-01 -3.43578409e-01 -2.17169874e-01 6.07559106e+01] [ 3.36229343e-01 9.39089714e-01 -7.11360516e-02 1.04985210e+01] [ 2.28382806e-01 -8.02407553e-03 9.73538344e-01 9.40456123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.117105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.78, Y:10.51, Z:9.41 [[ 9.14437317e-01 -3.48446860e-01 -2.05886327e-01 6.07787458e+01] [ 3.34677765e-01 9.37069323e-01 -9.94579220e-02 1.05076815e+01] [ 2.27585561e-01 2.20424598e-02 9.73508573e-01 9.41235839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.147105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.81, Y:10.52, Z:9.42 [[ 9.13510637e-01 -3.47594572e-01 -2.11367759e-01 6.08077699e+01] [ 3.36797433e-01 9.37613726e-01 -8.63017373e-02 1.05154167e+01] [ 2.28179328e-01 7.64943627e-03 9.73589072e-01 9.41842558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.177105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.83, Y:10.52, Z:9.42 [[ 9.13090089e-01 -3.49184401e-01 -2.10562919e-01 6.08321163e+01] [ 3.36422158e-01 9.36921154e-01 -9.48624438e-02 1.05235936e+01] [ 2.30405338e-01 1.57799257e-02 9.72966790e-01 9.42439034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.86, Y:10.53, Z:9.43 [[ 9.13699209e-01 -3.43288095e-01 -2.17501814e-01 6.08632064e+01] [ 3.36997817e-01 9.39147583e-01 -6.65904594e-02 1.05292186e+01] [ 2.27126015e-01 -1.24539864e-02 9.73785742e-01 9.42648264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.89, Y:10.54, Z:9.43 [[ 9.15679294e-01 -3.41441271e-01 -2.12012474e-01 6.08894254e+01] [ 3.30603073e-01 9.39865238e-01 -8.57609598e-02 1.05385711e+01] [ 2.28545486e-01 8.43755971e-03 9.73496671e-01 9.43047023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.92, Y:10.55, Z:9.44 [[ 9.16562451e-01 -3.38703044e-01 -2.12587682e-01 6.09159135e+01] [ 3.27710207e-01 9.40847976e-01 -8.60877825e-02 1.05465854e+01] [ 2.29170884e-01 9.23767541e-03 9.73342371e-01 9.43568547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.94, Y:10.55, Z:9.44 [[ 9.17552471e-01 -3.37533679e-01 -2.10162983e-01 6.09415046e+01] [ 3.22510562e-01 9.40930363e-01 -1.03135783e-01 1.05540203e+01] [ 2.32560532e-01 2.68527105e-02 9.72211156e-01 9.44340051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.97, Y:10.55, Z:9.45 [[ 9.19050144e-01 -3.29431431e-01 -2.16383375e-01 6.09707451e+01] [ 3.21849437e-01 9.44166770e-01 -7.04418233e-02 1.05542918e+01] [ 2.27507743e-01 -4.90329940e-03 9.73763927e-01 9.44853727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.357105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.00, Y:10.56, Z:9.46 [[ 9.18797250e-01 -3.35858206e-01 -2.07390641e-01 6.09960509e+01] [ 3.21113056e-01 9.41518788e-01 -1.02121383e-01 1.05648642e+01] [ 2.29560489e-01 2.72330035e-02 9.72913329e-01 9.45620767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.387105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.03, Y:10.56, Z:9.46 [[ 9.18036889e-01 -3.34503969e-01 -2.12874060e-01 6.10262929e+01] [ 3.22725957e-01 9.42305501e-01 -8.89286210e-02 1.05615112e+01] [ 2.30339374e-01 1.29397699e-02 9.73024324e-01 9.46168592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.417105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.05, Y:10.57, Z:9.47 [[ 9.18152636e-01 -3.33479349e-01 -2.13979581e-01 6.10537664e+01] [ 3.23726760e-01 9.42747398e-01 -8.01768581e-02 1.05661869e+01] [ 2.28466019e-01 4.34367720e-03 9.73542198e-01 9.46723627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.447105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.08, Y:10.57, Z:9.47 [[ 9.18307535e-01 -3.36016025e-01 -2.09295250e-01 6.10810878e+01] [ 3.24182609e-01 9.41746407e-01 -8.95507748e-02 1.05709147e+01] [ 2.27193545e-01 1.43852712e-02 9.73743373e-01 9.47222227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.477105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.11, Y:10.57, Z:9.48 [[ 9.19007666e-01 -3.31407962e-01 -2.13526749e-01 6.11108613e+01] [ 3.24114975e-01 9.43471718e-01 -6.93584900e-02 1.05740076e+01] [ 2.24442405e-01 -5.46623310e-03 9.74472025e-01 9.47707060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.507105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.14, Y:10.58, Z:9.48 [[ 9.17951766e-01 -3.36577637e-01 -2.09952494e-01 6.11398478e+01] [ 3.24907778e-01 9.41560884e-01 -8.88709067e-02 1.05780941e+01] [ 2.27595015e-01 1.33640075e-02 9.73664168e-01 9.48215408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.537105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.17, Y:10.58, Z:9.49 [[ 9.16978146e-01 -3.38407100e-01 -2.11262195e-01 6.11689333e+01] [ 3.27419777e-01 9.40949095e-01 -8.60876908e-02 1.05793635e+01] [ 2.27919657e-01 9.76911027e-03 9.73630933e-01 9.48858531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.20, Y:10.58, Z:9.50 [[ 9.16550404e-01 -3.40102158e-01 -2.10394578e-01 6.11959736e+01] [ 3.29229481e-01 9.40341579e-01 -8.58234409e-02 1.05842670e+01] [ 2.27031507e-01 9.39341170e-03 9.73842112e-01 9.49509707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.23, Y:10.58, Z:9.50 [[ 9.16004576e-01 -3.42467568e-01 -2.08929608e-01 6.12257816e+01] [ 3.31788246e-01 9.39488176e-01 -8.53142801e-02 1.05819605e+01] [ 2.25504271e-01 8.82788271e-03 9.74202183e-01 9.50291321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.25, Y:10.58, Z:9.51 [[ 9.16994174e-01 -3.41377259e-01 -2.06357095e-01 6.12518709e+01] [ 3.29694591e-01 9.39819157e-01 -8.96740118e-02 1.05823176e+01] [ 2.24551020e-01 1.41957282e-02 9.74358928e-01 9.50917751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.28, Y:10.59, Z:9.52 [[ 9.17016771e-01 -3.40892347e-01 -2.07057117e-01 6.12820840e+01] [ 3.31133684e-01 9.40083858e-01 -8.11962015e-02 1.05892347e+01] [ 2.22330217e-01 5.89469235e-03 9.74953603e-01 9.51562171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.68710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:61.31, Y:10.60, Z:9.52 [[ 9.17535232e-01 -3.40902617e-01 -2.04730322e-01 6.13098395e+01] [ 3.30571927e-01 9.40053534e-01 -8.37947218e-02 1.05953093e+01] [ 2.21023303e-01 9.20651248e-03 9.75225071e-01 9.52102677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.71710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:61.34, Y:10.61, Z:9.53 [[ 9.17423577e-01 -3.41221140e-01 -2.04700057e-01 6.13355136e+01] [ 3.30881817e-01 9.39937914e-01 -8.38685933e-02 1.06060844e+01] [ 2.21023081e-01 9.21149813e-03 9.75225074e-01 9.52718384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.747105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.37, Y:10.61, Z:9.53 [[ 9.17573005e-01 -3.41128858e-01 -2.04183453e-01 6.13650069e+01] [ 3.30821992e-01 9.39970668e-01 -8.37373982e-02 1.06056696e+01] [ 2.20491699e-01 9.28679959e-03 9.75344640e-01 9.53329519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.39, Y:10.61, Z:9.54 [[ 9.17576002e-01 -3.41321363e-01 -2.03848001e-01 6.13946012e+01] [ 3.31034302e-01 9.39900587e-01 -8.36849902e-02 1.06064798e+01] [ 2.20160331e-01 9.30665805e-03 9.75419302e-01 9.53831891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.42, Y:10.61, Z:9.54 [[ 9.17485058e-01 -3.41344251e-01 -2.04218681e-01 6.14217795e+01] [ 3.30999830e-01 9.39891308e-01 -8.39252130e-02 1.06117594e+01] [ 2.20590752e-01 9.40378019e-03 9.75321121e-01 9.54382326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.837105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.45, Y:10.61, Z:9.55 [[ 9.17592454e-01 -3.40268003e-01 -2.05528039e-01 6.14512652e+01] [ 3.29741687e-01 9.40277294e-01 -8.45519337e-02 1.06125596e+01] [ 2.22023666e-01 9.81305396e-03 9.74991895e-01 9.54835791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.867105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.48, Y:10.61, Z:9.55 [[ 9.18139091e-01 -3.37352158e-01 -2.07880089e-01 6.14783167e+01] [ 3.25826859e-01 9.41281920e-01 -8.84601865e-02 1.06138708e+01] [ 2.25516004e-01 1.34858390e-02 9.74146121e-01 9.55318115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.897105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:61.51, Y:10.62, Z:9.56 [[ 9.17998132e-01 -3.37032230e-01 -2.09018433e-01 6.15073636e+01] [ 3.26353329e-01 9.41444698e-01 -8.47076487e-02 1.06206256e+01] [ 2.25328504e-01 9.54760175e-03 9.74236064e-01 9.55980989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.927105681 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:61.54, Y:10.62, Z:9.57 [[ 9.18804141e-01 -3.36188295e-01 -2.06824515e-01 6.15358545e+01] [ 3.25386213e-01 9.41730163e-01 -8.52532286e-02 1.06205958e+01] [ 2.23434022e-01 1.10331737e-02 9.74656610e-01 9.56710958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95710568099999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:61.56, Y:10.62, Z:9.57 [[ 9.19618364e-01 -3.34742951e-01 -2.05546153e-01 6.15640274e+01] [ 3.24031431e-01 9.42241136e-01 -8.47659961e-02 1.06234234e+01] [ 2.22048861e-01 1.13489525e-02 9.74969489e-01 9.57236104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.98710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:61.59, Y:10.63, Z:9.58 [[ 9.19954188e-01 -3.33917809e-01 -2.05385464e-01 6.15913821e+01] [ 3.23183522e-01 9.42530550e-01 -8.47854590e-02 1.06308490e+01] [ 2.21893449e-01 1.16215405e-02 9.75001660e-01 9.57699458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.01710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:61.62, Y:10.63, Z:9.58 [[ 9.19694659e-01 -3.32845581e-01 -2.08267986e-01 6.16189200e+01] [ 3.21756078e-01 9.42903215e-01 -8.60613388e-02 1.06341269e+01] [ 2.25021690e-01 1.21386633e-02 9.74278139e-01 9.58048775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.04710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:61.64, Y:10.64, Z:9.58 [[ 9.18821185e-01 -3.36450631e-01 -2.06321601e-01 6.16440283e+01] [ 3.20704680e-01 9.41166011e-01 -1.06560068e-01 1.06439280e+01] [ 2.30035080e-01 3.17413452e-02 9.72664561e-01 9.58373867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.07710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:61.67, Y:10.64, Z:9.59 [[ 9.16993650e-01 -3.37222852e-01 -2.13080721e-01 6.16741021e+01] [ 3.26312531e-01 9.41382604e-01 -8.55507152e-02 1.06427096e+01] [ 2.29440140e-01 8.91855315e-03 9.73281913e-01 9.59323799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.107105681 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:61.70, Y:10.64, Z:9.60 [[ 9.15110751e-01 -3.41102504e-01 -2.14991617e-01 6.17028097e+01] [ 3.33387281e-01 9.40010181e-01 -7.23448742e-02 1.06425318e+01] [ 2.26771326e-01 -5.47189840e-03 9.73932659e-01 9.60139790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.137105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.73, Y:10.65, Z:9.61 [[ 9.14025848e-01 -3.47345926e-01 -2.09541302e-01 6.17291691e+01] [ 3.36443548e-01 9.37695477e-01 -8.67924589e-02 1.06529261e+01] [ 2.26632938e-01 8.83173176e-03 9.73940199e-01 9.60504964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.167105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:61.76, Y:10.66, Z:9.61 [[ 9.12411950e-01 -3.52117218e-01 -2.08609440e-01 6.17565233e+01] [ 3.41416643e-01 9.35924310e-01 -8.64890838e-02 1.06590396e+01] [ 2.25696942e-01 7.69093890e-03 9.74167203e-01 9.61163925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.197105681 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:61.78, Y:10.67, Z:9.62 [[ 9.11446890e-01 -3.54542597e-01 -2.08720180e-01 6.17826288e+01] [ 3.43873965e-01 9.35012343e-01 -8.66176337e-02 1.06671451e+01] [ 2.25865586e-01 7.17393680e-03 9.74132061e-01 9.61832156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.227105681 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:61.81, Y:10.67, Z:9.62 [[ 9.09763951e-01 -3.58530739e-01 -2.09249284e-01 6.18090099e+01] [ 3.47891931e-01 9.33496799e-01 -8.69191007e-02 1.06722801e+01] [ 2.26496706e-01 6.27972713e-03 9.73991687e-01 9.62380101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.257105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:61.84, Y:10.68, Z:9.63 [[ 9.06370452e-01 -3.66774087e-01 -2.09688750e-01 6.18368231e+01] [ 3.54362070e-01 9.30230713e-01 -9.53852370e-02 1.06823514e+01] [ 2.30043749e-01 1.21486207e-02 9.73104457e-01 9.62691390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.287105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:61.86, Y:10.69, Z:9.64 [[ 9.04906848e-01 -3.67446902e-01 -2.14770505e-01 6.18632793e+01] [ 3.58606753e-01 9.30034038e-01 -8.02364344e-02 1.06877252e+01] [ 2.29226510e-01 -4.41165459e-03 9.73363110e-01 9.63523490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.89, Y:10.69, Z:9.64 [[ 9.00574133e-01 -3.79660952e-01 -2.11716303e-01 6.18895708e+01] [ 3.69301609e-01 9.25124991e-01 -8.80912750e-02 1.06940349e+01] [ 2.29308861e-01 1.14555216e-03 9.73353037e-01 9.64028962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.92, Y:10.70, Z:9.65 [[ 8.98382059e-01 -3.86067056e-01 -2.09432339e-01 6.19151465e+01] [ 3.76089632e-01 9.22470623e-01 -8.72040085e-02 1.07030279e+01] [ 2.26861775e-01 -4.22814712e-04 9.73926874e-01 9.64753343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.94, Y:10.71, Z:9.66 [[ 8.94130642e-01 -3.98124151e-01 -2.05006231e-01 6.19404972e+01] [ 3.88860887e-01 9.17325540e-01 -8.54462680e-02 1.07119079e+01] [ 2.22075675e-01 -3.31877836e-03 9.75023785e-01 9.65759418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.40710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:61.97, Y:10.73, Z:9.66 [[ 8.90808531e-01 -4.06392293e-01 -2.03237462e-01 6.19665830e+01] [ 3.95144157e-01 9.13688269e-01 -9.50517933e-02 1.07254515e+01] [ 2.24324001e-01 4.36485291e-03 9.74504844e-01 9.66418685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.43710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:61.99, Y:10.73, Z:9.67 [[ 8.89304427e-01 -4.07530955e-01 -2.07499777e-01 6.19896001e+01] [ 4.00984008e-01 9.13036843e-01 -7.46695902e-02 1.07337432e+01] [ 2.19885111e-01 -1.68000951e-02 9.75381102e-01 9.67313447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.46710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:62.01, Y:10.75, Z:9.68 [[ 8.88022928e-01 -4.11694222e-01 -2.04751426e-01 6.20122300e+01] [ 4.02761439e-01 9.11298851e-01 -8.55431339e-02 1.07501615e+01] [ 2.21807354e-01 -6.50171490e-03 9.75068831e-01 9.67600757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.497105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.04, Y:10.76, Z:9.68 [[ 8.87277900e-01 -4.12983881e-01 -2.05383161e-01 6.20360812e+01] [ 4.04020004e-01 9.10712889e-01 -8.58479490e-02 1.07633347e+01] [ 2.22498911e-01 -6.80791777e-03 9.74909168e-01 9.68165528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.527105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:62.06, Y:10.78, Z:9.69 [[ 8.86994532e-01 -4.14089956e-01 -2.04377612e-01 6.20581531e+01] [ 4.05222639e-01 9.10209330e-01 -8.55195222e-02 1.07812788e+01] [ 2.21439184e-01 -6.96308661e-03 9.75149323e-01 9.68771496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.557105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:62.08, Y:10.80, Z:9.69 [[ 8.86896042e-01 -4.14624333e-01 -2.03720577e-01 6.20800790e+01] [ 4.05807693e-01 9.09965848e-01 -8.53362293e-02 1.07962895e+01] [ 2.20761244e-01 -6.98701315e-03 9.75302853e-01 9.69349384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.587105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:62.10, Y:10.82, Z:9.69 [[ 8.86347510e-01 -4.21749826e-01 -1.91089443e-01 6.21011178e+01] [ 4.08242810e-01 9.06552024e-01 -1.07243813e-01 1.08211382e+01] [ 2.18462581e-01 1.70443950e-02 9.75696464e-01 9.68977731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.617105681 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:62.12, Y:10.83, Z:9.71 [[ 8.83842666e-01 -4.16305561e-01 -2.13334997e-01 6.21245065e+01] [ 4.12621122e-01 9.08671592e-01 -6.37161513e-02 1.08308143e+01] [ 2.20376840e-01 -3.17114729e-02 9.74899190e-01 9.71133227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.647105681 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:62.15, Y:10.85, Z:9.71 [[ 8.82465331e-01 -4.23643254e-01 -2.04404827e-01 6.21459875e+01] [ 4.14981051e-01 9.05782642e-01 -8.57235863e-02 1.08503600e+01] [ 2.21462563e-01 -9.17603689e-03 9.75125701e-01 9.71199839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.677105681 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:62.17, Y:10.87, Z:9.72 [[ 8.80948009e-01 -4.26719046e-01 -2.04551855e-01 6.21689630e+01] [ 4.18111095e-01 9.04330096e-01 -8.58498143e-02 1.08663594e+01] [ 2.21616149e-01 -9.89617689e-03 9.75083765e-01 9.71728698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70710568099999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:62.19, Y:10.89, Z:9.72 [[ 8.79472350e-01 -4.29694381e-01 -2.04673212e-01 6.21890266e+01] [ 4.21133919e-01 9.02912578e-01 -8.59947617e-02 1.08880500e+01] [ 2.21753483e-01 -1.05648166e-02 9.75045526e-01 9.72275658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73710568099999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:62.21, Y:10.91, Z:9.73 [[ 8.79002973e-01 -4.30076998e-01 -2.05882365e-01 6.22085613e+01] [ 4.21414479e-01 9.02728950e-01 -8.65463989e-02 1.09119382e+01] [ 2.23077586e-01 -1.06872674e-02 9.74742106e-01 9.72823366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.76710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:62.23, Y:10.94, Z:9.73 [[ 8.78925791e-01 -4.32955356e-01 -2.00097760e-01 6.22277761e+01] [ 4.21472810e-01 9.01411152e-01 -9.90888799e-02 1.09375587e+01] [ 2.23271414e-01 2.75600695e-03 9.74752420e-01 9.73071091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.79710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.25, Y:10.95, Z:9.74 [[ 8.78504204e-01 -4.28017790e-01 -2.12205406e-01 6.22501461e+01] [ 4.21996355e-01 9.03466855e-01 -7.52776046e-02 1.09499922e+01] [ 2.23940705e-01 -2.34182159e-02 9.74321378e-01 9.74317301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.82710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.27, Y:10.98, Z:9.74 [[ 8.78434451e-01 -4.34176772e-01 -1.99608231e-01 6.22693399e+01] [ 4.22028749e-01 9.00811042e-01 -1.02133256e-01 1.09817735e+01] [ 2.24153186e-01 5.47695895e-03 9.74538533e-01 9.74201913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.857105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.29, Y:10.99, Z:9.75 [[ 8.78179405e-01 -4.27837261e-01 -2.13907015e-01 6.22914126e+01] [ 4.22586464e-01 9.03450128e-01 -7.21009469e-02 1.09942039e+01] [ 2.24101791e-01 -2.70766422e-02 9.74189531e-01 9.75488484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.887105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.31, Y:11.02, Z:9.76 [[ 8.78150317e-01 -4.32154999e-01 -2.05168413e-01 6.23095299e+01] [ 4.23541187e-01 9.01733469e-01 -8.65425575e-02 1.10210119e+01] [ 2.22407024e-01 -1.08998991e-02 9.74892973e-01 9.76022365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.917105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.33, Y:11.04, Z:9.77 [[ 8.78183125e-01 -4.32717884e-01 -2.03837269e-01 6.23313692e+01] [ 4.24210431e-01 9.01463714e-01 -8.60737028e-02 1.10390706e+01] [ 2.20997532e-01 -1.08814224e-02 9.75213661e-01 9.76705850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.947105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.35, Y:11.07, Z:9.77 [[ 8.78895629e-01 -4.31965051e-01 -2.02357772e-01 6.23500992e+01] [ 4.23540904e-01 9.01828951e-01 -8.55432394e-02 1.10657133e+01] [ 2.19443787e-01 -1.05232143e-02 9.75568391e-01 9.77303755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.977105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.37, Y:11.09, Z:9.78 [[ 8.81282599e-01 -4.27602743e-01 -2.01238354e-01 6.23686110e+01] [ 4.19139330e-01 9.03918973e-01 -8.51628633e-02 1.10903485e+01] [ 2.18319040e-01 -9.29435920e-03 9.75833188e-01 9.77872932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.007105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.39, Y:11.12, Z:9.79 [[ 8.85868965e-01 -4.19919313e-01 -1.97240837e-01 6.23862845e+01] [ 4.11594716e-01 9.07532847e-01 -8.35100113e-02 1.11166525e+01] [ 2.14070005e-01 -7.20435891e-03 9.76791754e-01 9.78543397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.037105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.41, Y:11.14, Z:9.79 [[ 8.87925522e-01 -4.15782645e-01 -1.96756344e-01 6.24075171e+01] [ 4.07390471e-01 9.09443192e-01 -8.33431771e-02 1.11355566e+01] [ 2.13591364e-01 -6.15412566e-03 9.76903709e-01 9.79110785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.43, Y:11.16, Z:9.80 [[ 8.91423201e-01 -4.06987327e-01 -1.99313804e-01 6.24265976e+01] [ 3.98135248e-01 9.13424988e-01 -8.45169582e-02 1.11610677e+01] [ 2.16455540e-01 -4.01347349e-03 9.76284227e-01 9.79502281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.45, Y:11.18, Z:9.80 [[ 8.93486766e-01 -4.01304168e-01 -2.01584633e-01 6.24490628e+01] [ 3.92083432e-01 9.15941209e-01 -8.55703478e-02 1.11776480e+01] [ 2.18979409e-01 -2.58202144e-03 9.75726064e-01 9.79953383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.47, Y:11.20, Z:9.80 [[ 8.98199264e-01 -3.89141862e-01 -2.04466851e-01 6.24701716e+01] [ 3.79329962e-01 9.21177736e-01 -8.68352348e-02 1.11975124e+01] [ 2.22141536e-01 4.34940940e-04 9.75014333e-01 9.80431746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.49, Y:11.21, Z:9.81 [[ 9.00517524e-01 -3.83607854e-01 -2.04727143e-01 6.24934076e+01] [ 3.73608245e-01 9.23494147e-01 -8.70369970e-02 1.12129868e+01] [ 2.22452394e-01 1.89059225e-03 9.74941720e-01 9.80942377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.18710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.51, Y:11.24, Z:9.82 [[ 9.01173055e-01 -3.82232525e-01 -2.04414827e-01 6.25130059e+01] [ 3.66996504e-01 9.23765246e-01 -1.09413598e-01 1.12368036e+01] [ 2.30652749e-01 2.35810593e-02 9.72750350e-01 9.81664160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.21710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.54, Y:11.25, Z:9.82 [[ 9.01645723e-01 -3.75909960e-01 -2.13838006e-01 6.25397002e+01] [ 3.65576283e-01 9.26655887e-01 -8.75376922e-02 1.12482723e+01] [ 2.31060537e-01 7.53882411e-04 9.72939083e-01 9.82143120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.56, Y:11.26, Z:9.82 [[ 9.03112805e-01 -3.71002727e-01 -2.16204156e-01 6.25642766e+01] [ 3.63620309e-01 9.28562702e-01 -7.45089162e-02 1.12617348e+01] [ 2.28402127e-01 -1.13262658e-02 9.73500993e-01 9.82438422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.59, Y:11.28, Z:9.83 [[ 9.02059846e-01 -3.77965841e-01 -2.08398315e-01 6.25869437e+01] [ 3.67397005e-01 9.25812686e-01 -8.88274222e-02 1.12768874e+01] [ 2.26511535e-01 3.56273404e-03 9.74001967e-01 9.83116497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.307105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.61, Y:11.29, Z:9.84 [[ 9.00093900e-01 -3.83871727e-01 -2.06090922e-01 6.26086178e+01] [ 3.70619583e-01 9.23271431e-01 -1.01049444e-01 1.12884765e+01] [ 2.29067885e-01 1.45726565e-02 9.73301362e-01 9.83910265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.337105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.64, Y:11.30, Z:9.85 [[ 8.96737770e-01 -3.89868996e-01 -2.09436235e-01 6.26371638e+01] [ 3.82191048e-01 9.20811848e-01 -7.76887641e-02 1.12958002e+01] [ 2.23139807e-01 -1.03782052e-02 9.74731204e-01 9.84553543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.367105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.66, Y:11.31, Z:9.85 [[ 8.95481646e-01 -3.96040253e-01 -2.03137243e-01 6.26611553e+01] [ 3.86426029e-01 9.18232779e-01 -8.67380366e-02 1.13070792e+01] [ 2.20879029e-01 -8.25198476e-04 9.75300863e-01 9.85244787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.397105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.69, Y:11.32, Z:9.86 [[ 8.93911611e-01 -4.00520710e-01 -2.01259019e-01 6.26855643e+01] [ 3.89886745e-01 9.16280843e-01 -9.17482605e-02 1.13159183e+01] [ 2.21156862e-01 3.54661133e-03 9.75231800e-01 9.85944174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.427105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.71, Y:11.33, Z:9.86 [[ 8.93414887e-01 -4.01347562e-01 -2.01816684e-01 6.27128664e+01] [ 3.93073514e-01 9.15901677e-01 -8.13469720e-02 1.13254189e+01] [ 2.17492648e-01 -6.65219745e-03 9.76039290e-01 9.86436154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.73, Y:11.34, Z:9.87 [[ 8.91766458e-01 -4.05928758e-01 -1.99936058e-01 6.27317209e+01] [ 3.92325926e-01 9.13773113e-01 -1.05352102e-01 1.13360193e+01] [ 2.25461642e-01 1.55093715e-02 9.74128589e-01 9.87193103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.76, Y:11.35, Z:9.88 [[ 8.91214239e-01 -4.02848305e-01 -2.08447652e-01 6.27606527e+01] [ 3.92061452e-01 9.15266407e-01 -9.26024945e-02 1.13459024e+01] [ 2.28089891e-01 8.04372682e-04 9.73639746e-01 9.87814994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.78, Y:11.36, Z:9.89 [[ 8.91811903e-01 -4.00932444e-01 -2.09582213e-01 6.27840340e+01] [ 3.87676707e-01 9.16048566e-01 -1.02770597e-01 1.13561853e+01] [ 2.33191552e-01 1.04018993e-02 9.72375185e-01 9.88585432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.81, Y:11.36, Z:9.89 [[ 8.94706958e-01 -3.89265934e-01 -2.19023956e-01 6.28148036e+01] [ 3.84533988e-01 9.20772966e-01 -6.56563514e-02 1.13624494e+01] [ 2.27229118e-01 -2.54789608e-02 9.73507961e-01 9.88935417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.84, Y:11.38, Z:9.90 [[ 8.97038230e-01 -3.89361174e-01 -2.09093976e-01 6.28372285e+01] [ 3.78991642e-01 9.21084790e-01 -8.92644706e-02 1.13779253e+01] [ 2.27349400e-01 8.28773424e-04 9.73812900e-01 9.89630737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.86, Y:11.39, Z:9.90 [[ 8.96897808e-01 -3.89703436e-01 -2.09058733e-01 6.28626744e+01] [ 3.79323857e-01 9.20940028e-01 -8.93469369e-02 1.13890671e+01] [ 2.27349364e-01 8.34106687e-04 9.73812903e-01 9.90257276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.637105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.89, Y:11.40, Z:9.91 [[ 8.97689246e-01 -3.88019536e-01 -2.08793814e-01 6.28875890e+01] [ 3.77600677e-01 9.21650169e-01 -8.93235439e-02 1.13992035e+01] [ 2.27094134e-01 1.34409922e-03 9.73871885e-01 9.90794113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.667105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.91, Y:11.41, Z:9.91 [[ 8.99579087e-01 -3.91983707e-01 -1.92629800e-01 6.29143829e+01] [ 3.75563014e-01 9.19383935e-01 -1.16985483e-01 1.14132621e+01] [ 2.22957147e-01 3.28930656e-02 9.74273143e-01 9.90783844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.697105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.94, Y:11.42, Z:9.91 [[ 8.99322404e-01 -3.84613253e-01 -2.08066956e-01 6.29412198e+01] [ 3.73925221e-01 9.23072174e-01 -9.00982229e-02 1.14175173e+01] [ 2.26713788e-01 3.22586783e-03 9.73956083e-01 9.91433544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.727105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.97, Y:11.42, Z:9.93 [[ 8.98619326e-01 -3.76984269e-01 -2.24424081e-01 6.29692151e+01] [ 3.73544554e-01 9.25715560e-01 -5.92888627e-02 1.14203592e+01] [ 2.30103833e-01 -3.05542755e-02 9.72686312e-01 9.92768078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.757105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.99, Y:11.44, Z:9.93 [[ 9.00865268e-01 -3.89504687e-01 -1.91645163e-01 6.29910899e+01] [ 3.72873128e-01 9.20371171e-01 -1.17824182e-01 1.14398166e+01] [ 2.22277754e-01 3.46843817e-02 9.74366252e-01 9.92766599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.787105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.02, Y:11.44, Z:9.94 [[ 8.98759879e-01 -3.78790662e-01 -2.20790205e-01 6.30208122e+01] [ 3.75400711e-01 9.24995049e-01 -5.88087198e-02 1.14376630e+01] [ 2.26506040e-01 -3.00298820e-02 9.73546722e-01 9.94325945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.04, Y:11.45, Z:9.95 [[ 8.97100032e-01 -3.90716666e-01 -2.06281409e-01 6.30425457e+01] [ 3.76938570e-01 9.20379557e-01 -1.04013393e-01 1.14534606e+01] [ 2.30496958e-01 1.55549984e-02 9.72948711e-01 9.95065894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.07, Y:11.46, Z:9.96 [[ 8.92102923e-01 -3.97456330e-01 -2.14897277e-01 6.30707716e+01] [ 3.84315661e-01 9.17585152e-01 -1.01680684e-01 1.14599594e+01] [ 2.37600182e-01 8.12124622e-03 9.71329089e-01 9.95648247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.10, Y:11.47, Z:9.96 [[ 8.86526212e-01 -4.05131595e-01 -2.23471849e-01 6.30975915e+01] [ 3.95560244e-01 9.14200846e-01 -8.81414013e-02 1.14673887e+01] [ 2.40007020e-01 -1.02569164e-02 9.70716965e-01 9.96111608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.12, Y:11.48, Z:9.97 [[ 8.81912779e-01 -4.16671121e-01 -2.20488158e-01 6.31238163e+01] [ 4.09109229e-01 9.08866846e-01 -8.11830946e-02 1.14763948e+01] [ 2.34221028e-01 -1.86073318e-02 9.72005287e-01 9.96707755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.93710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:63.15, Y:11.49, Z:9.97 [[ 8.79552164e-01 -4.24750237e-01 -2.14418343e-01 6.31481855e+01] [ 4.14679880e-01 9.05277319e-01 -9.22690195e-02 1.14880582e+01] [ 2.33299351e-01 -7.75955694e-03 9.72374003e-01 9.97427975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.96710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.17, Y:11.50, Z:9.99 [[ 8.75041292e-01 -4.37001080e-01 -2.08165304e-01 6.31686121e+01] [ 4.20550143e-01 8.99290474e-01 -1.20059239e-01 1.15021035e+01] [ 2.39667092e-01 1.75128427e-02 9.70697165e-01 9.98677059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.997105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:63.20, Y:11.51, Z:9.99 [[ 8.76012041e-01 -4.28454132e-01 -2.21427099e-01 6.31982900e+01] [ 4.25008582e-01 9.02816601e-01 -6.54972595e-02 1.15104457e+01] [ 2.27970632e-01 -3.67320291e-02 9.72974896e-01 9.99085995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.22, Y:11.53, Z:10.00 [[ 8.76196370e-01 -4.33421212e-01 -2.10774701e-01 6.32207088e+01] [ 4.23884310e-01 9.01139626e-01 -9.09366045e-02 1.15280307e+01] [ 2.29351288e-01 -9.66576578e-03 9.73295721e-01 9.99721946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.057105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:63.24, Y:11.54, Z:10.00 [[ 8.77757202e-01 -4.29198129e-01 -2.12911393e-01 6.32439977e+01] [ 4.19320431e-01 9.03169725e-01 -9.19501193e-02 1.15441557e+01] [ 2.31759943e-01 -8.56821752e-03 9.72735275e-01 1.00023260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.087105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.27, Y:11.56, Z:10.01 [[ 8.79023396e-01 -4.26377622e-01 -2.13354151e-01 6.32673895e+01] [ 4.16353823e-01 9.04512030e-01 -9.22360171e-02 1.15581394e+01] [ 2.32308770e-01 -7.75319929e-03 9.72611188e-01 1.00087908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.117105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.29, Y:11.58, Z:10.02 [[ 8.82543732e-01 -4.20533161e-01 -2.10400623e-01 6.32881902e+01] [ 4.07014239e-01 9.07242102e-01 -1.06071567e-01 1.15778244e+01] [ 2.35490914e-01 7.97674691e-03 9.71843815e-01 1.00173935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.147105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.31, Y:11.59, Z:10.02 [[ 8.87437515e-01 -4.06292470e-01 -2.17671970e-01 6.33134008e+01] [ 3.98761576e-01 9.13599165e-01 -7.95347175e-02 1.15891226e+01] [ 2.31179287e-01 -1.62171259e-02 9.72775998e-01 1.00203395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.177105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.33, Y:11.61, Z:10.03 [[ 8.88023895e-01 -4.10567298e-01 -2.06997718e-01 6.33345648e+01] [ 3.95052840e-01 9.11634091e-01 -1.13386676e-01 1.16080896e+01] [ 2.35259038e-01 1.89150409e-02 9.71748633e-01 1.00298685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.36, Y:11.62, Z:10.03 [[ 8.91559193e-01 -3.98689383e-01 -2.14869682e-01 6.33599382e+01] [ 3.93165497e-01 9.16815756e-01 -6.97836700e-02 1.16178141e+01] [ 2.24817918e-01 -2.22630728e-02 9.74146426e-01 1.00330871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.38, Y:11.63, Z:10.04 [[ 8.91677362e-01 -4.03341966e-01 -2.05491460e-01 6.33826186e+01] [ 3.93360007e-01 9.15048388e-01 -8.91871753e-02 1.16333060e+01] [ 2.24007560e-01 -1.30593708e-03 9.74586532e-01 1.00402077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.41, Y:11.65, Z:10.05 [[ 8.91022100e-01 -4.05770637e-01 -2.03543134e-01 6.34055362e+01] [ 3.93050494e-01 9.13917122e-01 -1.01325235e-01 1.16468054e+01] [ 2.27136360e-01 1.02802940e-02 9.73808703e-01 1.00492001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.43, Y:11.66, Z:10.05 [[ 8.92073913e-01 -4.00001761e-01 -2.10244443e-01 6.34307115e+01] [ 3.92534462e-01 9.16423048e-01 -7.80095756e-02 1.16550066e+01] [ 2.23876821e-01 -1.29378820e-02 9.74531570e-01 1.00527289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.45, Y:11.67, Z:10.06 [[ 8.92690041e-01 -4.02571214e-01 -2.02585557e-01 6.34524238e+01] [ 3.86107644e-01 9.15015226e-01 -1.16910317e-01 1.16744121e+01] [ 2.32433598e-01 2.61448439e-02 9.72260803e-01 1.00625357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.357105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.48, Y:11.68, Z:10.07 [[ 8.94579175e-01 -3.91621990e-01 -2.15314459e-01 6.34808790e+01] [ 3.81775218e-01 9.20117280e-01 -8.73606007e-02 1.16813383e+01] [ 2.32326887e-01 -4.05075054e-03 9.72629328e-01 1.00657662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.387105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.51, Y:11.69, Z:10.07 [[ 8.98055615e-01 -3.80512241e-01 -2.20695596e-01 6.35077131e+01] [ 3.73345395e-01 9.24653882e-01 -7.50227581e-02 1.16910331e+01] [ 2.32614118e-01 -1.50210754e-02 9.72453104e-01 1.00686930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.417105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.53, Y:11.71, Z:10.07 [[ 9.00983742e-01 -3.77186617e-01 -2.14379458e-01 6.35310520e+01] [ 3.65465392e-01 9.26118612e-01 -9.34845631e-02 1.17067030e+01] [ 2.33801932e-01 5.87979903e-03 9.72266468e-01 1.00740055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.447105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.56, Y:11.72, Z:10.08 [[ 9.02192068e-01 -3.74393573e-01 -2.14193661e-01 6.35556866e+01] [ 3.62592036e-01 9.27245756e-01 -9.35003990e-02 1.17170819e+01] [ 2.33616112e-01 6.69040274e-03 9.72305894e-01 1.00791167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.477105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.58, Y:11.72, Z:10.09 [[ 9.02781760e-01 -3.72493098e-01 -2.15020896e-01 6.35821078e+01] [ 3.60534526e-01 9.28006600e-01 -9.39074320e-02 1.17241554e+01] [ 2.34520681e-01 7.25545983e-03 9.72084054e-01 1.00853001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.507105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.61, Y:11.73, Z:10.09 [[ 9.01298681e-01 -3.74659196e-01 -2.17465340e-01 6.36100232e+01] [ 3.62459822e-01 9.27137147e-01 -9.50767527e-02 1.17298345e+01] [ 2.37241574e-01 6.87010366e-03 9.71426393e-01 1.00910534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.537105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.64, Y:11.74, Z:10.10 [[ 9.00137432e-01 -3.77252935e-01 -2.17790787e-01 6.36361272e+01] [ 3.65066205e-01 9.26088879e-01 -9.53207958e-02 1.17376532e+01] [ 2.37653676e-01 6.29376031e-03 9.71329563e-01 1.00969120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.66, Y:11.74, Z:10.10 [[ 8.98668152e-01 -3.82203749e-01 -2.15211167e-01 6.36635465e+01] [ 3.70424143e-01 9.24064458e-01 -9.42912042e-02 1.17414998e+01] [ 2.34907442e-01 5.01709017e-03 9.72004795e-01 1.01036763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.69, Y:11.75, Z:10.11 [[ 8.97809155e-01 -3.85048732e-01 -2.13719900e-01 6.36891242e+01] [ 3.73490521e-01 9.22886070e-01 -9.37343776e-02 1.17485355e+01] [ 2.33331422e-01 4.33322556e-03 9.72387613e-01 1.01104594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.72, Y:11.75, Z:10.12 [[ 8.95842965e-01 -3.91772239e-01 -2.09713841e-01 6.37171960e+01] [ 3.80820685e-01 9.20058637e-01 -9.20201581e-02 1.17521600e+01] [ 2.28999974e-01 2.57224264e-03 9.73423030e-01 1.01182665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.74, Y:11.76, Z:10.13 [[ 8.91715002e-01 -4.03707699e-01 -2.04608037e-01 6.37430954e+01] [ 3.88875393e-01 9.14700629e-01 -1.09994037e-01 1.17578354e+01] [ 2.31560539e-01 1.85163027e-02 9.72644263e-01 1.01268044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.68710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.77, Y:11.76, Z:10.13 [[ 8.89098791e-01 -4.05848449e-01 -2.11637370e-01 6.37690968e+01] [ 3.93602136e-01 9.13927920e-01 -9.90611673e-02 1.17639212e+01] [ 2.33625122e-01 4.77424317e-03 9.72315026e-01 1.01332218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.71710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.80, Y:11.77, Z:10.14 [[ 8.84707677e-01 -4.13150194e-01 -2.15868580e-01 6.37973562e+01] [ 4.01147149e-01 9.10662480e-01 -9.88676449e-02 1.17714494e+01] [ 2.37430604e-01 8.73898698e-04 9.71404110e-01 1.01389868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.747105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.83, Y:11.78, Z:10.14 [[ 8.84289265e-01 -4.11174572e-01 -2.21287071e-01 6.38265057e+01] [ 4.05674565e-01 9.11181506e-01 -7.19472818e-02 1.17759637e+01] [ 2.31215579e-01 -2.61483272e-02 9.72551089e-01 1.01428304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.85, Y:11.79, Z:10.15 [[ 8.82650346e-01 -4.21200787e-01 -2.08610316e-01 6.38461217e+01] [ 4.04845935e-01 9.06755976e-01 -1.17870135e-01 1.17924674e+01] [ 2.38805644e-01 1.95830766e-02 9.70869902e-01 1.01515078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.87, Y:11.80, Z:10.16 [[ 8.82247787e-01 -4.16627851e-01 -2.19226085e-01 6.38734987e+01] [ 4.07105910e-01 9.09015802e-01 -8.91910862e-02 1.17998084e+01] [ 2.36439466e-01 -1.05595965e-02 9.71588840e-01 1.01575101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.837105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.90, Y:11.81, Z:10.16 [[ 8.81112256e-01 -4.21508361e-01 -2.14410571e-01 6.38964228e+01] [ 4.08637911e-01 9.06817712e-01 -1.03424827e-01 1.18127132e+01] [ 2.38025733e-01 3.51259531e-03 9.71252497e-01 1.01639139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.867105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.92, Y:11.82, Z:10.17 [[ 8.78044756e-01 -4.27130876e-01 -2.15862506e-01 6.39237376e+01] [ 4.15803082e-01 9.04181449e-01 -9.77941905e-02 1.18230978e+01] [ 2.36949792e-01 -3.88861904e-03 9.71514115e-01 1.01719555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.897105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.95, Y:11.84, Z:10.17 [[ 8.77219757e-01 -4.38285991e-01 -1.95935929e-01 6.39508195e+01] [ 4.22615724e-01 8.98597513e-01 -1.17976521e-01 1.18376637e+01] [ 2.27774995e-01 2.06857305e-02 9.73494043e-01 1.01697272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.98, Y:11.84, Z:10.19 [[ 8.74298019e-01 -4.26658581e-01 -2.31442063e-01 6.39801939e+01] [ 4.28190771e-01 9.02505980e-01 -4.62127652e-02 1.18359854e+01] [ 2.28594919e-01 -5.86976266e-02 9.71750458e-01 1.01881038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.00, Y:11.86, Z:10.20 [[ 8.68934007e-01 -4.49301290e-01 -2.07562139e-01 6.39974652e+01] [ 4.33264321e-01 8.93267773e-01 -1.19811159e-01 1.18593041e+01] [ 2.39239878e-01 1.41787218e-02 9.70856964e-01 1.01967752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.98710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.02, Y:11.87, Z:10.21 [[ 8.66929465e-01 -4.49218393e-01 -2.15954018e-01 6.40221079e+01] [ 4.38545718e-01 8.93367284e-01 -9.78394012e-02 1.18729418e+01] [ 2.36877513e-01 -9.88585007e-03 9.71489225e-01 1.02053927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.01710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.05, Y:11.88, Z:10.21 [[ 8.68876114e-01 -4.42800908e-01 -2.21317996e-01 6.40486779e+01] [ 4.39415376e-01 8.95773855e-01 -6.71068447e-02 1.18822947e+01] [ 2.27965846e-01 -3.89429959e-02 9.72890033e-01 1.02091086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.04710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:64.07, Y:11.90, Z:10.21 [[ 8.67786316e-01 -4.49666314e-01 -2.11535143e-01 6.40683716e+01] [ 4.39994731e-01 8.93117122e-01 -9.35224155e-02 1.19049213e+01] [ 2.30979538e-01 -1.19168761e-02 9.72885626e-01 1.02142055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.07710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.09, Y:11.92, Z:10.22 [[ 8.67567743e-01 -4.49659040e-01 -2.12445191e-01 6.40912713e+01] [ 4.39879421e-01 8.93121297e-01 -9.40236310e-02 1.19198424e+01] [ 2.32017900e-01 -1.18783981e-02 9.72638986e-01 1.02195323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.11, Y:11.94, Z:10.23 [[ 8.67541970e-01 -4.48760045e-01 -2.14441957e-01 6.41126643e+01] [ 4.38756027e-01 8.93575534e-01 -9.49521688e-02 1.19396264e+01] [ 2.34230826e-01 -1.17127094e-02 9.72110453e-01 1.02250092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.137105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.13, Y:11.96, Z:10.23 [[ 8.68657912e-01 -4.46476982e-01 -2.14689862e-01 6.41308455e+01] [ 4.36357526e-01 8.94727247e-01 -9.51591434e-02 1.19623487e+01] [ 2.34575237e-01 -1.10207945e-02 9.72035493e-01 1.02323393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.167105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.15, Y:11.99, Z:10.23 [[ 8.70862556e-01 -4.51139936e-01 -1.95118339e-01 6.41544426e+01] [ 4.33973924e-01 8.92107897e-01 -1.25738351e-01 1.19865544e+01] [ 2.30792203e-01 2.48245505e-02 9.72686332e-01 1.02326063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.197105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.18, Y:12.00, Z:10.24 [[ 8.72328988e-01 -4.32224662e-01 -2.28525661e-01 6.41759469e+01] [ 4.30248763e-01 9.00640863e-01 -6.10903993e-02 1.19981288e+01] [ 2.32224326e-01 -4.50319569e-02 9.71619259e-01 1.02444551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.227105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.19, Y:12.03, Z:10.25 [[ 8.75352392e-01 -4.33738284e-01 -2.13610137e-01 6.41933546e+01] [ 4.23302903e-01 9.01008618e-01 -9.48584338e-02 1.20255749e+01] [ 2.33608309e-01 -7.38723432e-03 9.72302724e-01 1.02527963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.257105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.21, Y:12.04, Z:10.26 [[ 8.77562143e-01 -4.30527753e-01 -2.11022605e-01 6.42097367e+01] [ 4.14784837e-01 9.02460820e-01 -1.16266967e-01 1.20420922e+01] [ 2.40495789e-01 1.45025117e-02 9.70541835e-01 1.02627986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.287105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.23, Y:12.07, Z:10.27 [[ 8.84831151e-01 -4.14847292e-01 -2.12074419e-01 6.42330483e+01] [ 4.01254090e-01 9.09852322e-01 -1.05659392e-01 1.20661057e+01] [ 2.36788915e-01 8.39499368e-03 9.71524850e-01 1.02711306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.26, Y:12.08, Z:10.27 [[ 8.89383038e-01 -4.02095526e-01 -2.17524711e-01 6.42612977e+01] [ 3.96091410e-01 9.15341731e-01 -7.25335206e-02 1.20787547e+01] [ 2.28274850e-01 -2.16495866e-02 9.73355993e-01 1.02726867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.28, Y:12.10, Z:10.28 [[ 8.94752749e-01 -3.95822428e-01 -2.06741684e-01 6.42807155e+01] [ 3.84979165e-01 9.18322875e-01 -9.20550868e-02 1.21010613e+01] [ 2.26293086e-01 2.77530102e-03 9.74055305e-01 1.02798747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.37710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.30, Y:12.12, Z:10.28 [[ 8.97050237e-01 -3.89103166e-01 -2.09522310e-01 6.43036727e+01] [ 3.77757404e-01 9.21182556e-01 -9.33918696e-02 1.21177434e+01] [ 2.29347370e-01 4.62859476e-03 9.73333633e-01 1.02827185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.40710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:64.32, Y:12.13, Z:10.29 [[ 8.96338013e-01 -3.91834328e-01 -2.07470543e-01 6.43241320e+01] [ 3.74315088e-01 9.19562754e-01 -1.19551482e-01 1.21317123e+01] [ 2.37626558e-01 2.94991836e-02 9.70908552e-01 1.02915898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.43710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:64.36, Y:12.13, Z:10.29 [[ 8.96678120e-01 -3.81760254e-01 -2.24114831e-01 6.43574845e+01] [ 3.74664082e-01 9.24112187e-01 -7.51231776e-02 1.21349133e+01] [ 2.35786290e-01 -1.66064678e-02 9.71663034e-01 1.02864276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.46710568099999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:64.38, Y:12.15, Z:10.30 [[ 8.96237557e-01 -3.88554015e-01 -2.13972007e-01 6.43776162e+01] [ 3.72921998e-01 9.21218666e-01 -1.10839315e-01 1.21488510e+01] [ 2.40182068e-01 1.95434886e-02 9.70531105e-01 1.02965759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.497105681 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:64.41, Y:12.15, Z:10.30 [[ 8.94033560e-01 -3.87227793e-01 -2.25296760e-01 6.44081645e+01] [ 3.77281281e-01 9.21958986e-01 -8.74669296e-02 1.21548408e+01] [ 2.41583998e-01 -6.80187973e-03 9.70356072e-01 1.02990087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.527105681 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:64.43, Y:12.17, Z:10.31 [[ 8.94050110e-01 -3.90025682e-01 -2.20350559e-01 6.44322103e+01] [ 3.77398107e-01 9.20790601e-01 -9.85664104e-02 1.21682543e+01] [ 2.41340155e-01 4.96342619e-03 9.70427892e-01 1.03067264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.557105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.46, Y:12.17, Z:10.31 [[ 8.90953745e-01 -3.95928717e-01 -2.22355290e-01 6.44586852e+01] [ 3.83230251e-01 9.18274719e-01 -9.95294660e-02 1.21736519e+01] [ 2.43589815e-01 3.46287679e-03 9.69872162e-01 1.03138757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.587105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.48, Y:12.18, Z:10.32 [[ 8.89867852e-01 -3.99615899e-01 -2.20096205e-01 6.44845593e+01] [ 3.87271535e-01 9.16679285e-01 -9.85892865e-02 1.21825081e+01] [ 2.41155478e-01 2.49444136e-03 9.70483288e-01 1.03209662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.617105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.51, Y:12.19, Z:10.33 [[ 8.87344503e-01 -4.07079755e-01 -2.16577484e-01 6.45112859e+01] [ 3.95327491e-01 9.13392451e-01 -9.71102757e-02 1.21885698e+01] [ 2.37351866e-01 5.51236217e-04 9.71423588e-01 1.03289901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.647105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.54, Y:12.20, Z:10.33 [[ 8.85696111e-01 -4.11238998e-01 -2.15464349e-01 6.45361852e+01] [ 3.99706151e-01 9.11527437e-01 -9.67094826e-02 1.21967598e+01] [ 2.36172376e-01 -4.67212944e-04 9.71711063e-01 1.03349792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.56, Y:12.20, Z:10.34 [[ 8.81671640e-01 -4.21207547e-01 -2.12695373e-01 6.45626949e+01] [ 4.10242010e-01 9.06959223e-01 -9.55325137e-02 1.22029542e+01] [ 2.33145046e-01 -3.02826925e-03 9.72437256e-01 1.03416499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.59, Y:12.21, Z:10.35 [[ 8.79327306e-01 -4.26649430e-01 -2.11550827e-01 6.45877245e+01] [ 4.15934744e-01 9.04406607e-01 -9.51156097e-02 1.22139441e+01] [ 2.31908987e-01 -4.35358632e-03 9.72727746e-01 1.03491486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.61, Y:12.22, Z:10.35 [[ 8.76406594e-01 -4.31930312e-01 -2.12949963e-01 6.46089990e+01] [ 4.21459175e-01 9.01882131e-01 -9.47670075e-02 1.22232553e+01] [ 2.32988510e-01 -6.69528548e-03 9.72456440e-01 1.03544168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.76710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.64, Y:12.24, Z:10.36 [[ 8.73225198e-01 -4.38232936e-01 -2.13142317e-01 6.46373355e+01] [ 4.26667099e-01 8.98854437e-01 -1.00079407e-01 1.22366299e+01] [ 2.35442009e-01 -3.54895394e-03 9.71881919e-01 1.03597845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.79710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.66, Y:12.25, Z:10.37 [[ 8.72330452e-01 -4.38840218e-01 -2.15543143e-01 6.46623520e+01] [ 4.28012245e-01 8.98533903e-01 -9.71717222e-02 1.22468331e+01] [ 2.36315681e-01 -7.48925233e-03 9.71647472e-01 1.03652305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.82710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.69, Y:12.26, Z:10.37 [[ 8.70222804e-01 -4.42297208e-01 -2.16991825e-01 6.46867295e+01] [ 4.31402623e-01 8.96829248e-01 -9.79238372e-02 1.22599152e+01] [ 2.37916055e-01 -8.39528631e-03 9.71249438e-01 1.03711803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.857105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.71, Y:12.27, Z:10.38 [[ 8.67788499e-01 -4.47761794e-01 -2.15528412e-01 6.47104878e+01] [ 4.37156862e-01 8.94099931e-01 -9.73611421e-02 1.22737802e+01] [ 2.36298538e-01 -9.73084475e-03 9.71631778e-01 1.03788138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.887105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.73, Y:12.29, Z:10.39 [[ 8.66933606e-01 -4.50667930e-01 -2.12895610e-01 6.47342532e+01] [ 4.40385798e-01 8.92632288e-01 -9.62701753e-02 1.22854163e+01] [ 2.33423376e-01 -1.02963527e-02 9.72320684e-01 1.03862773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.917105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.75, Y:12.30, Z:10.40 [[ 8.66729141e-01 -4.54310794e-01 -2.05869616e-01 6.47547633e+01] [ 4.41960691e-01 8.90843230e-01 -1.05209726e-01 1.23002476e+01] [ 2.31195468e-01 2.02057746e-04 9.72907300e-01 1.03977517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.947105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:64.78, Y:12.31, Z:10.40 [[ 8.69210030e-01 -4.48674924e-01 -2.07761250e-01 6.47806263e+01] [ 4.38676955e-01 8.93650673e-01 -9.46097443e-02 1.23119104e+01] [ 2.28115001e-01 -8.90433393e-03 9.73593477e-01 1.04011446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.977105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.80, Y:12.33, Z:10.41 [[ 8.75097503e-01 -4.38399772e-01 -2.04963414e-01 6.48014281e+01] [ 4.27557839e-01 8.98775706e-01 -9.69356766e-02 1.23330908e+01] [ 2.26712716e-01 -2.80554579e-03 9.73957634e-01 1.04057025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.007105681 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:64.82, Y:12.35, Z:10.41 [[ 8.82654361e-01 -4.19902539e-01 -2.11194545e-01 6.48243287e+01] [ 4.11931806e-01 9.07460255e-01 -8.26321561e-02 1.23547004e+01] [ 2.26348108e-01 -1.40621174e-02 9.73944963e-01 1.04100160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.037105681 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:64.85, Y:12.37, Z:10.42 [[ 8.86250810e-01 -4.15220173e-01 -2.05308818e-01 6.48469059e+01] [ 4.03454304e-01 9.09711121e-01 -9.82359407e-02 1.23744703e+01] [ 2.27561260e-01 4.22895553e-03 9.73754584e-01 1.04163306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06710568099999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:64.86, Y:12.39, Z:10.42 [[ 8.89570036e-01 -4.03816072e-01 -2.13536252e-01 6.48642367e+01] [ 3.90940971e-01 9.14815639e-01 -1.01378026e-01 1.23935507e+01] [ 2.36284379e-01 6.70278434e-03 9.71660828e-01 1.04205765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09710568099999 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:64.89, Y:12.41, Z:10.42 [[ 8.89799443e-01 -3.99933039e-01 -2.19796534e-01 6.48906748e+01] [ 3.89223569e-01 9.16536958e-01 -9.20055276e-02 1.24104563e+01] [ 2.38247697e-01 -3.68352429e-03 9.71197439e-01 1.04214909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.12710568099999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:64.91, Y:12.42, Z:10.43 [[ 8.89835791e-01 -4.01018046e-01 -2.17662105e-01 6.49139819e+01] [ 3.88661455e-01 9.16064018e-01 -9.88381911e-02 1.24245556e+01] [ 2.39028320e-01 3.35288970e-03 9.71006808e-01 1.04280131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.15710568099999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:64.94, Y:12.44, Z:10.43 [[ 8.89491722e-01 -4.01179907e-01 -2.18767360e-01 6.49365586e+01] [ 3.88676593e-01 9.15992905e-01 -9.94359303e-02 1.24377493e+01] [ 2.40281047e-01 3.41768447e-03 9.70697346e-01 1.04340231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.18710568099999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:64.96, Y:12.45, Z:10.44 [[ 8.88901499e-01 -4.01929315e-01 -2.19788425e-01 6.49608359e+01] [ 3.89318474e-01 9.15664846e-01 -9.99450668e-02 1.24492049e+01] [ 2.41423387e-01 3.27362527e-03 9.70414361e-01 1.04401085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.21710568099999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:64.98, Y:12.46, Z:10.45 [[ 8.88017950e-01 -4.04462696e-01 -2.18709961e-01 6.49833089e+01] [ 3.89916685e-01 9.14492540e-01 -1.08020244e-01 1.24568704e+01] [ 2.43698787e-01 1.06452523e-02 9.69792545e-01 1.04482945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.247105681 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:65.01, Y:12.47, Z:10.45 [[ 8.86140876e-01 -4.07867398e-01 -2.19996669e-01 6.50123363e+01] [ 3.96656111e-01 9.13036045e-01 -9.50216324e-02 1.24669404e+01] [ 2.39621114e-01 -3.06047052e-03 9.70861656e-01 1.04536231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.277105681 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:65.04, Y:12.48, Z:10.46 [[ 8.83073733e-01 -4.15868430e-01 -2.17334376e-01 6.50395629e+01] [ 4.05142845e-01 9.09410692e-01 -9.39758923e-02 1.24758188e+01] [ 2.36727812e-01 -5.06382566e-03 9.71562813e-01 1.04640383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.307105681 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:65.06, Y:12.49, Z:10.48 [[ 8.79939309e-01 -4.27401790e-01 -2.07447639e-01 6.50565442e+01] [ 4.09394152e-01 9.03705690e-01 -1.25349326e-01 1.24874960e+01] [ 2.41046138e-01 2.53719484e-02 9.70181954e-01 1.04762489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.337105681 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:65.09, Y:12.49, Z:10.48 [[ 8.78968052e-01 -4.24229534e-01 -2.17817507e-01 6.50872517e+01] [ 4.13261990e-01 9.05537189e-01 -9.60048292e-02 1.24926299e+01] [ 2.37969937e-01 -5.63051885e-03 9.71256200e-01 1.04777201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.367105681 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:65.12, Y:12.50, Z:10.49 [[ 8.75075131e-01 -4.31232660e-01 -2.19731447e-01 6.51179844e+01] [ 4.18687724e-01 9.02239291e-01 -1.03270766e-01 1.25009454e+01] [ 2.42784072e-01 -1.62918034e-03 9.70078987e-01 1.04888356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.397105681 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:65.15, Y:12.51, Z:10.49 [[ 8.72049297e-01 -4.31838093e-01 -2.30316924e-01 6.51464440e+01] [ 4.26608422e-01 9.01343995e-01 -7.47278883e-02 1.25079264e+01] [ 2.39865125e-01 -3.30887370e-02 9.70242164e-01 1.04939326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42710568099999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:65.17, Y:12.53, Z:10.50 [[ 8.71311513e-01 -4.40149912e-01 -2.16989175e-01 6.51674895e+01] [ 4.28211869e-01 8.97914802e-01 -1.01899963e-01 1.25251277e+01] [ 2.39689052e-01 -4.13072963e-03 9.70840922e-01 1.05040059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45710568099999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:65.19, Y:12.54, Z:10.51 [[ 8.70272553e-01 -4.45177859e-01 -2.10813560e-01 6.51861389e+01] [ 4.28963807e-01 8.95334618e-01 -1.19858141e-01 1.25372341e+01] [ 2.42106868e-01 1.38778632e-02 9.70150333e-01 1.05130324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.48710568099999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:65.22, Y:12.54, Z:10.52 [[ 8.70060777e-01 -4.38512502e-01 -2.25168891e-01 6.52189310e+01] [ 4.31760670e-01 8.98330817e-01 -8.11447344e-02 1.25430581e+01] [ 2.37859135e-01 -2.66182207e-02 9.70934860e-01 1.05154344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.51710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:65.24, Y:12.56, Z:10.53 [[ 8.68813824e-01 -4.47271227e-01 -2.12393477e-01 6.52356969e+01] [ 4.30458225e-01 8.94274113e-01 -1.22390878e-01 1.25596297e+01] [ 2.44679907e-01 1.49083676e-02 9.69489290e-01 1.05302240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.54710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:65.27, Y:12.57, Z:10.53 [[ 8.72109743e-01 -4.37529039e-01 -2.19072902e-01 6.52653444e+01] [ 4.29949588e-01 8.98956323e-01 -8.37906982e-02 1.25707832e+01] [ 2.33597834e-01 -2.11156199e-02 9.72103998e-01 1.05296701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.57710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.29, Y:12.59, Z:10.54 [[ 8.73750045e-01 -4.37141785e-01 -2.13232077e-01 6.52855214e+01] [ 4.23948803e-01 8.99388370e-01 -1.06620693e-01 1.25861448e+01] [ 2.38386810e-01 2.76035108e-03 9.71166365e-01 1.05417447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.607105681 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:65.31, Y:12.61, Z:10.55 [[ 8.80920323e-01 -4.24885920e-01 -2.08449847e-01 6.53052406e+01] [ 4.08720535e-01 9.05061298e-01 -1.17522642e-01 1.26052470e+01] [ 2.38593604e-01 1.83303506e-02 9.70946492e-01 1.05490252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.637105681 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:65.33, Y:12.62, Z:10.55 [[ 8.88465026e-01 -4.04430856e-01 -2.16946031e-01 6.53314225e+01] [ 3.92455107e-01 9.14567061e-01 -9.77040389e-02 1.26198860e+01] [ 2.37926222e-01 1.66504360e-03 9.71281803e-01 1.05497301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.667105681 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:65.36, Y:12.63, Z:10.55 [[ 8.91228104e-01 -3.98842167e-01 -2.15956921e-01 6.53577489e+01] [ 3.87294750e-01 9.17018691e-01 -9.52863940e-02 1.26320947e+01] [ 2.36040765e-01 1.28293049e-03 9.71742307e-01 1.05540055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.697105681 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:65.38, Y:12.65, Z:10.56 [[ 8.92238388e-01 -3.98566381e-01 -2.12262805e-01 6.53809085e+01] [ 3.81927822e-01 9.16861339e-01 -1.16174110e-01 1.26462548e+01] [ 2.40918654e-01 2.25859296e-02 9.70282473e-01 1.05633134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.727105681 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:65.41, Y:12.65, Z:10.57 [[ 8.90661737e-01 -3.95118882e-01 -2.24950525e-01 6.54089909e+01] [ 3.82023684e-01 9.18621357e-01 -1.00958937e-01 1.26536437e+01] [ 2.46535139e-01 3.98383361e-03 9.69125665e-01 1.05654436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.757105681 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:65.44, Y:12.66, Z:10.56 [[ 8.90307176e-01 -3.93930991e-01 -2.28410831e-01 6.54383687e+01] [ 3.86303012e-01 9.18968500e-01 -7.91636199e-02 1.26623574e+01] [ 2.41087362e-01 -1.77558531e-02 9.70340978e-01 1.05648606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.787105681 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:65.46, Y:12.67, Z:10.58 [[ 8.88426354e-01 -4.02705584e-01 -2.20288053e-01 6.54648279e+01] [ 3.90069002e-01 9.15324531e-01 -1.00135793e-01 1.26700375e+01] [ 2.41960302e-01 3.03573666e-03 9.70281401e-01 1.05758821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:65.49, Y:12.68, Z:10.58 [[ 8.87383715e-01 -4.06050216e-01 -2.18342310e-01 6.54894912e+01] [ 3.93283665e-01 9.13842713e-01 -1.01091318e-01 1.26776230e+01] [ 2.40578681e-01 3.83632545e-03 9.70622059e-01 1.05833689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.52, Y:12.68, Z:10.59 [[ 8.85153212e-01 -4.12175539e-01 -2.15905341e-01 6.55163154e+01] [ 3.99950324e-01 9.11102551e-01 -9.96588160e-02 1.26838017e+01] [ 2.37788833e-01 1.86190982e-03 9.71315090e-01 1.05925525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.87710568099999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:65.54, Y:12.69, Z:10.60 [[ 8.83660852e-01 -4.16657931e-01 -2.13400252e-01 6.55388325e+01] [ 4.01325118e-01 9.08953984e-01 -1.12875175e-01 1.26941491e+01] [ 2.41001345e-01 1.41004917e-02 9.70422345e-01 1.06014391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.90710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:65.57, Y:12.70, Z:10.61 [[ 8.80637722e-01 -4.20599445e-01 -2.18113064e-01 6.55682465e+01] [ 4.07537538e-01 9.07242325e-01 -1.04040947e-01 1.26988539e+01] [ 2.41640968e-01 2.73312119e-03 9.70361877e-01 1.06055067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.60, Y:12.71, Z:10.61 [[ 8.79410330e-01 -4.21497003e-01 -2.21309168e-01 6.55961643e+01] [ 4.12247489e-01 9.06734491e-01 -8.87950991e-02 1.27052833e+01] [ 2.38095524e-01 -1.31468214e-02 9.71152760e-01 1.06099347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.96710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.62, Y:12.71, Z:10.62 [[ 8.78699865e-01 -4.26714607e-01 -2.14012129e-01 6.56213410e+01] [ 4.15059535e-01 9.04384587e-01 -9.90661457e-02 1.27140545e+01] [ 2.35822243e-01 -1.77836596e-03 9.71794581e-01 1.06192977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.997105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.64, Y:12.72, Z:10.63 [[ 8.80767184e-01 -4.22908939e-01 -2.13066180e-01 6.56403587e+01] [ 4.07524473e-01 9.06072764e-01 -1.13824208e-01 1.27206504e+01] [ 2.41190738e-01 1.34229441e-02 9.70384899e-01 1.06282723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.67, Y:12.73, Z:10.63 [[ 8.83706729e-01 -4.12942614e-01 -2.20319801e-01 6.56745041e+01] [ 4.02343360e-01 9.10735210e-01 -9.31729414e-02 1.27290514e+01] [ 2.39128078e-01 -6.30665384e-03 9.70967553e-01 1.06342299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.057105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.70, Y:12.74, Z:10.64 [[ 8.86019698e-01 -4.09646488e-01 -2.17160885e-01 6.56973541e+01] [ 3.97119661e-01 9.12239840e-01 -1.00570620e-01 1.27402159e+01] [ 2.39301212e-01 2.86869303e-03 9.70941142e-01 1.06418003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.087105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:65.72, Y:12.75, Z:10.65 [[ 8.90533954e-01 -4.02027614e-01 -2.12892167e-01 6.57171183e+01] [ 3.84649585e-01 9.15299834e-01 -1.19460915e-01 1.27496457e+01] [ 2.42886752e-01 2.44951171e-02 9.69745335e-01 1.06518262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.117105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.75, Y:12.76, Z:10.66 [[ 8.91348763e-01 -3.96809496e-01 -2.19179394e-01 6.57460451e+01] [ 3.81096033e-01 9.17760607e-01 -1.11719656e-01 1.27580252e+01] [ 2.45485634e-01 1.60527794e-02 9.69267307e-01 1.06590031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.147105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.77, Y:12.76, Z:10.67 [[ 8.91619464e-01 -3.93496574e-01 -2.23998164e-01 6.57740672e+01] [ 3.76715914e-01 9.19144239e-01 -1.15147676e-01 1.27619280e+01] [ 2.51196838e-01 1.82842358e-02 9.67763316e-01 1.06653084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.80, Y:12.76, Z:10.67 [[ 8.91803458e-01 -3.91324086e-01 -2.27050770e-01 6.58030720e+01] [ 3.76445412e-01 9.20195466e-01 -1.07373912e-01 1.27647436e+01] [ 2.50949087e-01 1.02842051e-02 9.67945655e-01 1.06703474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.84, Y:12.77, Z:10.67 [[ 8.92561088e-01 -3.86893038e-01 -2.31621418e-01 6.58352145e+01] [ 3.80253125e-01 9.21873099e-01 -7.45489818e-02 1.27696815e+01] [ 2.42368036e-01 -2.15352475e-02 9.69945343e-01 1.06727279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.86, Y:12.78, Z:10.68 [[ 8.89300059e-01 -4.01190281e-01 -2.19526224e-01 6.58606178e+01] [ 3.88098727e-01 9.15979261e-01 -1.01790826e-01 1.27775603e+01] [ 2.41918958e-01 5.32473958e-03 9.70281848e-01 1.06815025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.89, Y:12.78, Z:10.69 [[ 8.82921764e-01 -4.18166701e-01 -2.13508240e-01 6.58850051e+01] [ 3.98038862e-01 9.07821766e-01 -1.32002674e-01 1.27834144e+01] [ 2.49026550e-01 3.15634570e-02 9.67982193e-01 1.06933067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.91, Y:12.78, Z:10.70 [[ 8.81692749e-01 -4.13537923e-01 -2.27165761e-01 6.59146056e+01] [ 4.02614203e-01 9.10452472e-01 -9.47528407e-02 1.27845465e+01] [ 2.46007522e-01 -7.91726917e-03 9.69235583e-01 1.06989409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.94, Y:12.79, Z:10.71 [[ 8.80113865e-01 -4.20648524e-01 -2.20123610e-01 6.59395303e+01] [ 4.04469942e-01 9.07125776e-01 -1.16305173e-01 1.27927049e+01] [ 2.48603400e-01 1.33284121e-02 9.68513657e-01 1.07095318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.357105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.97, Y:12.80, Z:10.71 [[ 8.81798769e-01 -4.12693623e-01 -2.28286890e-01 6.59704965e+01] [ 4.06784482e-01 9.10468645e-01 -7.46540821e-02 1.27959726e+01] [ 2.38657319e-01 -2.70336868e-02 9.70727492e-01 1.07120122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.387105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.99, Y:12.82, Z:10.72 [[ 8.80663557e-01 -4.25373837e-01 -2.08539679e-01 6.59899798e+01] [ 4.04278477e-01 9.04278668e-01 -1.37255248e-01 1.28152982e+01] [ 2.46962775e-01 3.65675910e-02 9.68334756e-01 1.07237078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.417105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.02, Y:12.82, Z:10.73 [[ 8.80243009e-01 -4.18229018e-01 -2.24180138e-01 6.60177109e+01] [ 4.04693933e-01 9.08338962e-01 -1.05561121e-01 1.28214661e+01] [ 2.47780278e-01 2.19509688e-03 9.68813767e-01 1.07302146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.447105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.05, Y:12.83, Z:10.73 [[ 8.80376664e-01 -4.13691336e-01 -2.31940526e-01 6.60469222e+01] [ 4.09506870e-01 9.09748926e-01 -6.82716266e-02 1.28277604e+01] [ 2.39251025e-01 -3.48764920e-02 9.70331169e-01 1.07306965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.477105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.07, Y:12.85, Z:10.74 [[ 8.76914377e-01 -4.31723526e-01 -2.11272270e-01 6.60653667e+01] [ 4.10552773e-01 9.01360307e-01 -1.37826041e-01 1.28496156e+01] [ 2.49935183e-01 3.41232210e-02 9.67661103e-01 1.07413960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.507105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.10, Y:12.85, Z:10.74 [[ 8.75561947e-01 -4.21926603e-01 -2.35306650e-01 6.60986646e+01] [ 4.17383232e-01 9.05925193e-01 -7.13497230e-02 1.28474318e+01] [ 2.43274568e-01 -3.57419476e-02 9.69298714e-01 1.07416126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.537105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.12, Y:12.86, Z:10.75 [[ 8.73978345e-01 -4.31943367e-01 -2.22680894e-01 6.61203118e+01] [ 4.19287172e-01 9.01896913e-01 -1.03827862e-01 1.28640076e+01] [ 2.45682967e-01 -2.62393924e-03 9.69346685e-01 1.07482375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.14, Y:12.88, Z:10.76 [[ 8.70987805e-01 -4.38908334e-01 -2.20770738e-01 6.61404953e+01] [ 4.20267563e-01 8.98338654e-01 -1.27917314e-01 1.28780698e+01] [ 2.54470863e-01 1.86316406e-02 9.66900947e-01 1.07577679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.17, Y:12.89, Z:10.77 [[ 8.72272124e-01 -4.32119415e-01 -2.28941373e-01 6.61686785e+01] [ 4.24320312e-01 9.01521269e-01 -8.49215777e-02 1.28875621e+01] [ 2.43091780e-01 -2.30697501e-02 9.69728917e-01 1.07650235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.19, Y:12.91, Z:10.77 [[ 8.72909002e-01 -4.37124187e-01 -2.16684838e-01 6.61894637e+01] [ 4.22137963e-01 8.99367168e-01 -1.13746372e-01 1.29054858e+01] [ 2.44600519e-01 7.81933571e-03 9.69592411e-01 1.07749603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.21, Y:12.92, Z:10.78 [[ 8.76434676e-01 -4.28323363e-01 -2.20003079e-01 6.62142183e+01] [ 4.18720893e-01 9.03541263e-01 -9.10274644e-02 1.29172577e+01] [ 2.37771050e-01 -1.23402594e-02 9.71242836e-01 1.07821142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.68710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.23, Y:12.93, Z:10.79 [[ 8.79229012e-01 -4.26321126e-01 -2.12618537e-01 6.62347894e+01] [ 4.14583334e-01 9.04571538e-01 -9.93528662e-02 1.29347507e+01] [ 2.34684903e-01 -7.94179714e-04 9.72071173e-01 1.07886504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.71710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.26, Y:12.95, Z:10.80 [[ 8.80548397e-01 -4.24745085e-01 -2.10300101e-01 6.62580787e+01] [ 4.13205957e-01 9.05312938e-01 -9.83327064e-02 1.29488331e+01] [ 2.32153736e-01 -3.10547477e-04 9.72679056e-01 1.07953830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.747105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.28, Y:12.96, Z:10.80 [[ 8.82493073e-01 -4.21084290e-01 -2.09508941e-01 6.62810984e+01] [ 4.09508438e-01 9.07021209e-01 -9.80579732e-02 1.29642805e+01] [ 2.31319725e-01 7.39803201e-04 9.72877504e-01 1.08022720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.30, Y:12.98, Z:10.81 [[ 8.85651768e-01 -4.13005156e-01 -2.12244403e-01 6.63041840e+01] [ 4.00866190e-01 9.10723784e-01 -9.94408724e-02 1.29794799e+01] [ 2.34365619e-01 2.98837917e-03 9.72143933e-01 1.08075658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.33, Y:12.99, Z:10.81 [[ 8.87320528e-01 -4.08857482e-01 -2.13302225e-01 6.63268802e+01] [ 3.96452150e-01 9.12588570e-01 -1.00038964e-01 1.29924189e+01] [ 2.35558851e-01 4.20250074e-03 9.71851000e-01 1.08130913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.837105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.35, Y:13.01, Z:10.82 [[ 8.89292194e-01 -4.02905775e-01 -2.16393925e-01 6.63516152e+01] [ 3.89947160e-01 9.15222372e-01 -1.01534335e-01 1.30054485e+01] [ 2.38957331e-01 5.91149498e-03 9.71012074e-01 1.08174938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.867105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.38, Y:13.02, Z:10.82 [[ 8.89515413e-01 -3.98965295e-01 -2.22685931e-01 6.63773281e+01] [ 3.85079694e-01 9.16937074e-01 -1.04594606e-01 1.30152098e+01] [ 2.45918604e-01 7.28668409e-03 9.69263094e-01 1.08217359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.897105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.40, Y:13.03, Z:10.83 [[ 8.89847338e-01 -3.97452303e-01 -2.24061111e-01 6.64023842e+01] [ 3.83316655e-01 9.17589186e-01 -1.05349071e-01 1.30263095e+01] [ 2.47467283e-01 7.85823504e-03 9.68864383e-01 1.08266710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.43, Y:13.04, Z:10.83 [[ 8.91073221e-01 -3.94297892e-01 -2.24761398e-01 6.64276871e+01] [ 3.79945676e-01 9.18939913e-01 -1.05786197e-01 1.30362614e+01] [ 2.48253494e-01 8.86612575e-03 9.68654528e-01 1.08323527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.45, Y:13.05, Z:10.84 [[ 8.91856250e-01 -3.92890034e-01 -2.24120169e-01 6.64533445e+01] [ 3.78550162e-01 9.19538118e-01 -1.05590832e-01 1.30452598e+01] [ 2.47572624e-01 9.33111736e-03 9.68824404e-01 1.08393706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.98710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.48, Y:13.05, Z:10.85 [[ 8.93164793e-01 -3.91965938e-01 -2.20497974e-01 6.64812462e+01] [ 3.78040654e-01 9.19930473e-01 -1.03986480e-01 1.30495432e+01] [ 2.43601964e-01 9.51986421e-03 9.69828570e-01 1.08473440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.01710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.51, Y:13.06, Z:10.85 [[ 8.92248467e-01 -3.96044726e-01 -2.16889945e-01 6.65078107e+01] [ 3.82672188e-01 9.18193185e-01 -1.02387851e-01 1.30551752e+01] [ 2.39697037e-01 8.35765337e-03 9.70811763e-01 1.08546520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.04710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.53, Y:13.06, Z:10.86 [[ 8.91022389e-01 -3.99110465e-01 -2.16309823e-01 6.65338051e+01] [ 3.85888160e-01 9.16871724e-01 -1.02159531e-01 1.30639799e+01] [ 2.39101298e-01 7.55502946e-03 9.70965237e-01 1.08606686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.07710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.56, Y:13.07, Z:10.87 [[ 8.87967113e-01 -4.05148210e-01 -2.17644973e-01 6.65608333e+01] [ 3.91911810e-01 9.14230882e-01 -1.02893284e-01 1.30682113e+01] [ 2.40664785e-01 6.06821738e-03 9.70589325e-01 1.08651357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.59, Y:13.07, Z:10.87 [[ 8.83560910e-01 -4.12584540e-01 -2.21571918e-01 6.65892738e+01] [ 3.99074942e-01 9.10909763e-01 -1.04797878e-01 1.30740118e+01] [ 2.45070008e-01 4.17150783e-03 9.69496410e-01 1.08695537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.137105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.62, Y:13.08, Z:10.87 [[ 8.78506047e-01 -4.21493879e-01 -2.24877824e-01 6.66175050e+01] [ 4.07829523e-01 9.06829418e-01 -1.06468243e-01 1.30782091e+01] [ 2.48801538e-01 1.82117958e-03 9.68552775e-01 1.08746269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.167105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.64, Y:13.09, Z:10.88 [[ 8.75916457e-01 -4.26733102e-01 -2.25098247e-01 6.66436134e+01] [ 4.13184239e-01 9.04377505e-01 -1.06677612e-01 1.30858816e+01] [ 2.49096659e-01 4.33627561e-04 9.68478532e-01 1.08810986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.197105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.67, Y:13.09, Z:10.89 [[ 8.71806706e-01 -4.35534440e-01 -2.24193708e-01 6.66693246e+01] [ 4.22353857e-01 9.00169916e-01 -1.06354794e-01 1.30940316e+01] [ 2.48133606e-01 -1.96825460e-03 9.68723820e-01 1.08899230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.227105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.69, Y:13.10, Z:10.90 [[ 8.70274257e-01 -4.39203282e-01 -2.22986984e-01 6.66934696e+01] [ 4.26257725e-01 8.98383034e-01 -1.05888030e-01 1.31049890e+01] [ 2.46834094e-01 -2.89829801e-03 9.69053420e-01 1.08981384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.257105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.72, Y:13.12, Z:10.91 [[ 8.68311248e-01 -4.45549365e-01 -2.17993901e-01 6.67163567e+01] [ 4.33355799e-01 8.95246092e-01 -1.03620392e-01 1.31152322e+01] [ 2.41326188e-01 -4.49416921e-03 9.70433652e-01 1.09082332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.287105681 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:66.74, Y:13.13, Z:10.92 [[ 8.66572141e-01 -4.52135154e-01 -2.11249916e-01 6.67412085e+01] [ 4.40875958e-01 8.91928704e-01 -1.00456841e-01 1.31256898e+01] [ 2.33839933e-01 -6.08190971e-03 9.72256086e-01 1.09178682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31710568099999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:66.77, Y:13.14, Z:10.93 [[ 8.64842369e-01 -4.56199741e-01 -2.09593592e-01 6.67658770e+01] [ 4.45211901e-01 8.89849648e-01 -9.97695738e-02 1.31376967e+01] [ 2.32021638e-01 -7.02860689e-03 9.72685231e-01 1.09250295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34710568099999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:66.79, Y:13.15, Z:10.93 [[ 8.60294349e-01 -4.64145163e-01 -2.10862279e-01 6.67877880e+01] [ 4.53231075e-01 8.85712099e-01 -1.00477212e-01 1.31518801e+01] [ 2.33399284e-01 -9.12936020e-03 9.72338125e-01 1.09312519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.37710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:66.81, Y:13.17, Z:10.94 [[ 8.56647423e-01 -4.70950183e-01 -2.10620793e-01 6.68082301e+01] [ 4.60252335e-01 8.82092135e-01 -1.00405449e-01 1.31700266e+01] [ 2.33072910e-01 -1.09266429e-02 9.72397875e-01 1.09369096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.40710568099999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:66.83, Y:13.19, Z:10.94 [[ 8.55077827e-01 -4.73789379e-01 -2.10631276e-01 6.68307643e+01] [ 4.63158848e-01 8.80561266e-01 -1.00477550e-01 1.31863394e+01] [ 2.33078939e-01 -1.16396143e-02 9.72388157e-01 1.09436000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.43710568099999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:66.85, Y:13.21, Z:10.95 [[ 8.53051897e-01 -4.76750085e-01 -2.12159887e-01 6.68517348e+01] [ 4.66028799e-01 8.78950664e-01 -1.01305918e-01 1.32055744e+01] [ 2.34775679e-01 -1.24534119e-02 9.71969801e-01 1.09494317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.46710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:66.87, Y:13.22, Z:10.95 [[ 8.52550807e-01 -4.76167343e-01 -2.15457147e-01 6.68718591e+01] [ 4.65063166e-01 8.79267207e-01 -1.02982669e-01 1.32240380e+01] [ 2.38481388e-01 -1.24032251e-02 9.71067859e-01 1.09546736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.497105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.89, Y:13.25, Z:10.96 [[ 8.56034921e-01 -4.70433828e-01 -2.14234048e-01 6.68887620e+01] [ 4.59263362e-01 8.82370691e-01 -1.02465254e-01 1.32477280e+01] [ 2.37236966e-01 -1.06760134e-02 9.71393146e-01 1.09630348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.527105681 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:66.91, Y:13.27, Z:10.97 [[ 8.58954706e-01 -4.65616319e-01 -2.13068668e-01 6.69087388e+01] [ 4.54406479e-01 8.84938562e-01 -1.01973004e-01 1.32674395e+01] [ 2.36032975e-01 -9.22959177e-03 9.71701214e-01 1.09711196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.557105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.92, Y:13.30, Z:10.98 [[ 8.66006078e-01 -4.52352735e-01 -2.13097338e-01 6.69235979e+01] [ 4.40718346e-01 8.91822077e-01 -1.02081939e-01 1.32954868e+01] [ 2.36221955e-01 -5.51232683e-03 9.71683489e-01 1.09783039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.587105681 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:66.94, Y:13.32, Z:10.99 [[ 8.71521352e-01 -4.42521159e-01 -2.11247619e-01 6.69390845e+01] [ 4.24653293e-01 8.96530614e-01 -1.26104872e-01 1.33206719e+01] [ 2.45194032e-01 2.01960918e-02 9.69263640e-01 1.09850838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.617105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:66.97, Y:13.33, Z:10.99 [[ 8.73703568e-01 -4.31934083e-01 -2.23774491e-01 6.69690524e+01] [ 4.23903901e-01 9.01676911e-01 -8.53477041e-02 1.33316225e+01] [ 2.38636874e-01 -2.02902861e-02 9.70896877e-01 1.09856778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.647105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.99, Y:13.35, Z:10.99 [[ 8.74014630e-01 -4.34266235e-01 -2.17970787e-01 6.69890024e+01] [ 4.21499924e-01 9.00784418e-01 -1.04523904e-01 1.33549123e+01] [ 2.41735890e-01 -5.19249331e-04 9.70341945e-01 1.09905297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:67.01, Y:13.37, Z:11.00 [[ 8.73264666e-01 -4.35207202e-01 -2.19097043e-01 6.70111981e+01] [ 4.22309333e-01 9.00330062e-01 -1.05169415e-01 1.33707950e+01] [ 2.43030141e-01 -6.85991632e-04 9.70018495e-01 1.09954715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.03, Y:13.39, Z:11.00 [[ 8.70442952e-01 -4.42166360e-01 -2.16374622e-01 6.70307842e+01] [ 4.22538848e-01 8.96615708e-01 -1.32443173e-01 1.33926057e+01] [ 2.52566800e-01 2.38575429e-02 9.67285288e-01 1.10042120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.06, Y:13.40, Z:11.00 [[ 8.70625568e-01 -4.32575838e-01 -2.34284581e-01 6.70607864e+01] [ 4.24931145e-01 9.01233478e-01 -8.49219690e-02 1.33987652e+01] [ 2.47880300e-01 -2.56195777e-02 9.68451854e-01 1.10043808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.76710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.08, Y:13.42, Z:11.01 [[ 8.71214040e-01 -4.37418507e-01 -2.22825372e-01 6.70821518e+01] [ 4.24091335e-01 8.99257331e-01 -1.07157786e-01 1.34157756e+01] [ 2.47250149e-01 -1.14094168e-03 9.68951011e-01 1.10139567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.79710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.10, Y:13.43, Z:11.02 [[ 8.72512190e-01 -4.35676668e-01 -2.21152254e-01 6.71042157e+01] [ 4.22470240e-01 9.00103075e-01 -1.06458213e-01 1.34316442e+01] [ 2.45441183e-01 -5.44157256e-04 9.69411331e-01 1.10225992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.82710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.13, Y:13.45, Z:11.03 [[ 8.72327541e-01 -4.35261346e-01 -2.22693112e-01 6.71273052e+01] [ 4.21826831e-01 9.00304088e-01 -1.07306450e-01 1.34459702e+01] [ 2.47197869e-01 -3.31557718e-04 9.68964965e-01 1.10292891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.857105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.15, Y:13.46, Z:11.04 [[ 8.71921412e-01 -4.36677139e-01 -2.21508753e-01 6.71519072e+01] [ 4.23405901e-01 8.99618073e-01 -1.06839910e-01 1.34578988e+01] [ 2.45927823e-01 -6.32107462e-04 9.69287938e-01 1.10357469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.887105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.18, Y:13.47, Z:11.04 [[ 8.70181119e-01 -4.41899311e-01 -2.17967472e-01 6.71764320e+01] [ 4.29190711e-01 8.97062479e-01 -1.05234226e-01 1.34694169e+01] [ 2.42033373e-01 -1.97677814e-03 9.70265911e-01 1.10429633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.917105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.20, Y:13.48, Z:11.05 [[ 8.68408327e-01 -4.47233260e-01 -2.14124703e-01 6.72001117e+01] [ 4.35109870e-01 8.94411250e-01 -1.03479069e-01 1.34816381e+01] [ 2.37794824e-01 -3.30568685e-03 9.71309783e-01 1.10511805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.947105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.22, Y:13.50, Z:11.06 [[ 8.66860053e-01 -4.51818943e-01 -2.10744613e-01 6.72208567e+01] [ 4.35921994e-01 8.92034229e-01 -1.19360586e-01 1.34953320e+01] [ 2.41920782e-01 1.16007118e-02 9.70226653e-01 1.10608376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.977105681 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:67.25, Y:13.51, Z:11.06 [[ 8.66870148e-01 -4.46664241e-01 -2.21420871e-01 6.72493239e+01] [ 4.37584354e-01 8.94526317e-01 -9.13378432e-02 1.35058877e+01] [ 2.38864144e-01 -1.77122589e-02 9.70891444e-01 1.10634302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.007105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.27, Y:13.52, Z:11.07 [[ 8.68433487e-01 -4.45271257e-01 -2.18075186e-01 6.72690557e+01] [ 4.30482537e-01 8.95381482e-01 -1.13915699e-01 1.35230596e+01] [ 2.45983869e-01 5.05064822e-03 9.69260763e-01 1.10713562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.30, Y:13.54, Z:11.08 [[ 8.70121606e-01 -4.39013794e-01 -2.23953742e-01 6.72964268e+01] [ 4.27107290e-01 8.98452451e-01 -1.01796639e-01 1.35354881e+01] [ 2.45901917e-01 -7.07682118e-03 9.69268882e-01 1.10761499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.32, Y:13.55, Z:11.08 [[ 8.74628209e-01 -4.30922571e-01 -2.22106357e-01 6.73193652e+01] [ 4.17260764e-01 9.02387687e-01 -1.07656477e-01 1.35505613e+01] [ 2.46817647e-01 1.48312335e-03 9.69060808e-01 1.10842487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.34, Y:13.57, Z:11.09 [[ 8.79030219e-01 -4.22519789e-01 -2.20868516e-01 6.73422300e+01] [ 4.08723538e-01 9.06345207e-01 -1.07160792e-01 1.35653627e+01] [ 2.45460676e-01 3.92341360e-03 9.69398609e-01 1.10915560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.37, Y:13.58, Z:11.10 [[ 8.80565905e-01 -4.19435875e-01 -2.20629176e-01 6.73659476e+01] [ 4.05548089e-01 9.07771870e-01 -1.07149332e-01 1.35772989e+01] [ 2.45223234e-01 4.87630795e-03 9.69454376e-01 1.10977944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.15710568099999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:67.39, Y:13.59, Z:11.10 [[ 8.81854354e-01 -4.16121826e-01 -2.21755550e-01 6.73904712e+01] [ 4.01974022e-01 9.09289896e-01 -1.07744003e-01 1.35861246e+01] [ 2.46474712e-01 5.87454813e-03 9.69131418e-01 1.11033370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.18710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.42, Y:13.59, Z:11.11 [[ 8.81624800e-01 -4.15305794e-01 -2.24184768e-01 6.74171034e+01] [ 4.00795417e-01 9.09660433e-01 -1.08999685e-01 1.35944678e+01] [ 2.49200214e-01 6.24459753e-03 9.68431855e-01 1.11088343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.21710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:67.44, Y:13.60, Z:11.11 [[ 8.81726426e-01 -4.14459892e-01 -2.25347526e-01 6.74429323e+01] [ 3.99740725e-01 9.10043493e-01 -1.09673125e-01 1.36045287e+01] [ 2.50531161e-01 6.62110900e-03 9.68085894e-01 1.11145969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.247105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.47, Y:13.61, Z:11.12 [[ 8.83922963e-01 -4.09161318e-01 -2.26422639e-01 6.74697685e+01] [ 3.94099404e-01 9.12424609e-01 -1.10304092e-01 1.36120980e+01] [ 2.51725756e-01 8.26729290e-03 9.67763295e-01 1.11205910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.277105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:67.49, Y:13.62, Z:11.13 [[ 8.87017952e-01 -4.01347477e-01 -2.28296638e-01 6.74949286e+01] [ 3.85747493e-01 9.15863600e-01 -1.11322680e-01 1.36201705e+01] [ 2.53767658e-01 1.06803596e-02 9.67206238e-01 1.11285488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.307105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.52, Y:13.63, Z:11.14 [[ 8.88469450e-01 -3.97531899e-01 -2.29326023e-01 6.75195440e+01] [ 3.81643193e-01 9.17511197e-01 -1.11900301e-01 1.36303217e+01] [ 2.54893133e-01 1.18992829e-02 9.66896012e-01 1.11357707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.337105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.54, Y:13.64, Z:11.14 [[ 8.88337513e-01 -3.97850400e-01 -2.29284807e-01 6.75442582e+01] [ 3.81950380e-01 9.17373062e-01 -1.11984695e-01 1.36426846e+01] [ 2.54892861e-01 1.19047869e-02 9.66896016e-01 1.11425551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.367105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.57, Y:13.65, Z:11.15 [[ 8.91005310e-01 -3.92244997e-01 -2.28590028e-01 6.75716249e+01] [ 3.76235808e-01 9.19760826e-01 -1.11743631e-01 1.36480758e+01] [ 2.54079033e-01 1.35604148e-02 9.67088393e-01 1.11485799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.397105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.60, Y:13.66, Z:11.16 [[ 8.91989433e-01 -3.90474327e-01 -2.27782027e-01 6.75981457e+01] [ 3.74495757e-01 9.20505624e-01 -1.11455482e-01 1.36552736e+01] [ 2.53195141e-01 1.41137098e-02 9.67312268e-01 1.11554338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.63, Y:13.65, Z:11.16 [[ 8.93747823e-01 -3.87371637e-01 -2.26181438e-01 6.76293160e+01] [ 3.71495639e-01 9.21801868e-01 -1.10780441e-01 1.36533976e+01] [ 2.51407673e-01 1.49843601e-02 9.67765287e-01 1.11627515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.66, Y:13.66, Z:11.17 [[ 8.93550387e-01 -3.87739661e-01 -2.26330866e-01 6.76564196e+01] [ 3.71825613e-01 9.21646958e-01 -1.10962148e-01 1.36611805e+01] [ 2.51621580e-01 1.49946576e-02 9.67709533e-01 1.11690210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.69, Y:13.66, Z:11.17 [[ 8.93966026e-01 -3.93947053e-01 -2.13612884e-01 6.76871582e+01] [ 3.74578441e-01 9.18541801e-01 -1.26380183e-01 1.36649444e+01] [ 2.45999463e-01 3.29648087e-02 9.68709237e-01 1.11727125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.72, Y:13.66, Z:11.18 [[ 8.92013713e-01 -3.86110134e-01 -2.35011702e-01 6.77166576e+01] [ 3.74725457e-01 9.22439518e-01 -9.31996120e-02 1.36629394e+01] [ 2.52769395e-01 -4.92953528e-03 9.67513996e-01 1.11814405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.74, Y:13.67, Z:11.19 [[ 8.91177009e-01 -3.94018529e-01 -2.24839805e-01 6.77438888e+01] [ 3.77437425e-01 9.18943953e-01 -1.14380946e-01 1.36694857e+01] [ 2.51683392e-01 1.70707128e-02 9.67659062e-01 1.11890011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.77, Y:13.68, Z:11.19 [[ 8.91569459e-01 -4.08126647e-01 -1.96307259e-01 6.77723545e+01] [ 3.83041064e-01 9.10813816e-01 -1.53940687e-01 1.36817587e+01] [ 2.41626660e-01 6.20550732e-02 9.68383047e-01 1.11866576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.80, Y:13.68, Z:11.19 [[ 8.89999653e-01 -4.00287776e-01 -2.18335327e-01 6.78049709e+01] [ 3.83444355e-01 9.16169298e-01 -1.16637229e-01 1.36810220e+01] [ 2.46720580e-01 2.00876444e-02 9.68878445e-01 1.11910691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.637105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.83, Y:13.68, Z:11.20 [[ 8.87271301e-01 -4.03491170e-01 -2.23482694e-01 6.78327839e+01] [ 3.86464277e-01 9.14811746e-01 -1.17323624e-01 1.36821602e+01] [ 2.51783640e-01 1.77298065e-02 9.67621131e-01 1.11968017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.667105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.86, Y:13.68, Z:11.20 [[ 8.87016668e-01 -3.99162780e-01 -2.32100206e-01 6.78629104e+01] [ 3.88179070e-01 9.16850603e-01 -9.32844077e-02 1.36830831e+01] [ 2.50036877e-01 -7.35161756e-03 9.68208404e-01 1.12031640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.697105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.89, Y:13.69, Z:11.21 [[ 8.84340242e-01 -4.11622008e-01 -2.20249083e-01 6.78913505e+01] [ 3.94460441e-01 9.11168933e-01 -1.19046780e-01 1.36892884e+01] [ 2.49686397e-01 1.83983074e-02 9.68151954e-01 1.12140466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.727105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.92, Y:13.69, Z:11.22 [[ 8.81248686e-01 -4.16921954e-01 -2.22658569e-01 6.79192340e+01] [ 4.02807369e-01 9.08927334e-01 -1.07690875e-01 1.36928093e+01] [ 2.47279150e-01 5.21392964e-03 9.68930254e-01 1.12216122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.757105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.95, Y:13.70, Z:11.23 [[ 8.79033040e-01 -4.21999054e-01 -2.21850653e-01 6.79454657e+01] [ 4.07013068e-01 9.06561593e-01 -1.11742742e-01 1.37035151e+01] [ 2.48276613e-01 7.92944692e-03 9.68656723e-01 1.12296934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.97, Y:13.71, Z:11.24 [[ 8.74017029e-01 -4.30501416e-01 -2.25305934e-01 6.79731232e+01] [ 4.14689032e-01 9.02555844e-01 -1.15870422e-01 1.37071168e+01] [ 2.53233568e-01 7.84082252e-03 9.67373393e-01 1.12375200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.00, Y:13.70, Z:11.26 [[ 8.66879001e-01 -4.28394849e-01 -2.54948331e-01 6.80043172e+01] [ 4.22399067e-01 9.02805448e-01 -8.07548816e-02 1.37015433e+01] [ 2.64763718e-01 -3.76852263e-02 9.63576669e-01 1.12612701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.03, Y:13.71, Z:11.27 [[ 8.63689401e-01 -4.43333127e-01 -2.39783981e-01 6.80285979e+01] [ 4.30937985e-01 8.96266235e-01 -1.04877493e-01 1.37127222e+01] [ 2.61405953e-01 -1.27504465e-02 9.65144732e-01 1.12658650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.05, Y:13.73, Z:11.27 [[ 8.60505477e-01 -4.52312944e-01 -2.34399923e-01 6.80540987e+01] [ 4.36436722e-01 8.91859290e-01 -1.18785499e-01 1.37274292e+01] [ 2.62779968e-01 -8.51620518e-05 9.64855783e-01 1.12726690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.08, Y:13.74, Z:11.28 [[ 8.56611543e-01 -4.59844246e-01 -2.34008406e-01 6.80763149e+01] [ 4.42045720e-01 8.87984486e-01 -1.26803523e-01 1.37363689e+01] [ 2.66105704e-01 5.17894746e-03 9.63929942e-01 1.12789368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.10, Y:13.75, Z:11.28 [[ 8.56436984e-01 -4.68492489e-01 -2.16865121e-01 6.81033982e+01] [ 4.47487064e-01 8.83156580e-01 -1.40676164e-01 1.37528991e+01] [ 2.57431585e-01 2.34359339e-02 9.66012286e-01 1.12765529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.96710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.13, Y:13.76, Z:11.29 [[ 8.54792312e-01 -4.67635189e-01 -2.25049847e-01 6.81310631e+01] [ 4.51067494e-01 8.83912509e-01 -1.23437399e-01 1.37589856e+01] [ 2.56648047e-01 4.00066951e-03 9.66496650e-01 1.12880056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.997105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.16, Y:13.76, Z:11.31 [[ 8.51712896e-01 -4.57138647e-01 -2.56143320e-01 6.81554801e+01] [ 4.53733644e-01 8.87898911e-01 -7.59032514e-02 1.37617314e+01] [ 2.62127684e-01 -5.15730639e-02 9.63654137e-01 1.13107230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.18, Y:13.79, Z:11.30 [[ 8.52984920e-01 -4.78582114e-01 -2.08268785e-01 6.81758837e+01] [ 4.54257998e-01 8.77225274e-01 -1.55323821e-01 1.37942353e+01] [ 2.57033845e-01 3.78811152e-02 9.65659683e-01 1.12995260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.057105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.20, Y:13.79, Z:11.32 [[ 8.50942852e-01 -4.58982515e-01 -2.55404218e-01 6.82029847e+01] [ 4.56269499e-01 8.86802445e-01 -7.34817455e-02 1.37927333e+01] [ 2.60219922e-01 -5.40043887e-02 9.64037924e-01 1.13234711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.087105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.22, Y:13.82, Z:11.33 [[ 8.49298496e-01 -4.72873415e-01 -2.34697247e-01 6.82233703e+01] [ 4.58580487e-01 8.81081141e-01 -1.15758198e-01 1.38153511e+01] [ 2.61526293e-01 -9.31431412e-03 9.65151409e-01 1.13266727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.117105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.24, Y:13.83, Z:11.33 [[ 8.46377725e-01 -4.78138529e-01 -2.34581103e-01 6.82431370e+01] [ 4.60651331e-01 8.78284350e-01 -1.28128657e-01 1.38318320e+01] [ 2.67292159e-01 3.85143900e-04 9.63615459e-01 1.13333213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.147105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.27, Y:13.85, Z:11.34 [[ 8.44770473e-01 -4.77279258e-01 -2.42006937e-01 6.82697823e+01] [ 4.65009549e-01 8.78521210e-01 -1.09391966e-01 1.38452704e+01] [ 2.64818744e-01 -2.01244337e-02 9.64088191e-01 1.13399749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.29, Y:13.87, Z:11.35 [[ 8.41803593e-01 -4.85748292e-01 -2.35404562e-01 6.82879898e+01] [ 4.68005147e-01 8.74098484e-01 -1.30088518e-01 1.38662948e+01] [ 2.68957046e-01 -6.61564651e-04 9.63151945e-01 1.13469525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.31, Y:13.88, Z:11.35 [[ 8.41196106e-01 -4.84800013e-01 -2.39495427e-01 6.83094521e+01] [ 4.70291362e-01 8.74528302e-01 -1.18432616e-01 1.38783553e+01] [ 2.66861663e-01 -1.30075749e-02 9.63647060e-01 1.13545602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.33, Y:13.90, Z:11.36 [[ 8.38617658e-01 -4.90330476e-01 -2.37268726e-01 6.83326959e+01] [ 4.78469598e-01 8.71264117e-01 -1.09387763e-01 1.38994434e+01] [ 2.60359881e-01 -2.17913624e-02 9.65265699e-01 1.13632730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.35, Y:13.92, Z:11.37 [[ 8.38726166e-01 -4.92797575e-01 -2.31708800e-01 6.83512943e+01] [ 4.79480496e-01 8.70017213e-01 -1.14754101e-01 1.39230365e+01] [ 2.58141187e-01 -1.48525835e-02 9.65993027e-01 1.13711560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.37, Y:13.94, Z:11.38 [[ 8.39631519e-01 -4.92136512e-01 -2.29827254e-01 6.83698955e+01] [ 4.75904748e-01 8.70508517e-01 -1.25417670e-01 1.39409846e+01] [ 2.61789196e-01 -4.07125260e-03 9.65116491e-01 1.13783074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.39, Y:13.96, Z:11.38 [[ 8.41701086e-01 -4.85533451e-01 -2.36212935e-01 6.83930123e+01] [ 4.73722881e-01 8.73974396e-01 -1.08422262e-01 1.39631881e+01] [ 2.59086692e-01 -2.06403361e-02 9.65633503e-01 1.13839741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.357105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.41, Y:13.99, Z:11.39 [[ 8.43891938e-01 -4.84775930e-01 -2.29866688e-01 6.84063863e+01] [ 4.65603186e-01 8.74610029e-01 -1.35170153e-01 1.39895902e+01] [ 2.66570948e-01 7.04233970e-03 9.63789570e-01 1.13919224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.387105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.43, Y:14.00, Z:11.40 [[ 8.46109386e-01 -4.75052931e-01 -2.41709785e-01 6.84330069e+01] [ 4.64928616e-01 8.79549543e-01 -1.01163151e-01 1.40045654e+01] [ 2.60653582e-01 -2.67827045e-02 9.65060825e-01 1.13964669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.417105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.45, Y:14.04, Z:11.39 [[ 8.53011230e-01 -4.80534332e-01 -2.03613841e-01 6.84476516e+01] [ 4.54567926e-01 8.75766284e-01 -1.62485126e-01 1.40392992e+01] [ 2.56397819e-01 4.60453162e-02 9.65473970e-01 1.13897910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.447105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.48, Y:14.04, Z:11.41 [[ 8.52104371e-01 -4.51687993e-01 -2.64378702e-01 6.84757205e+01] [ 4.49368465e-01 8.90370879e-01 -7.28538322e-02 1.40443053e+01] [ 2.68302298e-01 -5.67243824e-02 9.61663258e-01 1.14063018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.477105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.49, Y:14.07, Z:11.42 [[ 8.53708500e-01 -4.61385968e-01 -2.41463839e-01 6.84914815e+01] [ 4.45549976e-01 8.87184409e-01 -1.19954341e-01 1.40694581e+01] [ 2.69568203e-01 -5.17816701e-03 9.62967378e-01 1.14151946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.507105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.51, Y:14.09, Z:11.42 [[ 8.56850352e-01 -4.55856110e-01 -2.40837460e-01 6.85115181e+01] [ 4.39873669e-01 8.90047084e-01 -1.19696881e-01 1.40896927e+01] [ 2.68921233e-01 -3.37574246e-03 9.63156257e-01 1.14227012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.53, Y:14.11, Z:11.43 [[ 8.61685516e-01 -4.48985397e-01 -2.36453346e-01 6.85290791e+01] [ 4.29417529e-01 8.93459874e-01 -1.31643606e-01 1.41080970e+01] [ 2.70367633e-01 1.18981774e-02 9.62683633e-01 1.14335654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.56, Y:14.12, Z:11.44 [[ 8.64032470e-01 -4.41274738e-01 -2.42331378e-01 6.85553554e+01] [ 4.27588114e-01 8.97326214e-01 -1.09426093e-01 1.41223547e+01] [ 2.65737269e-01 -9.07031941e-03 9.64002818e-01 1.14396092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.57, Y:14.14, Z:11.45 [[ 8.68845609e-01 -4.37274359e-01 -2.32160382e-01 6.85709685e+01] [ 4.18380494e-01 8.99219038e-01 -1.27917492e-01 1.41410871e+01] [ 2.64698075e-01 1.40091756e-02 9.64229574e-01 1.14479771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.62710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:68.60, Y:14.15, Z:11.45 [[ 8.71455549e-01 -4.30252670e-01 -2.35473705e-01 6.86002318e+01] [ 4.16449304e-01 9.02700531e-01 -1.08174525e-01 1.41526372e+01] [ 2.59104617e-01 -3.79357023e-03 9.65841812e-01 1.14534224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.62, Y:14.17, Z:11.46 [[ 8.72193850e-01 -4.32126854e-01 -2.29225369e-01 6.86202166e+01] [ 4.11612401e-01 9.01544734e-01 -1.33387875e-01 1.41675945e+01] [ 2.64297407e-01 2.19880795e-02 9.64190544e-01 1.14644525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.68710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.65, Y:14.18, Z:11.47 [[ 8.73104366e-01 -4.23134772e-01 -2.42168808e-01 6.86479614e+01] [ 4.10196272e-01 9.06027987e-01 -1.04174395e-01 1.41798229e+01] [ 2.63491526e-01 -8.38162306e-03 9.64625297e-01 1.14655288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.71710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.67, Y:14.19, Z:11.47 [[ 8.73631244e-01 -4.23340761e-01 -2.39898000e-01 6.86718671e+01] [ 4.06136957e-01 9.05942586e-01 -1.19669559e-01 1.41942114e+01] [ 2.67994817e-01 7.11562173e-03 9.63394076e-01 1.14703196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.747105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.70, Y:14.21, Z:11.48 [[ 8.73609868e-01 -4.21748196e-01 -2.42763792e-01 6.86954632e+01] [ 4.04031008e-01 9.06679409e-01 -1.21208063e-01 1.42052475e+01] [ 2.71228213e-01 7.80446005e-03 9.62483427e-01 1.14761382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.72, Y:14.22, Z:11.48 [[ 8.74076071e-01 -4.19249332e-01 -2.45399715e-01 6.87193345e+01] [ 4.01025982e-01 9.07829188e-01 -1.22573764e-01 1.42171414e+01] [ 2.74169993e-01 8.72713262e-03 9.61641644e-01 1.14821494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.74, Y:14.23, Z:11.49 [[ 8.75843596e-01 -4.17118089e-01 -2.42714844e-01 6.87442149e+01] [ 3.99204747e-01 9.08804363e-01 -1.21285611e-01 1.42277869e+01] [ 2.71170732e-01 9.33430775e-03 9.62486002e-01 1.14889815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.837105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.77, Y:14.24, Z:11.50 [[ 8.75817020e-01 -4.19590141e-01 -2.38513439e-01 6.87657517e+01] [ 3.96557137e-01 9.07282656e-01 -1.39930763e-01 1.42390226e+01] [ 2.75112675e-01 2.79695370e-02 9.61005058e-01 1.14986572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.867105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.79, Y:14.24, Z:11.51 [[ 8.75272658e-01 -4.16508789e-01 -2.45801145e-01 6.87944280e+01] [ 3.97797015e-01 9.09069119e-01 -1.23898637e-01 1.42436428e+01] [ 2.75055102e-01 1.06661276e-02 9.61369297e-01 1.15058791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.897105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.82, Y:14.25, Z:11.51 [[ 8.74816074e-01 -4.17045004e-01 -2.46516331e-01 6.88221201e+01] [ 4.01273846e-01 9.08885719e-01 -1.13604801e-01 1.42517043e+01] [ 2.71433488e-01 4.62749489e-04 9.62457089e-01 1.15121163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.85, Y:14.26, Z:11.52 [[ 8.70890630e-01 -4.28053545e-01 -2.41494667e-01 6.88501608e+01] [ 4.12413998e-01 9.03753340e-01 -1.14649877e-01 1.42583874e+01] [ 2.67327898e-01 2.51722773e-04 9.63605589e-01 1.15198463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.88, Y:14.26, Z:11.53 [[ 8.65592376e-01 -4.41735397e-01 -2.35838247e-01 6.88766805e+01] [ 4.22064303e-01 8.97037128e-01 -1.31095823e-01 1.42640599e+01] [ 2.69465329e-01 1.39366398e-02 9.62909241e-01 1.15273145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.98710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.91, Y:14.27, Z:11.53 [[ 8.62651162e-01 -4.43391220e-01 -2.43386934e-01 6.89062567e+01] [ 4.29350546e-01 8.96285870e-01 -1.11039396e-01 1.42702367e+01] [ 2.67378163e-01 -8.71004856e-03 9.63552309e-01 1.15322558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.01710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.93, Y:14.28, Z:11.54 [[ 8.57342790e-01 -4.55246755e-01 -2.40236825e-01 6.89331254e+01] [ 4.39021739e-01 8.90362643e-01 -1.20475209e-01 1.42775993e+01] [ 2.68743843e-01 -2.18063691e-03 9.63209215e-01 1.15376382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.04710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.96, Y:14.30, Z:11.53 [[ 8.54466002e-01 -4.77152653e-01 -2.05458505e-01 6.89623258e+01] [ 4.49077597e-01 8.77239398e-01 -1.69647721e-01 1.42959381e+01] [ 2.61184155e-01 5.26913984e-02 9.63849809e-01 1.15324423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.07710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.99, Y:14.28, Z:11.55 [[ 8.48411538e-01 -4.56833245e-01 -2.67397173e-01 6.89920535e+01] [ 4.52290088e-01 8.88076612e-01 -8.21803395e-02 1.42830440e+01] [ 2.75011886e-01 -5.12183427e-02 9.60075593e-01 1.15517004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.01, Y:14.30, Z:11.56 [[ 8.44911496e-01 -4.74530434e-01 -2.46871284e-01 6.90134446e+01] [ 4.57503037e-01 8.80216052e-01 -1.26137516e-01 1.42999173e+01] [ 2.77156157e-01 -6.36932516e-03 9.60803776e-01 1.15607032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.137105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.04, Y:14.31, Z:11.57 [[ 8.44280138e-01 -4.76840250e-01 -2.44569877e-01 6.90381445e+01] [ 4.58842752e-01 8.78986025e-01 -1.29795600e-01 1.43103468e+01] [ 2.76865270e-01 -2.63526887e-03 9.60905134e-01 1.15702224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.167105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.07, Y:14.32, Z:11.58 [[ 8.45218692e-01 -4.71695453e-01 -2.51214574e-01 6.90676848e+01] [ 4.60681076e-01 8.81345832e-01 -1.04892662e-01 1.43199340e+01] [ 2.70884310e-01 -2.70725620e-02 9.62231140e-01 1.15755297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.197105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.09, Y:14.34, Z:11.58 [[ 8.45162887e-01 -4.78135830e-01 -2.38926398e-01 6.90881593e+01] [ 4.56912638e-01 8.78226643e-01 -1.41240236e-01 1.43379105e+01] [ 2.77363546e-01 1.02025148e-02 9.60710868e-01 1.15849963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.227105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.11, Y:14.35, Z:11.59 [[ 8.44786798e-01 -4.74437623e-01 -2.47475670e-01 6.91143003e+01] [ 4.57689932e-01 8.80256961e-01 -1.25170315e-01 1.43474759e+01] [ 2.77227688e-01 -7.52489357e-03 9.60774784e-01 1.15921645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.257105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.14, Y:14.36, Z:11.60 [[ 8.48369716e-01 -4.67812862e-01 -2.47830491e-01 6.91362362e+01] [ 4.53353283e-01 8.83720563e-01 -1.16227224e-01 1.43609797e+01] [ 2.73385491e-01 -1.37511093e-02 9.61806259e-01 1.15990909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.16, Y:14.38, Z:11.61 [[ 8.49729652e-01 -4.68043773e-01 -2.42681983e-01 6.91590238e+01] [ 4.52015332e-01 8.83682359e-01 -1.21604389e-01 1.43766687e+01] [ 2.71369964e-01 -6.36512198e-03 9.62454065e-01 1.16062964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.18, Y:14.39, Z:11.61 [[ 8.50478114e-01 -4.67733779e-01 -2.40649308e-01 6.91816011e+01] [ 4.54521661e-01 8.83747580e-01 -1.11356522e-01 1.43915477e+01] [ 2.64758451e-01 -1.46740382e-02 9.64203109e-01 1.16117205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.20, Y:14.41, Z:11.62 [[ 8.46703087e-01 -4.77284272e-01 -2.35145926e-01 6.92021596e+01] [ 4.62299378e-01 8.78712432e-01 -1.18927483e-01 1.44114497e+01] [ 2.63387866e-01 -8.01154868e-03 9.64656751e-01 1.16194418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.22, Y:14.43, Z:11.63 [[ 8.42115590e-01 -4.86959916e-01 -2.31757144e-01 6.92207435e+01] [ 4.65961550e-01 8.73348248e-01 -1.41924878e-01 1.44303409e+01] [ 2.71516423e-01 1.15272340e-02 9.62364772e-01 1.16300014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.25, Y:14.44, Z:11.63 [[ 8.38138924e-01 -4.88998915e-01 -2.41667552e-01 6.92454202e+01] [ 4.74216013e-01 8.72173445e-01 -1.20135986e-01 1.44432820e+01] [ 2.69522388e-01 -1.39119774e-02 9.62893628e-01 1.16338110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.43710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.27, Y:14.45, Z:11.64 [[ 8.37641247e-01 -4.87792845e-01 -2.45795203e-01 6.92722908e+01] [ 4.77628907e-01 8.72424200e-01 -1.03666017e-01 1.44546296e+01] [ 2.65005225e-01 -3.05639625e-02 9.63762458e-01 1.16371238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.46710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.29, Y:14.48, Z:11.64 [[ 8.35740833e-01 -4.93733581e-01 -2.40342280e-01 6.92890334e+01] [ 4.76702639e-01 8.69585271e-01 -1.28748007e-01 1.44810690e+01] [ 2.72565321e-01 -6.97183316e-03 9.62112020e-01 1.16440571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.497105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.31, Y:14.50, Z:11.65 [[ 8.37550193e-01 -4.88773208e-01 -2.44152465e-01 6.93107154e+01] [ 4.74772148e-01 8.72234670e-01 -1.17465263e-01 1.44977703e+01] [ 2.70372118e-01 -1.75337364e-02 9.62596222e-01 1.16496760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.527105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.33, Y:14.52, Z:11.66 [[ 8.37389628e-01 -4.91346766e-01 -2.39493144e-01 6.93294764e+01] [ 4.71410220e-01 8.70958362e-01 -1.38578269e-01 1.45203639e+01] [ 2.76678541e-01 3.14448921e-03 9.60957386e-01 1.16603321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.557105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.35, Y:14.54, Z:11.66 [[ 8.43165354e-01 -4.76596713e-01 -2.48852885e-01 6.93509081e+01] [ 4.62414316e-01 8.78962441e-01 -1.16610582e-01 1.45433831e+01] [ 2.74308559e-01 -1.67511341e-02 9.61495821e-01 1.16631221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.587105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.37, Y:14.56, Z:11.67 [[ 8.46348735e-01 -4.73205515e-01 -2.44479773e-01 6.93714177e+01] [ 4.58925741e-01 8.80843153e-01 -1.16200279e-01 1.45594302e+01] [ 2.70334947e-01 -1.38521022e-02 9.62666679e-01 1.16699551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.617105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.39, Y:14.57, Z:11.67 [[ 8.54518266e-01 -4.56138662e-01 -2.48467411e-01 6.93931064e+01] [ 4.54047557e-01 8.88287254e-01 -6.91850453e-02 1.45739058e+01] [ 2.52268409e-01 -5.36961362e-02 9.66166329e-01 1.16664969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.647105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.40, Y:14.61, Z:11.69 [[ 8.55105781e-01 -4.72732104e-01 -2.12881333e-01 6.94025578e+01] [ 4.44934581e-01 8.79905917e-01 -1.66729710e-01 1.46135768e+01] [ 2.66134032e-01 4.78532724e-02 9.62747496e-01 1.16899641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:69.43, Y:14.62, Z:11.69 [[ 8.56102076e-01 -4.58895581e-01 -2.37705873e-01 6.94317388e+01] [ 4.42644760e-01 8.88488788e-01 -1.21050777e-01 1.46207701e+01] [ 2.66748670e-01 -1.58743784e-03 9.63764820e-01 1.16900512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70710568099999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:69.45, Y:14.64, Z:11.69 [[ 8.58812255e-01 -4.53271266e-01 -2.38718809e-01 6.94528807e+01] [ 4.36634349e-01 8.91372587e-01 -1.21677263e-01 1.46382514e+01] [ 2.67940210e-01 2.65093331e-04 9.63435506e-01 1.16948306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73710568099999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:69.48, Y:14.65, Z:11.70 [[ 8.60135666e-01 -4.50816110e-01 -2.38603165e-01 6.94757937e+01] [ 4.34087903e-01 8.92616194e-01 -1.21671785e-01 1.46527560e+01] [ 2.67832650e-01 1.07949421e-03 9.63464844e-01 1.17015934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.76710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:69.50, Y:14.67, Z:11.71 [[ 8.63718524e-01 -4.44507057e-01 -2.37494814e-01 6.94976111e+01] [ 4.27670926e-01 8.95769884e-01 -1.21218368e-01 1.46678133e+01] [ 2.66623122e-01 3.12892309e-03 9.63795788e-01 1.17082991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.79710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:69.52, Y:14.68, Z:11.71 [[ 8.67774659e-01 -4.36719984e-01 -2.37155637e-01 6.95205707e+01] [ 4.19631275e-01 8.99580261e-01 -1.21098916e-01 1.46817464e+01] [ 2.66226846e-01 5.56864839e-03 9.63894318e-01 1.17149584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.82710568099999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:69.54, Y:14.70, Z:11.72 [[ 8.69265936e-01 -4.33355068e-01 -2.37865754e-01 6.95437967e+01] [ 4.16005850e-01 9.01198147e-01 -1.21577274e-01 1.46956696e+01] [ 2.67050305e-01 6.72943764e-03 9.63659094e-01 1.17223044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.857105681 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:69.57, Y:14.71, Z:11.73 [[ 8.71089203e-01 -4.29154136e-01 -2.38810235e-01 6.95670648e+01] [ 4.11475997e-01 9.03194382e-01 -1.22177790e-01 1.47108219e+01] [ 2.68125166e-01 8.16307407e-03 9.63349500e-01 1.17290514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.887105681 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:69.59, Y:14.72, Z:11.73 [[ 8.71889445e-01 -4.27452417e-01 -2.38941890e-01 6.95933608e+01] [ 4.09659375e-01 9.03995013e-01 -1.22360996e-01 1.47187567e+01] [ 2.68305780e-01 8.80047601e-03 9.63293600e-01 1.17342737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.917105681 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:69.62, Y:14.73, Z:11.74 [[ 8.71528864e-01 -4.27991234e-01 -2.39292589e-01 6.96191239e+01] [ 4.10149028e-01 9.03741000e-01 -1.22596817e-01 1.47284104e+01] [ 2.68728887e-01 8.70104226e-03 9.63176556e-01 1.17406967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.947105681 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:69.65, Y:14.74, Z:11.75 [[ 8.69807190e-01 -4.30575399e-01 -2.40915499e-01 6.96457736e+01] [ 4.12547993e-01 9.02518485e-01 -1.23549735e-01 1.47363008e+01] [ 2.70628167e-01 8.07524237e-03 9.62650085e-01 1.17482740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.977105681 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:69.67, Y:14.74, Z:11.76 [[ 8.67709783e-01 -4.33592231e-01 -2.43058653e-01 6.96705197e+01] [ 4.15316714e-01 9.01079471e-01 -1.24771046e-01 1.47440050e+01] [ 2.73114919e-01 7.31873606e-03 9.61953573e-01 1.17560623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.007105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:69.70, Y:14.75, Z:11.77 [[ 8.66430766e-01 -4.34459437e-01 -2.46054313e-01 6.96951198e+01] [ 4.15720910e-01 9.00662221e-01 -1.26426616e-01 1.47500432e+01] [ 2.76539060e-01 7.24998658e-03 9.60975330e-01 1.17679976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.72, Y:14.76, Z:11.77 [[ 8.66992461e-01 -4.37614382e-01 -2.38364689e-01 6.97236723e+01] [ 4.22055679e-01 8.99162689e-01 -1.15652336e-01 1.47569034e+01] [ 2.64939761e-01 -3.33467028e-04 9.64264908e-01 1.17712540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.75, Y:14.76, Z:11.78 [[ 8.62693130e-01 -4.48344203e-01 -2.33982990e-01 6.97490331e+01] [ 4.30020707e-01 8.93814571e-01 -1.27191603e-01 1.47631978e+01] [ 2.66163024e-01 9.10979120e-03 9.63884981e-01 1.17796061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.77, Y:14.77, Z:11.79 [[ 8.58167316e-01 -4.56917825e-01 -2.34040507e-01 6.97739928e+01] [ 4.35977209e-01 8.89362794e-01 -1.37686944e-01 1.47730992e+01] [ 2.71058538e-01 1.61221087e-02 9.62427840e-01 1.17894332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.80, Y:14.78, Z:11.79 [[ 8.57814083e-01 -4.53733653e-01 -2.41414106e-01 6.97991473e+01] [ 4.37301357e-01 8.91135606e-01 -1.21015924e-01 1.47807858e+01] [ 2.70041703e-01 -1.76155218e-03 9.62847016e-01 1.17946314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.83, Y:14.79, Z:11.80 [[ 8.57510662e-01 -4.53766019e-01 -2.42429093e-01 6.98262102e+01] [ 4.40423364e-01 8.91033250e-01 -1.09940933e-01 1.47868820e+01] [ 2.65899842e-01 -1.24959141e-02 9.63919668e-01 1.17988674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.18710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.85, Y:14.80, Z:11.81 [[ 8.56243187e-01 -4.58899270e-01 -2.37189934e-01 6.98505411e+01] [ 4.42140698e-01 8.88488233e-01 -1.22883127e-01 1.47961465e+01] [ 2.67131443e-01 3.46517270e-04 9.63660040e-01 1.18067328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.21710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.87, Y:14.81, Z:11.82 [[ 8.55121134e-01 -4.60995261e-01 -2.37173388e-01 6.98741554e+01] [ 4.43056793e-01 8.87394175e-01 -1.27405868e-01 1.48104195e+01] [ 2.69199784e-01 3.86616986e-03 9.63076596e-01 1.18153200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.90, Y:14.82, Z:11.82 [[ 8.57629186e-01 -4.54696074e-01 -2.40257485e-01 6.98968634e+01] [ 4.37450370e-01 8.90645738e-01 -1.24045728e-01 1.48228341e+01] [ 2.70387411e-01 1.28451126e-03 9.62750746e-01 1.18232096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.92, Y:14.83, Z:11.83 [[ 8.62695204e-01 -4.46017650e-01 -2.38380455e-01 6.99212480e+01] [ 4.28704591e-01 8.95015108e-01 -1.23127296e-01 1.48331398e+01] [ 2.68271056e-01 4.02653186e-03 9.63335055e-01 1.18309883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.307105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.95, Y:14.84, Z:11.84 [[ 8.64620218e-01 -4.42378783e-01 -2.38186673e-01 6.99456834e+01] [ 4.24928608e-01 8.96812924e-01 -1.23135118e-01 1.48445818e+01] [ 2.68081251e-01 5.25278165e-03 9.63381986e-01 1.18381190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.337105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.97, Y:14.84, Z:11.84 [[ 8.70091965e-01 -4.26159478e-01 -2.47645051e-01 6.99720519e+01] [ 4.17091987e-01 9.04321092e-01 -9.07614261e-02 1.48446094e+01] [ 2.62629485e-01 -2.43199788e-02 9.64590220e-01 1.18370293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.367105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.99, Y:14.87, Z:11.85 [[ 8.69807531e-01 -4.41888076e-01 -2.19476166e-01 6.99934294e+01] [ 4.15546186e-01 8.95923777e-01 -1.56977557e-01 1.48702622e+01] [ 2.66000426e-01 4.53377780e-02 9.62906153e-01 1.18543538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.02, Y:14.88, Z:11.86 [[ 8.69781240e-01 -4.32314407e-01 -2.37875697e-01 7.00218993e+01] [ 4.14468047e-01 9.01682002e-01 -1.23230698e-01 1.48760101e+01] [ 2.67762641e-01 8.59187428e-03 9.63446598e-01 1.18588456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.05, Y:14.89, Z:11.86 [[ 8.69182005e-01 -4.32027945e-01 -2.40571189e-01 7.00471678e+01] [ 4.13724695e-01 9.01816423e-01 -1.24735785e-01 1.48879864e+01] [ 2.70840394e-01 8.88785757e-03 9.62583236e-01 1.18641972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.07, Y:14.90, Z:11.87 [[ 8.68485077e-01 -4.32264405e-01 -2.42654394e-01 7.00719022e+01] [ 4.13612800e-01 9.01701972e-01 -1.25928573e-01 1.48973487e+01] [ 2.73236385e-01 9.00212290e-03 9.61904798e-01 1.18698486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.10, Y:14.90, Z:11.88 [[ 8.66928922e-01 -4.34666315e-01 -2.43925070e-01 7.00999859e+01] [ 4.15891139e-01 9.00552906e-01 -1.26645271e-01 1.49024267e+01] [ 2.74715864e-01 8.34617346e-03 9.61489228e-01 1.18768955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.12, Y:14.91, Z:11.89 [[ 8.66446104e-01 -4.37375998e-01 -2.40776629e-01 7.01216686e+01] [ 4.17828103e-01 8.99200018e-01 -1.29842223e-01 1.49073037e+01] [ 2.73296221e-01 1.18980463e-02 9.61856336e-01 1.18866366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.15, Y:14.92, Z:11.90 [[ 8.62637457e-01 -4.46197916e-01 -2.38252046e-01 7.01498660e+01] [ 4.28775834e-01 8.94923406e-01 -1.23545061e-01 1.49195409e+01] [ 2.68342882e-01 4.41787792e-03 9.63313334e-01 1.18957331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.17, Y:14.93, Z:11.90 [[ 8.60509820e-01 -4.51287627e-01 -2.36352126e-01 7.01725993e+01] [ 4.32651694e-01 8.92338793e-01 -1.28623443e-01 1.49306221e+01] [ 2.68952339e-01 8.42358771e-03 9.63116650e-01 1.19039872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.20, Y:14.94, Z:11.91 [[ 8.56755078e-01 -4.56927489e-01 -2.39140140e-01 7.02006298e+01] [ 4.41251989e-01 8.89495791e-01 -1.18717819e-01 1.49367901e+01] [ 2.66959583e-01 -3.80896758e-03 9.63700199e-01 1.19103893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.637105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.23, Y:14.94, Z:11.92 [[ 8.55490577e-01 -4.61783028e-01 -2.34291073e-01 7.02266795e+01] [ 4.45464158e-01 8.86992874e-01 -1.21677132e-01 1.49437663e+01] [ 2.64002947e-01 -2.74635827e-04 9.64521834e-01 1.19191388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.667105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.25, Y:14.95, Z:11.93 [[ 8.55619773e-01 -4.61521272e-01 -2.34335058e-01 7.02514544e+01] [ 4.45155020e-01 8.87129138e-01 -1.21815026e-01 1.49548781e+01] [ 2.64105684e-01 -8.80830060e-05 9.64493743e-01 1.19269787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.697105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.27, Y:14.97, Z:11.94 [[ 8.58149343e-01 -4.56101348e-01 -2.35693161e-01 7.02740829e+01] [ 4.39307471e-01 8.89926215e-01 -1.22638812e-01 1.49684870e+01] [ 2.65685250e-01 1.70064933e-03 9.64058326e-01 1.19354446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.727105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.30, Y:14.98, Z:11.94 [[ 8.63487786e-01 -4.45206521e-01 -2.37023197e-01 7.02967559e+01] [ 4.27781881e-01 8.95412826e-01 -1.23444457e-01 1.49804915e+01] [ 2.67191888e-01 5.19855154e-03 9.63629322e-01 1.19426973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.757105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.32, Y:14.99, Z:11.95 [[ 8.65796888e-01 -4.40313355e-01 -2.37739138e-01 7.03220265e+01] [ 4.22584342e-01 8.97818542e-01 -1.23872270e-01 1.49914334e+01] [ 2.67989221e-01 6.78338891e-03 9.63398029e-01 1.19498209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.35, Y:15.00, Z:11.96 [[ 8.70289011e-01 -4.31246320e-01 -2.37957241e-01 7.03471397e+01] [ 4.13118572e-01 9.02182120e-01 -1.24098620e-01 1.50002935e+01] [ 2.68197842e-01 9.69710963e-03 9.63315049e-01 1.19571471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.37, Y:15.01, Z:11.96 [[ 8.73034080e-01 -4.26001376e-01 -2.37348524e-01 7.03725254e+01] [ 4.07762774e-01 9.04651566e-01 -1.23834829e-01 1.50104081e+01] [ 2.67471521e-01 1.13301334e-02 9.63499151e-01 1.19626362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.40, Y:15.02, Z:11.97 [[ 8.73128223e-01 -4.25728327e-01 -2.37492100e-01 7.03980766e+01] [ 4.07425640e-01 9.04777594e-01 -1.24023602e-01 1.50207249e+01] [ 2.67677891e-01 1.15281362e-02 9.63439489e-01 1.19698159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.42, Y:15.03, Z:11.98 [[ 8.72559151e-01 -4.27049414e-01 -2.37211564e-01 7.04241085e+01] [ 4.08807413e-01 9.04158742e-01 -1.23989791e-01 1.50260739e+01] [ 2.67426677e-01 1.12145810e-02 9.63512951e-01 1.19769534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.45, Y:15.03, Z:11.98 [[ 8.70625962e-01 -4.30321080e-01 -2.38399252e-01 7.04507390e+01] [ 4.11997202e-01 9.02616953e-01 -1.24663315e-01 1.50325891e+01] [ 2.68828459e-01 1.03152940e-02 9.63132833e-01 1.19832042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.48, Y:15.04, Z:11.99 [[ 8.69393518e-01 -4.32217920e-01 -2.39463109e-01 7.04761703e+01] [ 4.13774012e-01 9.01715362e-01 -1.25301528e-01 1.50424201e+01] [ 2.70085130e-01 9.85272514e-03 9.62786034e-01 1.19896254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.96710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.50, Y:15.05, Z:12.00 [[ 8.67522841e-01 -4.34964596e-01 -2.41267320e-01 7.05029765e+01] [ 4.16306358e-01 9.00400746e-01 -1.26362628e-01 1.50503904e+01] [ 2.72200544e-01 9.18134672e-03 9.62196740e-01 1.19971864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.997105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.53, Y:15.06, Z:12.00 [[ 8.66876272e-01 -4.36882462e-01 -2.40123391e-01 7.05282344e+01] [ 4.18445754e-01 8.99477127e-01 -1.25873145e-01 1.50579660e+01] [ 2.70977267e-01 8.63782980e-03 9.62546990e-01 1.20043480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.55, Y:15.07, Z:12.01 [[ 8.66512398e-01 -4.38213154e-01 -2.39009404e-01 7.05535282e+01] [ 4.19985337e-01 8.98833404e-01 -1.25342847e-01 1.50668306e+01] [ 2.69756521e-01 8.23068585e-03 9.62893387e-01 1.20117490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.057105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.58, Y:15.07, Z:12.02 [[ 8.65794958e-01 -4.34746373e-01 -2.47779504e-01 7.05802037e+01] [ 4.23946590e-01 9.00332896e-01 -9.83359849e-02 1.50673010e+01] [ 2.65835251e-01 -1.99064757e-02 9.63812924e-01 1.20180953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.087105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.60, Y:15.09, Z:12.03 [[ 8.61558989e-01 -4.56215891e-01 -2.22672787e-01 7.06033707e+01] [ 4.31701760e-01 8.89204392e-01 -1.51489737e-01 1.50882698e+01] [ 2.67113645e-01 3.43891108e-02 9.63051239e-01 1.20276395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.117105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.63, Y:15.09, Z:12.03 [[ 8.59368999e-01 -4.53183167e-01 -2.36875371e-01 7.06299780e+01] [ 4.35779779e-01 8.91409690e-01 -1.24437732e-01 1.50930535e+01] [ 2.67546086e-01 3.71243246e-03 9.63537913e-01 1.20345165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.65, Y:15.11, Z:12.04 [[ 8.59273678e-01 -4.53380606e-01 -2.36843350e-01 7.06542920e+01] [ 4.35967793e-01 8.91309245e-01 -1.24498650e-01 1.51060771e+01] [ 2.67545941e-01 3.72234008e-03 9.63537915e-01 1.20416790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.68, Y:15.12, Z:12.05 [[ 8.55354663e-01 -4.60856045e-01 -2.36601156e-01 7.06795239e+01] [ 4.43739816e-01 8.87473718e-01 -1.24440248e-01 1.51158993e+01] [ 2.67326348e-01 1.45119250e-03 9.63604959e-01 1.20485326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.70, Y:15.13, Z:12.06 [[ 8.51816966e-01 -4.66322542e-01 -2.38644388e-01 7.07039755e+01] [ 4.49080879e-01 8.84614754e-01 -1.25630813e-01 1.51279996e+01] [ 2.69692827e-01 -1.56173590e-04 9.62946392e-01 1.20566546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.73, Y:15.14, Z:12.06 [[ 8.50479543e-01 -4.67777798e-01 -2.40558679e-01 7.07287917e+01] [ 4.50275935e-01 8.83845954e-01 -1.26759270e-01 1.51397877e+01] [ 2.71911988e-01 -5.11618446e-04 9.62321988e-01 1.20641215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.75, Y:15.16, Z:12.06 [[ 8.52239028e-01 -4.73123399e-01 -2.23255208e-01 7.07537021e+01] [ 4.49138244e-01 8.80523916e-01 -1.51500733e-01 1.51563186e+01] [ 2.68260092e-01 2.88423853e-02 9.62914659e-01 1.20648235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.78, Y:15.16, Z:12.08 [[ 8.53268305e-01 -4.55755939e-01 -2.53416109e-01 7.07776207e+01] [ 4.45763056e-01 8.89650873e-01 -9.90788678e-02 1.51582844e+01] [ 2.70607645e-01 -2.84226816e-02 9.62270052e-01 1.20840831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.80, Y:15.18, Z:12.09 [[ 8.55898340e-01 -4.59809472e-01 -2.36671249e-01 7.07984331e+01] [ 4.42514310e-01 8.88014850e-01 -1.24942829e-01 1.51767158e+01] [ 2.67617480e-01 2.20794534e-03 9.63522708e-01 1.20926785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.357105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.82, Y:15.19, Z:12.10 [[ 8.61689704e-01 -4.52956237e-01 -2.28738936e-01 7.08202557e+01] [ 4.32929491e-01 8.91377476e-01 -1.34232075e-01 1.51914701e+01] [ 2.64693991e-01 1.66385662e-02 9.64188907e-01 1.21038389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.387105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.85, Y:15.20, Z:12.11 [[ 8.66124882e-01 -4.40330996e-01 -2.36508568e-01 7.08452083e+01] [ 4.25636900e-01 8.97830729e-01 -1.12841530e-01 1.52043273e+01] [ 2.62032284e-01 -2.93191696e-03 9.65054654e-01 1.21097882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.417105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.87, Y:15.22, Z:12.11 [[ 8.68846688e-01 -4.35515739e-01 -2.35438894e-01 7.08689326e+01] [ 4.17444929e-01 9.00126337e-01 -1.24548422e-01 1.52200314e+01] [ 2.66167547e-01 9.93071169e-03 9.63875624e-01 1.21141174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.447105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.89, Y:15.23, Z:12.12 [[ 8.69648288e-01 -4.33203656e-01 -2.36741308e-01 7.08933734e+01] [ 4.14811401e-01 9.01231216e-01 -1.25354688e-01 1.52319514e+01] [ 2.67662766e-01 1.08114962e-02 9.63452000e-01 1.21201624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.477105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.92, Y:15.24, Z:12.13 [[ 8.70319344e-01 -4.30974468e-01 -2.38338515e-01 7.09188696e+01] [ 4.12213629e-01 9.02288421e-01 -1.26315198e-01 1.52412218e+01] [ 2.69488707e-01 1.16881759e-02 9.62932616e-01 1.21258448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.507105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.94, Y:15.25, Z:12.13 [[ 8.69326719e-01 -4.30712729e-01 -2.42399673e-01 7.09443096e+01] [ 4.11265739e-01 9.02408763e-01 -1.28525939e-01 1.52525589e+01] [ 2.74101347e-01 1.20403525e-02 9.61625437e-01 1.21316726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.97, Y:15.26, Z:12.14 [[ 8.68607973e-01 -4.31471511e-01 -2.43623733e-01 7.09688821e+01] [ 4.11817953e-01 9.02047044e-01 -1.29294643e-01 1.52640130e+01] [ 2.75547023e-01 1.19777303e-02 9.61212969e-01 1.21386984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.99, Y:15.27, Z:12.15 [[ 8.67981500e-01 -4.33519031e-01 -2.42217600e-01 7.09945344e+01] [ 4.14141401e-01 9.01072716e-01 -1.28665696e-01 1.52728913e+01] [ 2.74034699e-01 1.13671073e-02 9.61652626e-01 1.21484573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.02, Y:15.28, Z:12.16 [[ 8.67352604e-01 -4.36825113e-01 -2.38502161e-01 7.10200447e+01] [ 4.18140810e-01 8.99487966e-01 -1.26805608e-01 1.52821438e+01] [ 2.69921698e-01 1.02576880e-02 9.62827636e-01 1.21583422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.62710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.04, Y:15.29, Z:12.17 [[ 8.66242425e-01 -4.39488696e-01 -2.37642057e-01 7.10449090e+01] [ 4.21007565e-01 8.98197888e-01 -1.26464163e-01 1.52920474e+01] [ 2.69029164e-01 9.49951958e-03 9.63085182e-01 1.21656573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.07, Y:15.30, Z:12.17 [[ 8.62251314e-01 -4.46490784e-01 -2.39099669e-01 7.10726807e+01] [ 4.28007028e-01 8.94756985e-01 -1.27357458e-01 1.52983054e+01] [ 2.70800030e-01 7.47779667e-03 9.62606579e-01 1.21717849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.68710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.10, Y:15.31, Z:12.18 [[ 8.59465642e-01 -4.51123533e-01 -2.40429550e-01 7.10976934e+01] [ 4.32573217e-01 8.92440219e-01 -1.28182942e-01 1.53080756e+01] [ 2.72395342e-01 6.16545050e-03 9.62165664e-01 1.21780605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.71710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.12, Y:15.32, Z:12.18 [[ 8.54111986e-01 -4.61095209e-01 -2.40590782e-01 7.11242431e+01] [ 4.42888576e-01 8.87345424e-01 -1.28326955e-01 1.53156692e+01] [ 2.72658074e-01 3.05068132e-03 9.62106163e-01 1.21839740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.747105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.15, Y:15.32, Z:12.19 [[ 8.49475676e-01 -4.70433197e-01 -2.38921918e-01 7.11493112e+01] [ 4.52811119e-01 8.82435595e-01 -1.27551993e-01 1.53223075e+01] [ 2.70837897e-01 1.65814152e-04 9.62624956e-01 1.21926129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.17, Y:15.33, Z:12.20 [[ 8.47375445e-01 -4.74191410e-01 -2.38950543e-01 7.11739826e+01] [ 4.56687704e-01 8.80421257e-01 -1.27650897e-01 1.53327277e+01] [ 2.70908096e-01 -9.57539529e-04 9.62604741e-01 1.22018275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.20, Y:15.34, Z:12.21 [[ 8.45696487e-01 -4.77671849e-01 -2.37964400e-01 7.11981775e+01] [ 4.60417302e-01 8.78536156e-01 -1.27240441e-01 1.53440355e+01] [ 2.69839506e-01 -1.95613310e-03 9.62903326e-01 1.22118721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.837105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.22, Y:15.36, Z:12.22 [[ 8.47867761e-01 -4.74759483e-01 -2.36058666e-01 7.12201146e+01] [ 4.57640868e-01 8.80115110e-01 -1.26341713e-01 1.53597835e+01] [ 2.67740725e-01 -9.09027486e-04 9.63490570e-01 1.22218060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.867105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.24, Y:15.38, Z:12.23 [[ 8.50084057e-01 -4.71035239e-01 -2.35548083e-01 7.12424568e+01] [ 4.53818040e-01 8.82114314e-01 -1.26188444e-01 1.53755050e+01] [ 2.67219540e-01 3.74814666e-04 9.63635604e-01 1.22297243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.26, Y:15.39, Z:12.24 [[ 8.55347909e-01 -4.61438090e-01 -2.35488523e-01 7.12634502e+01] [ 4.43837754e-01 8.87165547e-01 -1.26274862e-01 1.53912914e+01] [ 2.67185335e-01 3.49024262e-03 9.63638840e-01 1.22381061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.28, Y:15.41, Z:12.25 [[ 8.59070714e-01 -4.56784927e-01 -2.30965450e-01 7.12839230e+01] [ 4.33394042e-01 8.89201945e-01 -1.46592992e-01 1.54090124e+01] [ 2.72336396e-01 2.58346967e-02 9.61855216e-01 1.22463227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.31, Y:15.42, Z:12.25 [[ 8.63586551e-01 -4.40559031e-01 -2.45206054e-01 7.13102850e+01] [ 4.26575879e-01 8.97676750e-01 -1.10496483e-01 1.54193391e+01] [ 2.68795997e-01 -9.17571124e-03 9.63153424e-01 1.22538184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.33, Y:15.44, Z:12.26 [[ 8.66167564e-01 -4.38891411e-01 -2.39014811e-01 7.13331021e+01] [ 4.19844697e-01 8.98474940e-01 -1.28348013e-01 1.54361440e+01] [ 2.71079659e-01 1.08217849e-02 9.62496082e-01 1.22578416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.36, Y:15.45, Z:12.26 [[ 8.66319703e-01 -4.37894260e-01 -2.40288972e-01 7.13563990e+01] [ 4.18568928e-01 8.98955387e-01 -1.29148228e-01 1.54487081e+01] [ 2.72562333e-01 1.13061571e-02 9.62071695e-01 1.22641698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.04710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:71.38, Y:15.46, Z:12.27 [[ 8.65446360e-01 -4.39157891e-01 -2.41128481e-01 7.13799008e+01] [ 4.19727367e-01 8.98342576e-01 -1.29651666e-01 1.54612246e+01] [ 2.73553533e-01 1.09983400e-02 9.61793898e-01 1.22700161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.07710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.40, Y:15.47, Z:12.28 [[ 8.64280514e-01 -4.40783692e-01 -2.42340524e-01 7.14044561e+01] [ 4.21199021e-01 8.97550830e-01 -1.30360626e-01 1.54731706e+01] [ 2.74973776e-01 1.05945575e-02 9.61393352e-01 1.22768710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.43, Y:15.48, Z:12.28 [[ 8.61230099e-01 -4.45510371e-01 -2.44546982e-01 7.14309054e+01] [ 4.25710394e-01 8.95228575e-01 -1.31667991e-01 1.54811165e+01] [ 2.77584902e-01 9.29024497e-03 9.60656189e-01 1.22833899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.137105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.46, Y:15.49, Z:12.29 [[ 8.58526585e-01 -4.50828801e-01 -2.44306152e-01 7.14554706e+01] [ 4.31243720e-01 8.92577412e-01 -1.31660239e-01 1.54917659e+01] [ 2.77418380e-01 7.67832117e-03 9.60718526e-01 1.22918884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.167105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.48, Y:15.50, Z:12.30 [[ 8.57799438e-01 -4.52884642e-01 -2.43054780e-01 7.14791823e+01] [ 4.33550328e-01 8.91540961e-01 -1.31106170e-01 1.55042233e+01] [ 2.76069262e-01 7.08631898e-03 9.61111620e-01 1.22993284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.197105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.50, Y:15.51, Z:12.31 [[ 8.57455779e-01 -4.55286327e-01 -2.39758101e-01 7.15043568e+01] [ 4.36542787e-01 8.90322585e-01 -1.29445317e-01 1.55133019e+01] [ 2.72396735e-01 6.32896540e-03 9.62164208e-01 1.23080154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.227105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.53, Y:15.52, Z:12.32 [[ 8.56909108e-01 -4.56625095e-01 -2.39165846e-01 7.15294748e+01] [ 4.37992680e-01 8.89638981e-01 -1.29247419e-01 1.55244192e+01] [ 2.71788875e-01 6.00040037e-03 9.62338196e-01 1.23157382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.257105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.55, Y:15.53, Z:12.32 [[ 8.54786998e-01 -4.61445535e-01 -2.37502012e-01 7.15536108e+01] [ 4.43225946e-01 8.87156905e-01 -1.28465509e-01 1.55337872e+01] [ 2.69981385e-01 4.54359337e-03 9.62854822e-01 1.23226126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.58, Y:15.54, Z:12.33 [[ 8.50909840e-01 -4.68499724e-01 -2.37614083e-01 7.15783820e+01] [ 4.50508423e-01 8.83460421e-01 -1.28607330e-01 1.55423776e+01] [ 2.70175137e-01 2.38609712e-03 9.62808237e-01 1.23285215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.60, Y:15.55, Z:12.34 [[ 8.48875532e-01 -4.71735094e-01 -2.38487595e-01 7.16033841e+01] [ 4.53710002e-01 8.81739150e-01 -1.29163871e-01 1.55530133e+01] [ 2.71214980e-01 1.43984295e-03 9.62517720e-01 1.23355519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.63, Y:15.56, Z:12.34 [[ 8.47223761e-01 -4.74366465e-01 -2.39140870e-01 7.16273015e+01] [ 4.56310408e-01 8.80327188e-01 -1.29633537e-01 1.55625951e+01] [ 2.72016013e-01 7.06145046e-04 9.62292466e-01 1.23429202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.65, Y:15.57, Z:12.35 [[ 8.49690151e-01 -4.70365836e-01 -2.38291056e-01 7.16499133e+01] [ 4.52270487e-01 8.82469182e-01 -1.29226739e-01 1.55734749e+01] [ 2.71068356e-01 2.03067602e-03 9.62557958e-01 1.23526237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.67, Y:15.59, Z:12.36 [[ 8.52885368e-01 -4.65163841e-01 -2.37084689e-01 7.16726676e+01] [ 4.47034657e-01 8.85216702e-01 -1.28652272e-01 1.55852580e+01] [ 2.69715711e-01 3.74056756e-03 9.62932730e-01 1.23603668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.43710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.69, Y:15.60, Z:12.37 [[ 8.56899647e-01 -4.58305582e-01 -2.35963954e-01 7.16947121e+01] [ 4.40072084e-01 8.88774777e-01 -1.28124774e-01 1.56005074e+01] [ 2.68439109e-01 5.94892517e-03 9.63278285e-01 1.23696937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.46710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.72, Y:15.61, Z:12.38 [[ 8.61234324e-01 -4.51046150e-01 -2.34164066e-01 7.17171293e+01] [ 4.32799023e-01 8.92462431e-01 -1.27262778e-01 1.56131681e+01] [ 2.66384018e-01 8.25709376e-03 9.63831611e-01 1.23771761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.497105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.74, Y:15.62, Z:12.38 [[ 8.63327194e-01 -4.46488965e-01 -2.35188778e-01 7.17417740e+01] [ 4.27896809e-01 8.94735894e-01 -1.27874943e-01 1.56242980e+01] [ 2.67526592e-01 9.76138824e-03 9.63501032e-01 1.23832930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.527105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.77, Y:15.64, Z:12.39 [[ 8.63598591e-01 -4.45365412e-01 -2.36319960e-01 7.17655476e+01] [ 4.26516794e-01 8.95290012e-01 -1.28604891e-01 1.56357587e+01] [ 2.68851070e-01 1.02685705e-02 9.63127021e-01 1.23892416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.557105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.79, Y:15.65, Z:12.40 [[ 8.63064300e-01 -4.45720019e-01 -2.37599831e-01 7.17908714e+01] [ 4.26659640e-01 8.95113513e-01 -1.29357451e-01 1.56466121e+01] [ 2.70336025e-01 1.02695396e-02 9.62711260e-01 1.23963798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.587105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.82, Y:15.66, Z:12.40 [[ 8.61657006e-01 -4.52301417e-01 -2.30153499e-01 7.18167388e+01] [ 4.29738651e-01 8.91529555e-01 -1.43177320e-01 1.56595689e+01] [ 2.69947951e-01 2.44638867e-02 9.62564087e-01 1.23989133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.617105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.84, Y:15.67, Z:12.41 [[ 8.60332453e-01 -4.46316177e-01 -2.46231476e-01 7.18422627e+01] [ 4.30925438e-01 8.94855175e-01 -1.16350689e-01 1.56652785e+01] [ 2.72270706e-01 -6.00713310e-03 9.62201942e-01 1.24112793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.87, Y:15.68, Z:12.42 [[ 8.60719821e-01 -4.49383749e-01 -2.39197900e-01 7.18675750e+01] [ 4.30122986e-01 8.93288991e-01 -1.30495193e-01 1.56761274e+01] [ 2.72315270e-01 9.43528382e-03 9.62161821e-01 1.24173970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.89, Y:15.68, Z:12.43 [[ 8.62185877e-01 -4.47094538e-01 -2.38205768e-01 7.18940648e+01] [ 4.27877659e-01 8.94428284e-01 -1.30072108e-01 1.56833989e+01] [ 2.71212505e-01 1.02234085e-02 9.62465199e-01 1.24256453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.92, Y:15.69, Z:12.43 [[ 8.62475511e-01 -4.46419466e-01 -2.38423266e-01 7.19176456e+01] [ 4.27109385e-01 8.94761602e-01 -1.30304445e-01 1.56944690e+01] [ 2.71502424e-01 1.05515786e-02 9.62379914e-01 1.24328530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.94, Y:15.71, Z:12.44 [[ 8.61991396e-01 -4.46973966e-01 -2.39134078e-01 7.19426128e+01] [ 4.27550925e-01 8.94485775e-01 -1.30749393e-01 1.57056617e+01] [ 2.72343606e-01 1.04628559e-02 9.62143175e-01 1.24378657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.76710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.97, Y:15.71, Z:12.44 [[ 8.59338916e-01 -4.51506296e-01 -2.40163886e-01 7.19692606e+01] [ 4.32051837e-01 8.92220727e-01 -1.31428246e-01 1.57125758e+01] [ 2.73619878e-01 9.17815827e-03 9.61794117e-01 1.24429143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.79710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.00, Y:15.72, Z:12.45 [[ 8.57278227e-01 -4.55078460e-01 -2.40785457e-01 7.19950163e+01] [ 4.35642132e-01 8.90414359e-01 -1.31826406e-01 1.57221372e+01] [ 2.74390186e-01 8.11561736e-03 9.61584194e-01 1.24495114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.82710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:72.02, Y:15.73, Z:12.46 [[ 8.52868293e-01 -4.63161021e-01 -2.41034321e-01 7.20208679e+01] [ 4.43964850e-01 8.86256229e-01 -1.32079929e-01 1.57294448e+01] [ 2.74792443e-01 5.63601706e-03 9.61487051e-01 1.24562394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.857105681 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:72.05, Y:15.74, Z:12.46 [[ 8.49965248e-01 -4.68967711e-01 -2.40059083e-01 7.20454103e+01] [ 4.50141109e-01 8.83207165e-01 -1.31598200e-01 1.57398136e+01] [ 2.73737209e-01 3.79343446e-03 9.61797042e-01 1.24633530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.887105681 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:72.07, Y:15.75, Z:12.47 [[ 8.48782728e-01 -4.71218358e-01 -2.39835650e-01 7.20699176e+01] [ 4.52499167e-01 8.82011077e-01 -1.31533129e-01 1.57516102e+01] [ 2.73518525e-01 3.11761635e-03 9.61861683e-01 1.24706009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.917105681 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:72.09, Y:15.76, Z:12.48 [[ 8.45950750e-01 -4.76449050e-01 -2.39507061e-01 7.20949552e+01] [ 4.57953389e-01 8.79200743e-01 -1.31471473e-01 1.57625212e+01] [ 2.73214244e-01 1.53532117e-03 9.61951984e-01 1.24793268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.947105681 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:72.12, Y:15.78, Z:12.49 [[ 8.41324771e-01 -4.87828897e-01 -2.32799479e-01 7.21180707e+01] [ 4.64628583e-01 8.72757942e-01 -1.49712572e-01 1.57788473e+01] [ 2.76211713e-01 1.77916038e-02 9.60932125e-01 1.24867530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.977105681 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:72.14, Y:15.79, Z:12.50 [[ 8.38364677e-01 -4.86714464e-01 -2.45466289e-01 7.21440931e+01] [ 4.73840264e-01 8.73299559e-01 -1.13239938e-01 1.57856903e+01] [ 2.69481118e-01 -2.13754469e-02 9.62768413e-01 1.24984231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.007105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:72.17, Y:15.80, Z:12.50 [[ 8.34881244e-01 -4.97263909e-01 -2.36012528e-01 7.21656015e+01] [ 4.80046929e-01 8.67585376e-01 -1.29809714e-01 1.58017283e+01] [ 2.69310704e-01 -4.92139409e-03 9.63040770e-01 1.25041537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:72.19, Y:15.82, Z:12.51 [[ 8.34712814e-01 -4.97557738e-01 -2.35989014e-01 7.21896728e+01] [ 4.80340192e-01 8.67416648e-01 -1.29852449e-01 1.58152565e+01] [ 2.69309890e-01 -4.96550490e-03 9.63040771e-01 1.25113501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06710568099999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:72.21, Y:15.83, Z:12.52 [[ 8.32695413e-01 -5.00987116e-01 -2.35860676e-01 7.22123236e+01] [ 4.83892816e-01 8.65434135e-01 -1.29890341e-01 1.58295935e+01] [ 2.69195267e-01 -5.97219566e-03 9.63067101e-01 1.25186186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:72.23, Y:15.85, Z:12.53 [[ 8.29735772e-01 -5.06873839e-01 -2.33703786e-01 7.22326653e+01] [ 4.90291934e-01 8.61985878e-01 -1.28818344e-01 1.58458935e+01] [ 2.66744012e-01 -7.69789317e-03 9.63736673e-01 1.25274288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.12710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:72.25, Y:15.86, Z:12.54 [[ 8.26118731e-01 -5.13518399e-01 -2.32005811e-01 7.22539467e+01] [ 4.97420951e-01 8.58023604e-01 -1.27937064e-01 1.58618682e+01] [ 2.64764498e-01 -9.71334587e-03 9.64264181e-01 1.25359859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.28, Y:15.88, Z:12.54 [[ 8.23374705e-01 -5.17795112e-01 -2.32254854e-01 7.22765459e+01] [ 5.01795475e-01 8.55434040e-01 -1.28194793e-01 1.58759585e+01] [ 2.65057345e-01 -1.09920851e-02 9.64169994e-01 1.25449271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.18710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.30, Y:15.90, Z:12.55 [[ 8.18294101e-01 -5.25955321e-01 -2.31874457e-01 7.22950247e+01] [ 5.10294547e-01 8.50405091e-01 -1.28104086e-01 1.58968446e+01] [ 2.64564244e-01 -1.34974527e-02 9.64273602e-01 1.25542426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.21710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.31, Y:15.92, Z:12.56 [[ 8.14516776e-01 -5.32362985e-01 -2.30547335e-01 7.23119818e+01] [ 5.17101131e-01 8.46376544e-01 -1.27487905e-01 1.59212217e+01] [ 2.62999699e-01 -1.53752501e-02 9.64673396e-01 1.25633394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.247105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.33, Y:15.94, Z:12.57 [[ 8.13656932e-01 -5.34295814e-01 -2.29107789e-01 7.23321962e+01] [ 5.19269481e-01 8.45150088e-01 -1.26809050e-01 1.59396038e+01] [ 2.61384013e-01 -1.57896206e-02 9.65105738e-01 1.25713125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.35, Y:15.96, Z:12.58 [[ 8.13132350e-01 -5.36802666e-01 -2.25074831e-01 7.23482815e+01] [ 5.22371282e-01 8.43552588e-01 -1.24688709e-01 1.59641088e+01] [ 2.56795688e-01 -1.61842055e-02 9.66330195e-01 1.25796844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.307105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.36, Y:15.99, Z:12.59 [[ 8.11659698e-01 -5.39157922e-01 -2.24760472e-01 7.23646279e+01] [ 5.24842168e-01 8.42035909e-01 -1.24564145e-01 1.59893637e+01] [ 2.56416134e-01 -1.68600775e-02 9.66419424e-01 1.25863969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.337105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.39, Y:16.01, Z:12.59 [[ 8.11246911e-01 -5.39814004e-01 -2.24675967e-01 7.23850257e+01] [ 5.25520604e-01 8.41612288e-01 -1.24566650e-01 1.60090798e+01] [ 2.56332876e-01 -1.70175399e-02 9.66438751e-01 1.25932368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.367105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.40, Y:16.04, Z:12.60 [[ 8.14074606e-01 -5.35914762e-01 -2.23780927e-01 7.24001131e+01] [ 5.21563294e-01 8.44127500e-01 -1.24179284e-01 1.60382298e+01] [ 2.55449146e-01 -1.56247155e-02 9.66696230e-01 1.25989638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.41, Y:16.07, Z:12.60 [[ 8.20436716e-01 -5.25771464e-01 -2.24606237e-01 7.24148456e+01] [ 5.10908934e-01 8.50535382e-01 -1.24746247e-01 1.60692419e+01] [ 2.56623569e-01 -1.24069316e-02 9.66431794e-01 1.26040993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.43, Y:16.09, Z:12.61 [[ 8.24139199e-01 -5.19541204e-01 -2.25547153e-01 7.24330361e+01] [ 5.04293127e-01 8.54381956e-01 -1.25379087e-01 1.60898248e+01] [ 2.57843020e-01 -1.04120587e-02 9.66130719e-01 1.26102123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.45, Y:16.12, Z:12.62 [[ 8.30911075e-01 -5.07843390e-01 -2.27336481e-01 7.24482872e+01] [ 4.91902100e-01 8.61422735e-01 -1.26424668e-01 1.61182388e+01] [ 2.60036745e-01 -6.77963533e-03 9.65574921e-01 1.26155712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.46, Y:16.15, Z:12.62 [[ 8.37363781e-01 -4.97092234e-01 -2.27422975e-01 7.24627854e+01] [ 4.80715328e-01 8.67691334e-01 -1.26588001e-01 1.61452512e+01] [ 2.60258856e-01 -3.32550304e-03 9.65533153e-01 1.26226961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.48, Y:16.17, Z:12.63 [[ 8.42531312e-01 -4.87851079e-01 -2.28346915e-01 7.24797460e+01] [ 4.70988673e-01 8.72926773e-01 -1.27155489e-01 1.61707774e+01] [ 2.61363078e-01 -4.16329441e-04 9.65240472e-01 1.26290493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.50, Y:16.19, Z:12.63 [[ 8.43406221e-01 -4.85408824e-01 -2.30313307e-01 7.25018333e+01] [ 4.68130058e-01 8.74287182e-01 -1.28359538e-01 1.61885094e+01] [ 2.63666825e-01 4.42650928e-04 9.64613710e-01 1.26343947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.52, Y:16.21, Z:12.64 [[ 8.42857093e-01 -4.84904885e-01 -2.33364893e-01 7.25219264e+01] [ 4.67104602e-01 8.74566601e-01 -1.30178923e-01 1.62078994e+01] [ 2.67217537e-01 7.16413329e-04 9.63635966e-01 1.26378017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.54, Y:16.22, Z:12.64 [[ 8.41865672e-01 -4.86494650e-01 -2.33634641e-01 7.25432002e+01] [ 4.68697927e-01 8.73683517e-01 -1.30381615e-01 1.62232227e+01] [ 2.67552693e-01 2.59734051e-04 9.63543195e-01 1.26432384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.637105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.56, Y:16.24, Z:12.65 [[ 8.39792411e-01 -4.89337297e-01 -2.35154665e-01 7.25642254e+01] [ 4.71397055e-01 8.72094406e-01 -1.31286572e-01 1.62412922e+01] [ 2.69320485e-01 -5.97749505e-04 9.63050424e-01 1.26495471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.667105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.59, Y:16.26, Z:12.66 [[ 8.38689015e-01 -4.91244892e-01 -2.35115274e-01 7.25854577e+01] [ 4.73350725e-01 8.71020805e-01 -1.31384351e-01 1.62578624e+01] [ 2.69332186e-01 -1.10137347e-03 9.63046707e-01 1.26583699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.697105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.61, Y:16.27, Z:12.67 [[ 8.39015225e-01 -4.91260310e-01 -2.33916141e-01 7.26074788e+01] [ 4.73520254e-01 8.71012236e-01 -1.30829102e-01 1.62715435e+01] [ 2.68014966e-01 -9.96421659e-04 9.63414233e-01 1.26650735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.727105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.63, Y:16.28, Z:12.67 [[ 8.39434755e-01 -4.91697342e-01 -2.31480056e-01 7.26304862e+01] [ 4.74333185e-01 8.70765507e-01 -1.29520121e-01 1.62847806e+01] [ 2.65249547e-01 -1.07498135e-03 9.64179196e-01 1.26743038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.757105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.65, Y:16.30, Z:12.68 [[ 8.38751732e-01 -4.94409498e-01 -2.28155168e-01 7.26523197e+01] [ 4.77617384e-01 8.69227244e-01 -1.27771804e-01 1.63008453e+01] [ 2.61490281e-01 -1.80205250e-03 9.65204427e-01 1.26830451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.68, Y:16.31, Z:12.69 [[ 8.37949591e-01 -4.96329888e-01 -2.26929781e-01 7.26750774e+01] [ 4.79759897e-01 8.68130987e-01 -1.27196818e-01 1.63139031e+01] [ 2.60136357e-01 -2.28728676e-03 9.65569181e-01 1.26896362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.70, Y:16.32, Z:12.70 [[ 8.35243474e-01 -5.01987613e-01 -2.24447712e-01 7.27006559e+01] [ 4.85970959e-01 8.64865764e-01 -1.25854826e-01 1.63247997e+01] [ 2.57294705e-01 -3.95564821e-03 9.66324887e-01 1.26964181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.73, Y:16.34, Z:12.70 [[ 8.32688536e-01 -5.05885516e-01 -2.25188025e-01 7.27253473e+01] [ 4.89871255e-01 8.62585686e-01 -1.26380727e-01 1.63376164e+01] [ 2.58178147e-01 -5.07735785e-03 9.66083984e-01 1.27025491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.75, Y:16.35, Z:12.71 [[ 8.27550853e-01 -5.13284134e-01 -2.27374105e-01 7.27496343e+01] [ 4.97195048e-01 8.58187206e-01 -1.27717669e-01 1.63494905e+01] [ 2.60685001e-01 -7.35641323e-03 9.65395884e-01 1.27074915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.77, Y:16.36, Z:12.72 [[ 8.24929690e-01 -5.20328477e-01 -2.20792399e-01 7.27676665e+01] [ 4.95596247e-01 8.53665304e-01 -1.60124667e-01 1.63629931e+01] [ 2.71800235e-01 2.26677076e-02 9.62086694e-01 1.27194334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.79, Y:16.38, Z:12.73 [[ 8.29264336e-01 -5.07181394e-01 -2.34707681e-01 7.27940222e+01] [ 4.90753988e-01 8.61794821e-01 -1.28336313e-01 1.63760205e+01] [ 2.67359654e-01 -8.75900324e-03 9.63557002e-01 1.27289568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.96710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.82, Y:16.39, Z:12.74 [[ 8.38050123e-01 -4.92180807e-01 -2.35435860e-01 7.28182339e+01] [ 4.80567105e-01 8.70211051e-01 -1.08572483e-01 1.63922623e+01] [ 2.58316179e-01 -2.21535473e-02 9.65806384e-01 1.27360328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.997105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.84, Y:16.41, Z:12.75 [[ 8.40219626e-01 -4.96688242e-01 -2.17558661e-01 7.28361414e+01] [ 4.73260106e-01 8.67554463e-01 -1.52885992e-01 1.64120174e+01] [ 2.64680662e-01 2.54959756e-02 9.63999016e-01 1.27478614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.027105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.86, Y:16.42, Z:12.75 [[ 8.46608971e-01 -4.76864165e-01 -2.36334127e-01 7.28638603e+01] [ 4.66058455e-01 8.78687001e-01 -1.03434380e-01 1.64227016e+01] [ 2.56987874e-01 -2.25770444e-02 9.66150873e-01 1.27501303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.057105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.88, Y:16.44, Z:12.76 [[ 8.50701535e-01 -4.75999223e-01 -2.23005917e-01 7.28837290e+01] [ 4.59232012e-01 8.79435783e-01 -1.25294307e-01 1.64419082e+01] [ 2.55759376e-01 4.17660364e-03 9.66731451e-01 1.27580064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.087105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:72.91, Y:16.46, Z:12.76 [[ 8.51974838e-01 -4.73152239e-01 -2.24200431e-01 7.29075920e+01] [ 4.56073478e-01 8.80965527e-01 -1.26082204e-01 1.64556329e+01] [ 2.57168928e-01 5.16699493e-03 9.66352650e-01 1.27629412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.117105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.93, Y:16.47, Z:12.77 [[ 8.53415754e-01 -4.68673574e-01 -2.28093472e-01 7.29326509e+01] [ 4.50794952e-01 8.83345656e-01 -1.28391447e-01 1.64669056e+01] [ 2.61659055e-01 6.74789754e-03 9.65136780e-01 1.27677963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.96, Y:16.48, Z:12.77 [[ 8.54647435e-01 -4.64953815e-01 -2.31075123e-01 7.29572334e+01] [ 4.46429240e-01 8.85297833e-01 -1.30187101e-01 1.64780286e+01] [ 2.65101295e-01 8.10538052e-03 9.64186500e-01 1.27730253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.98, Y:16.49, Z:12.78 [[ 8.55548606e-01 -4.62727955e-01 -2.32205559e-01 7.29819062e+01] [ 4.43922314e-01 8.86455738e-01 -1.30878583e-01 1.64897419e+01] [ 2.66401129e-01 8.89176010e-03 9.63821236e-01 1.27801156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.01, Y:16.50, Z:12.79 [[ 8.58568075e-01 -4.56715949e-01 -2.32962234e-01 7.30070426e+01] [ 4.37534063e-01 8.89545704e-01 -1.31424444e-01 1.64988846e+01] [ 2.67254194e-01 1.09079195e-02 9.63564327e-01 1.27884190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.03, Y:16.51, Z:12.80 [[ 8.59807976e-01 -4.54222197e-01 -2.33264742e-01 7.30321265e+01] [ 4.34866401e-01 8.90810155e-01 -1.31713631e-01 1.65098781e+01] [ 2.67621856e-01 1.18094315e-02 9.63451649e-01 1.27951848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.06, Y:16.52, Z:12.81 [[ 8.60998405e-01 -4.55209998e-01 -2.26860318e-01 7.30565378e+01] [ 4.29650781e-01 8.89672576e-01 -1.54540975e-01 1.65187124e+01] [ 2.72180001e-01 3.55888207e-02 9.61588001e-01 1.28053088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.09, Y:16.52, Z:12.81 [[ 8.61436633e-01 -4.49011352e-01 -2.37309361e-01 7.30851824e+01] [ 4.29774699e-01 8.93465885e-01 -1.30431666e-01 1.65224786e+01] [ 2.70593117e-01 1.03690562e-02 9.62637963e-01 1.28122217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.11, Y:16.53, Z:12.82 [[ 8.60552732e-01 -4.50994582e-01 -2.36754897e-01 7.31146870e+01] [ 4.34685651e-01 8.92526540e-01 -1.20186360e-01 1.65260285e+01] [ 2.65513427e-01 5.12744299e-04 9.64107026e-01 1.28193936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.357105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.14, Y:16.54, Z:12.83 [[ 8.58819770e-01 -4.60577932e-01 -2.24268973e-01 7.31378852e+01] [ 4.36428222e-01 8.87065003e-01 -1.50486173e-01 1.65359692e+01] [ 2.68251767e-01 3.13631917e-02 9.62838169e-01 1.28288631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.387105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:73.17, Y:16.54, Z:12.82 [[ 8.55742388e-01 -4.74775688e-01 -2.05652648e-01 7.31749039e+01] [ 4.48382860e-01 8.78830468e-01 -1.63125163e-01 1.65444606e+01] [ 2.58181674e-01 4.73819941e-02 9.64933764e-01 1.28240253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.417105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:73.20, Y:16.55, Z:12.83 [[ 8.51550823e-01 -4.71783895e-01 -2.28650720e-01 7.32026415e+01] [ 4.52769044e-01 8.81661052e-01 -1.32943527e-01 1.65483439e+01] [ 2.64313050e-01 9.68220204e-03 9.64388338e-01 1.28333892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.447105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.23, Y:16.54, Z:12.85 [[ 8.44380088e-01 -4.62978963e-01 -2.69578832e-01 7.32323566e+01] [ 4.60653393e-01 8.84329448e-01 -7.58938627e-02 1.65442475e+01] [ 2.73533762e-01 -6.00991373e-02 9.59983008e-01 1.28486194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.477105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.25, Y:16.56, Z:12.86 [[ 8.41540419e-01 -4.88175132e-01 -2.31289352e-01 7.32531227e+01] [ 4.63894237e-01 8.72468673e-01 -1.53624710e-01 1.65628099e+01] [ 2.76788477e-01 2.19876056e-02 9.60679283e-01 1.28571789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.28, Y:16.58, Z:12.86 [[ 8.41701558e-01 -4.94571261e-01 -2.16651230e-01 7.32846841e+01] [ 4.71948307e-01 8.68810651e-01 -1.49775998e-01 1.65751493e+01] [ 2.62303801e-01 2.38185093e-02 9.64691347e-01 1.28574785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.31, Y:16.58, Z:12.88 [[ 8.36895757e-01 -4.85959186e-01 -2.51891169e-01 7.33068338e+01] [ 4.71639299e-01 8.73764903e-01 -1.18706638e-01 1.65779255e+01] [ 2.77780244e-01 -1.94566929e-02 9.60447590e-01 1.28784193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.33, Y:16.59, Z:12.89 [[ 8.39227539e-01 -4.92607407e-01 -2.30293464e-01 7.33299820e+01] [ 4.71169472e-01 8.70160646e-01 -1.44290604e-01 1.65928049e+01] [ 2.71470930e-01 1.25853982e-02 9.62364350e-01 1.28851313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.36, Y:16.60, Z:12.89 [[ 8.44027024e-01 -4.76301206e-01 -2.46486399e-01 7.33607568e+01] [ 4.66974662e-01 8.78715158e-01 -9.89663341e-02 1.66020438e+01] [ 2.63729119e-01 -3.15726423e-02 9.64079934e-01 1.28931254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.38, Y:16.62, Z:12.90 [[ 8.46087500e-01 -4.81093477e-01 -2.29532153e-01 7.33818186e+01] [ 4.63359768e-01 8.76663554e-01 -1.29455547e-01 1.66199534e+01] [ 2.63502692e-01 3.17475511e-03 9.64653436e-01 1.28992722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.41, Y:16.63, Z:12.91 [[ 8.49784695e-01 -4.74376462e-01 -2.29854181e-01 7.34058085e+01] [ 4.56535671e-01 8.80309810e-01 -1.28956662e-01 1.66332072e+01] [ 2.63516895e-01 4.64876514e-03 9.64643579e-01 1.29065702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.68710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.43, Y:16.65, Z:12.91 [[ 8.50672669e-01 -4.75116981e-01 -2.24988588e-01 7.34267021e+01] [ 4.52287289e-01 8.79604950e-01 -1.47415537e-01 1.66485010e+01] [ 2.67940701e-01 2.36428901e-02 9.63145261e-01 1.29144354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.71710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.46, Y:16.66, Z:12.92 [[ 8.51413055e-01 -4.64693147e-01 -2.43220245e-01 7.34551304e+01] [ 4.53455723e-01 8.85202607e-01 -1.03895391e-01 1.66566571e+01] [ 2.63578671e-01 -2.18317204e-02 9.64390823e-01 1.29196314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.747105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:73.48, Y:16.68, Z:12.92 [[ 8.53633565e-01 -4.83403102e-01 -1.93987571e-01 7.34754271e+01] [ 4.52970360e-01 8.72811560e-01 -1.81708100e-01 1.66833057e+01] [ 2.57152853e-01 6.72415132e-02 9.64028521e-01 1.29158622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.777105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:73.51, Y:16.68, Z:12.94 [[ 8.51814759e-01 -4.53669037e-01 -2.61908422e-01 7.35070577e+01] [ 4.47690222e-01 8.90071313e-01 -8.57118584e-02 1.66770508e+01] [ 2.72001989e-01 -4.42432133e-02 9.61279073e-01 1.29387336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.53, Y:16.70, Z:12.94 [[ 8.54767652e-01 -4.63374832e-01 -2.33786281e-01 7.35302542e+01] [ 4.44044287e-01 8.86109303e-01 -1.32796742e-01 1.66956534e+01] [ 2.68694866e-01 9.69889646e-03 9.63176516e-01 1.29443183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.837105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.55, Y:16.70, Z:12.95 [[ 8.54880092e-01 -4.57301500e-01 -2.45061962e-01 7.35541102e+01] [ 4.41176375e-01 8.89296962e-01 -1.20475388e-01 1.67044853e+01] [ 2.73026434e-01 -5.12353688e-03 9.61992887e-01 1.29536704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.867105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:73.58, Y:16.73, Z:12.95 [[ 0.85767572 -0.47558952 -0.19546603 73.5769603 ] [ 0.4431507 0.87648848 -0.18811009 16.73293372] [ 0.26078691 0.07471655 0.96250071 12.94536772] [ 0. 0. 0. 1. ]] SLAMing on 80.89710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:73.62, Y:16.72, Z:12.94 [[ 8.61384367e-01 -4.38848035e-01 -2.55791664e-01 7.36160944e+01] [ 4.35082934e-01 8.97317281e-01 -7.43272353e-02 1.67191346e+01] [ 2.62144642e-01 -4.72662694e-02 9.63870368e-01 1.29444029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.63, Y:16.75, Z:12.96 [[ 8.59824137e-01 -4.69500059e-01 -2.00679216e-01 7.36299595e+01] [ 4.38232932e-01 8.80279664e-01 -1.81823019e-01 1.67492703e+01] [ 2.62019751e-01 6.83915792e-02 9.62636090e-01 1.29592329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.66, Y:16.75, Z:12.97 [[ 8.59016044e-01 -4.57146184e-01 -2.30453471e-01 7.36594512e+01] [ 4.37618984e-01 8.89292619e-01 -1.32846768e-01 1.67547497e+01] [ 2.65670963e-01 1.32666913e-02 9.63972476e-01 1.29713259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.69, Y:16.76, Z:12.98 [[ 8.58009337e-01 -4.58086825e-01 -2.32328300e-01 7.36900161e+01] [ 4.39037027e-01 8.88845093e-01 -1.31152158e-01 1.67623711e+01] [ 2.66582945e-01 1.05290498e-02 9.63754467e-01 1.29811500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.01710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.71, Y:16.77, Z:12.99 [[ 8.57693262e-01 -4.57743257e-01 -2.34165281e-01 7.37137016e+01] [ 4.41153081e-01 8.89083249e-01 -1.22126715e-01 1.67700886e+01] [ 2.64095109e-01 1.44452575e-03 9.64495561e-01 1.29905394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.04710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:73.74, Y:16.78, Z:13.00 [[ 8.52315974e-01 -4.70355016e-01 -2.28743611e-01 7.37397512e+01] [ 4.49070931e-01 8.82305135e-01 -1.40971445e-01 1.67792219e+01] [ 2.68128289e-01 1.74301076e-02 9.63225525e-01 1.30006991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.07710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.77, Y:16.79, Z:13.01 [[ 8.49069489e-01 -4.73419768e-01 -2.34424242e-01 7.37658655e+01] [ 4.53876405e-01 8.80799617e-01 -1.34863795e-01 1.67886773e+01] [ 2.70327970e-01 8.10910145e-03 9.62734144e-01 1.30098527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.79, Y:16.78, Z:13.03 [[ 8.38962702e-01 -4.70836166e-01 -2.72864231e-01 7.37929151e+01] [ 4.64554487e-01 8.80803472e-01 -9.15115995e-02 1.67827913e+01] [ 2.83426733e-01 -4.99854841e-02 9.57690314e-01 1.30342905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.137105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.82, Y:16.80, Z:13.04 [[ 8.28430518e-01 -5.06048561e-01 -2.40036938e-01 7.38192060e+01] [ 4.79078089e-01 8.62245068e-01 -1.64370397e-01 1.68021110e+01] [ 2.90150069e-01 2.11730159e-02 9.56746905e-01 1.30384008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.167105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:73.85, Y:16.81, Z:13.03 [[ 8.28157337e-01 -5.09728887e-01 -2.33092013e-01 7.38463762e+01] [ 4.85218814e-01 8.60167346e-01 -1.57082271e-01 1.68135896e+01] [ 2.80567510e-01 1.69882049e-02 9.59683945e-01 1.30347736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.197105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.87, Y:16.82, Z:13.04 [[ 8.25008020e-01 -5.12749552e-01 -2.37591382e-01 7.38726359e+01] [ 4.92394036e-01 8.58537623e-01 -1.43042870e-01 1.68246261e+01] [ 2.77326308e-01 1.02293561e-03 9.60775246e-01 1.30446657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.227105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.89, Y:16.84, Z:13.05 [[ 8.24216281e-01 -5.10823295e-01 -2.44391250e-01 7.38949794e+01] [ 4.91691765e-01 8.59665386e-01 -1.38616854e-01 1.68365677e+01] [ 2.80903417e-01 -5.91489717e-03 9.59717815e-01 1.30546640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:73.92, Y:16.85, Z:13.06 [[ 8.25793265e-01 -5.10569617e-01 -2.39549890e-01 7.39177176e+01] [ 4.90038070e-01 8.59835864e-01 -1.43335194e-01 1.68544503e+01] [ 2.79156181e-01 9.76671806e-04 9.60245215e-01 1.30631340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.94, Y:16.86, Z:13.09 [[ 8.25821455e-01 -4.97766692e-01 -2.65041968e-01 7.39371056e+01] [ 4.83993336e-01 8.66817414e-01 -1.19908391e-01 1.68641640e+01] [ 2.89429396e-01 -2.92556247e-02 9.56752179e-01 1.30896701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.96, Y:16.88, Z:13.10 [[ 8.32162160e-01 -4.92563766e-01 -2.54729417e-01 7.39568524e+01] [ 4.77492916e-01 8.70053622e-01 -1.22503921e-01 1.68811245e+01] [ 2.81969245e-01 -1.96883646e-02 9.59221410e-01 1.30969550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.98, Y:16.90, Z:13.10 [[ 8.34174783e-01 -4.94645579e-01 -2.43881491e-01 7.39773457e+01] [ 4.74046879e-01 8.69091909e-01 -1.41275656e-01 1.69000352e+01] [ 2.81836809e-01 2.23733015e-03 9.59459748e-01 1.31026311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.00, Y:16.93, Z:13.10 [[ 8.41506285e-01 -4.95439488e-01 -2.15422574e-01 7.40009400e+01] [ 4.66635976e-01 8.67503316e-01 -1.72304562e-01 1.69253330e+01] [ 2.72246282e-01 4.44714488e-02 9.61199382e-01 1.30973273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.02, Y:16.94, Z:13.11 [[ 8.45582159e-01 -4.79787878e-01 -2.34082047e-01 7.40239865e+01] [ 4.60445067e-01 8.77361326e-01 -1.35009049e-01 1.69350124e+01] [ 2.70150241e-01 6.37931962e-03 9.62797046e-01 1.31056330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.43710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.05, Y:16.94, Z:13.13 [[ 8.45457778e-01 -4.65112884e-01 -2.62433137e-01 7.40465266e+01] [ 4.55570825e-01 8.84560195e-01 -1.00042418e-01 1.69406328e+01] [ 2.78668925e-01 -3.49752403e-02 9.59750157e-01 1.31287301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.46710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.07, Y:16.97, Z:13.12 [[ 8.48607415e-01 -4.82506134e-01 -2.16917692e-01 7.40689440e+01] [ 4.50546124e-01 8.74072337e-01 -1.81674818e-01 1.69713849e+01] [ 2.77260968e-01 5.64391719e-02 9.59135536e-01 1.31188252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.497105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.10, Y:16.98, Z:13.13 [[ 8.49349485e-01 -4.67366086e-01 -2.45304694e-01 7.40964654e+01] [ 4.44175026e-01 8.83933093e-01 -1.46187666e-01 1.69789374e+01] [ 2.85156094e-01 1.52061997e-02 9.58360461e-01 1.31298091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.527105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:16.99, Z:13.15 [[ 8.47909748e-01 -4.54629953e-01 -2.72691520e-01 7.41186694e+01] [ 4.40746533e-01 8.90368684e-01 -1.13956573e-01 1.69851538e+01] [ 2.94604061e-01 -2.35629525e-02 9.55328862e-01 1.31480011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.557105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.14, Y:17.01, Z:13.14 [[ 8.52306727e-01 -4.65200728e-01 -2.39084766e-01 7.41431219e+01] [ 4.35963330e-01 8.84396950e-01 -1.66667361e-01 1.70097524e+01] [ 2.88979616e-01 3.78195222e-02 9.56587929e-01 1.31402960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.587105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.17, Y:17.01, Z:13.16 [[ 8.51145702e-01 -4.48965934e-01 -2.71993719e-01 7.41665672e+01] [ 4.31970501e-01 8.93457466e-01 -1.23025379e-01 1.70101142e+01] [ 2.98249023e-01 -1.27807407e-02 9.54402521e-01 1.31601655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.617105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.19, Y:17.03, Z:13.17 [[ 8.52124445e-01 -4.55635251e-01 -2.57449894e-01 7.41890103e+01] [ 4.32935032e-01 8.90112027e-01 -1.42365153e-01 1.70252481e+01] [ 2.94025830e-01 9.85374903e-03 9.55746679e-01 1.31654833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:74.21, Y:17.03, Z:13.17 [[ 8.50595860e-01 -4.62014033e-01 -2.51057198e-01 7.42142678e+01] [ 4.38446258e-01 8.86754969e-01 -1.46391613e-01 1.70336401e+01] [ 2.90261197e-01 1.44450113e-02 9.56838429e-01 1.31738161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.24, Y:17.04, Z:13.18 [[ 8.45901797e-01 -4.75621005e-01 -2.41318896e-01 7.42404806e+01] [ 4.48452330e-01 8.79208721e-01 -1.60880494e-01 1.70447768e+01] [ 2.88687820e-01 2.78690777e-02 9.57017585e-01 1.31831442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.27, Y:17.05, Z:13.19 [[ 8.45287901e-01 -4.68052739e-01 -2.57711074e-01 7.42678441e+01] [ 4.52382095e-01 8.83584112e-01 -1.20952707e-01 1.70486316e+01] [ 2.84321656e-01 -1.43440154e-02 9.58621638e-01 1.31927732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:74.29, Y:17.06, Z:13.19 [[ 8.40151195e-01 -4.89966670e-01 -2.32548127e-01 7.42940860e+01] [ 4.62760247e-01 8.71225753e-01 -1.63763980e-01 1.70632029e+01] [ 2.82840809e-01 2.99724746e-02 9.58698455e-01 1.31926673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.76710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.32, Y:17.07, Z:13.21 [[ 8.32092020e-01 -4.94202113e-01 -2.51768031e-01 7.43209999e+01] [ 4.72777981e-01 8.69346725e-01 -1.43934888e-01 1.70650492e+01] [ 2.90006639e-01 7.36690198e-04 9.57024350e-01 1.32087702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.79710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:74.35, Y:17.09, Z:13.22 [[ 8.21789266e-01 -5.16007546e-01 -2.41658053e-01 7.43545894e+01] [ 4.86877504e-01 8.56241985e-01 -1.72626648e-01 1.70865735e+01] [ 2.95994424e-01 2.42048569e-02 9.54882938e-01 1.32204819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.82710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:74.37, Y:17.07, Z:13.23 [[ 8.26863264e-01 -4.90955951e-01 -2.74334461e-01 7.43728560e+01] [ 4.86283679e-01 8.69174085e-01 -8.98030784e-02 1.70719984e+01] [ 2.82533760e-01 -5.91495047e-02 9.57431987e-01 1.32287361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.857105681 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:74.39, Y:17.10, Z:13.23 [[ 8.21984690e-01 -5.18273912e-01 -2.36079055e-01 7.43946179e+01] [ 4.89411055e-01 8.54810171e-01 -1.72558370e-01 1.71017683e+01] [ 2.91235279e-01 2.63006387e-02 9.56289856e-01 1.32306308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.887105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:74.42, Y:17.10, Z:13.25 [[ 8.25034920e-01 -5.00815086e-01 -2.61728163e-01 7.44188641e+01] [ 4.88870453e-01 8.64887386e-01 -1.13910003e-01 1.71045135e+01] [ 2.83413235e-01 -3.39714349e-02 9.58395993e-01 1.32450463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.917105681 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:74.44, Y:17.12, Z:13.25 [[ 8.29299219e-01 -5.02870539e-01 -2.43688379e-01 7.44384687e+01] [ 4.82458770e-01 8.64361741e-01 -1.41817898e-01 1.71249890e+01] [ 2.81950955e-01 3.98765850e-05 9.59428818e-01 1.32531219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.947105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.46, Y:17.14, Z:13.26 [[ 8.34856349e-01 -4.94181662e-01 -2.42485798e-01 7.44580286e+01] [ 4.73576515e-01 8.69353192e-01 -1.41245571e-01 1.71426413e+01] [ 2.80606774e-01 3.08418232e-03 9.59817861e-01 1.32609007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.977105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.48, Y:17.16, Z:13.26 [[ 8.40219049e-01 -4.90413462e-01 -2.31358134e-01 7.44814728e+01] [ 4.65324412e-01 8.71159210e-01 -1.56699784e-01 1.71642771e+01] [ 2.78397453e-01 2.40055561e-02 9.60165919e-01 1.32615070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.50, Y:17.17, Z:13.28 [[ 8.40522973e-01 -4.78206030e-01 -2.54637240e-01 7.45022424e+01] [ 4.61829125e-01 8.78154982e-01 -1.24730453e-01 1.71739223e+01] [ 2.83257816e-01 -1.27600826e-02 9.58958909e-01 1.32770475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:74.52, Y:17.20, Z:13.28 [[ 8.41703086e-01 -4.85187453e-01 -2.36915705e-01 7.45210535e+01] [ 4.55048518e-01 8.73613243e-01 -1.72426063e-01 1.72001998e+01] [ 2.90631660e-01 3.73234082e-02 9.56106794e-01 1.32808978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:74.55, Y:17.21, Z:13.29 [[ 8.44693562e-01 -4.67891379e-01 -2.59943156e-01 7.45474845e+01] [ 4.52771947e-01 8.83622351e-01 -1.19201950e-01 1.72069087e+01] [ 2.85465147e-01 -1.70058489e-02 9.58238202e-01 1.32929078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.57, Y:17.22, Z:13.30 [[ 8.45275157e-01 -4.73980037e-01 -2.46683672e-01 7.45689653e+01] [ 4.51660417e-01 8.80474214e-01 -1.44111162e-01 1.72248770e+01] [ 2.85504426e-01 1.03963350e-02 9.58321000e-01 1.32979051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.12710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:74.59, Y:17.24, Z:13.30 [[ 8.44493772e-01 -4.76118413e-01 -2.45237691e-01 7.45907544e+01] [ 4.49748486e-01 8.79077913e-01 -1.57950376e-01 1.72439915e+01] [ 2.90786120e-01 2.30928290e-02 9.56509359e-01 1.33047724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.15710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:74.61, Y:17.25, Z:13.31 [[ 8.45712202e-01 -4.68404297e-01 -2.55672224e-01 7.46142256e+01] [ 4.48877965e-01 8.83512839e-01 -1.33841830e-01 1.72542139e+01] [ 2.88581781e-01 -1.57395879e-03 9.57453956e-01 1.33132627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.18710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:74.64, Y:17.27, Z:13.32 [[ 8.46998155e-01 -4.69766177e-01 -2.48824967e-01 7.46364808e+01] [ 4.46780049e-01 8.82706527e-01 -1.45659792e-01 1.72699183e+01] [ 2.88065466e-01 1.22035439e-02 9.57532955e-01 1.33194254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.21710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:74.66, Y:17.29, Z:13.33 [[ 8.47064705e-01 -4.71173602e-01 -2.45920359e-01 7.46612915e+01] [ 4.45306498e-01 8.81759324e-01 -1.55571906e-01 1.72865145e+01] [ 2.90143945e-01 2.22695371e-02 9.56723868e-01 1.33261115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.68, Y:17.30, Z:13.33 [[ 8.48099872e-01 -4.66354117e-01 -2.51476528e-01 7.46843772e+01] [ 4.42213922e-01 8.84470230e-01 -1.48859867e-01 1.72975413e+01] [ 2.91844914e-01 1.50416123e-02 9.56347372e-01 1.33349843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.277105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:74.71, Y:17.31, Z:13.34 [[ 8.49294316e-01 -4.67678693e-01 -2.44899581e-01 7.47114996e+01] [ 4.42558446e-01 8.83641599e-01 -1.52707388e-01 1.73125071e+01] [ 2.87821449e-01 2.13111391e-02 9.57446943e-01 1.33393300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.307105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.74, Y:17.32, Z:13.35 [[ 8.48753380e-01 -4.57829279e-01 -2.64594126e-01 7.47350286e+01] [ 4.40324204e-01 8.88986539e-01 -1.25767760e-01 1.73154355e+01] [ 2.92800779e-01 -9.76138592e-03 9.56123642e-01 1.33544013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.337105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.76, Y:17.33, Z:13.36 [[ 8.48552616e-01 -4.65140277e-01 -2.52196316e-01 7.47593025e+01] [ 4.41034831e-01 8.85113026e-01 -1.48536898e-01 1.73303215e+01] [ 2.92312738e-01 1.48140135e-02 9.56208036e-01 1.33579036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.367105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.78, Y:17.34, Z:13.37 [[ 8.47594867e-01 -4.66398077e-01 -2.53092425e-01 7.47830950e+01] [ 4.42130430e-01 8.84455127e-01 -1.49197225e-01 1.73412988e+01] [ 2.93434192e-01 1.45589391e-02 9.55868407e-01 1.33651053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:74.81, Y:17.35, Z:13.37 [[ 8.44661652e-01 -4.70586217e-01 -2.55137818e-01 7.48106761e+01] [ 4.46080531e-01 8.82254067e-01 -1.50465681e-01 1.73471421e+01] [ 2.95903453e-01 1.32805769e-02 9.55125527e-01 1.33720147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42710568099999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:74.84, Y:17.35, Z:13.38 [[ 8.41103370e-01 -4.77332303e-01 -2.54359969e-01 7.48379172e+01] [ 4.53238590e-01 8.78654049e-01 -1.50139409e-01 1.73531398e+01] [ 2.95160807e-01 1.09970085e-02 9.55384302e-01 1.33805223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45710568099999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:74.86, Y:17.36, Z:13.39 [[ 8.39816735e-01 -4.80616768e-01 -2.52419043e-01 7.48625897e+01] [ 4.57003402e-01 8.76875075e-01 -1.49124087e-01 1.73635957e+01] [ 2.93011504e-01 9.88054276e-03 9.56057861e-01 1.33893020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48710568099999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:74.89, Y:17.37, Z:13.40 [[ 8.36808061e-01 -4.87440107e-01 -2.49307864e-01 7.48877141e+01] [ 4.64675814e-01 8.73124135e-01 -1.47413138e-01 1.73715445e+01] [ 2.89531789e-01 7.50916812e-03 9.57138943e-01 1.33986227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.51710568099999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:74.91, Y:17.38, Z:13.41 [[ 8.31877659e-01 -4.96828318e-01 -2.47267433e-01 7.49138201e+01] [ 4.74821023e-01 8.67838242e-01 -1.46293477e-01 1.73799158e+01] [ 2.87270876e-01 4.29049958e-03 9.57839775e-01 1.34065822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.54710568099999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:74.94, Y:17.39, Z:13.41 [[ 8.28235698e-01 -5.03071282e-01 -2.46870236e-01 7.49388579e+01] [ 4.81367558e-01 8.64242012e-01 -1.46188300e-01 1.73908313e+01] [ 2.86898765e-01 2.24304627e-03 9.57958281e-01 1.34143040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.57710568099999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:74.97, Y:17.40, Z:13.42 [[ 8.20994926e-01 -5.17309562e-01 -2.41574312e-01 7.49650709e+01] [ 4.93917195e-01 8.55769008e-01 -1.53964963e-01 1.73997302e+01] [ 2.86379356e-01 7.08674667e-03 9.58090101e-01 1.34200811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.607105681 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:74.99, Y:17.41, Z:13.43 [[ 8.17244828e-01 -5.18218586e-01 -2.52111858e-01 7.49893858e+01] [ 4.99444632e-01 8.55156951e-01 -1.38786346e-01 1.74078992e+01] [ 2.87516872e-01 -1.24934909e-02 9.57694085e-01 1.34340808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.637105681 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:75.01, Y:17.42, Z:13.44 [[ 8.12318651e-01 -5.28815971e-01 -2.45951374e-01 7.50109303e+01] [ 5.08321148e-01 8.48711820e-01 -1.45937855e-01 1.74217092e+01] [ 2.85916106e-01 -6.47424312e-03 9.58232782e-01 1.34423449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.667105681 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:75.03, Y:17.44, Z:13.45 [[ 8.08379127e-01 -5.35543151e-01 -2.44370046e-01 7.50315758e+01] [ 5.15598573e-01 8.44462663e-01 -1.45054895e-01 1.74384861e+01] [ 2.84044536e-01 -8.73749783e-03 9.58771275e-01 1.34517114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.697105681 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:75.05, Y:17.46, Z:13.46 [[ 8.03909649e-01 -5.43663085e-01 -2.41163276e-01 7.50534324e+01] [ 5.19158948e-01 8.39291025e-01 -1.61445229e-01 1.74581298e+01] [ 2.90177984e-01 4.58530475e-03 9.56961709e-01 1.34594789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.727105681 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:75.07, Y:17.47, Z:13.47 [[ 8.02748745e-01 -5.39048027e-01 -2.54993484e-01 7.50741244e+01] [ 5.23494327e-01 8.41813164e-01 -1.31545759e-01 1.74698845e+01] [ 2.85566353e-01 -2.78894495e-02 9.57953045e-01 1.34696943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75710568099998 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:75.09, Y:17.49, Z:13.48 [[ 8.00300292e-01 -5.46173838e-01 -2.47413786e-01 7.50926752e+01] [ 5.26130197e-01 8.37579722e-01 -1.47129960e-01 1.74908294e+01] [ 2.87587305e-01 -1.24237140e-02 9.57673845e-01 1.34753987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78710568099999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:75.11, Y:17.51, Z:13.48 [[ 7.98769519e-01 -5.47834357e-01 -2.48686094e-01 7.51132563e+01] [ 5.27641104e-01 8.36485134e-01 -1.47944199e-01 1.75094048e+01] [ 2.89071136e-01 -1.30436881e-02 9.57218753e-01 1.34830750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81710568099999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:75.13, Y:17.53, Z:13.49 [[ 7.95317201e-01 -5.51759584e-01 -2.51061567e-01 7.51309422e+01] [ 5.31321710e-01 8.33877067e-01 -1.49486713e-01 1.75349345e+01] [ 2.91835210e-01 -1.45051067e-02 9.56358621e-01 1.34871163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84710568099999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:75.15, Y:17.55, Z:13.50 [[ 7.95132227e-01 -5.52051443e-01 -2.51005870e-01 7.51543247e+01] [ 5.31598312e-01 8.33683996e-01 -1.49580181e-01 1.75491711e+01] [ 2.91835531e-01 -1.44982746e-02 9.56358627e-01 1.34951591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.87710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:75.17, Y:17.57, Z:13.50 [[ 7.91234741e-01 -5.57367760e-01 -2.51572584e-01 7.51715630e+01] [ 5.37044045e-01 8.30103920e-01 -1.50037245e-01 1.75728347e+01] [ 2.92457311e-01 -1.63908770e-02 9.56138097e-01 1.35031479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.90710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:75.19, Y:17.60, Z:13.51 [[ 7.86265941e-01 -5.65402761e-01 -2.49209929e-01 7.51867350e+01] [ 5.45816751e-01 8.24594645e-01 -1.48753975e-01 1.75960289e+01] [ 2.89603081e-01 -1.90627698e-02 9.56956982e-01 1.35128502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.93710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:75.21, Y:17.62, Z:13.52 [[ 7.83794238e-01 -5.69014243e-01 -2.48775770e-01 7.52058731e+01] [ 5.49656092e-01 8.22076898e-01 -1.48552191e-01 1.76154466e+01] [ 2.89041126e-01 -2.03067665e-02 9.57101281e-01 1.35217464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.96710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.22, Y:17.64, Z:13.53 [[ 7.80939829e-01 -5.73058160e-01 -2.48469975e-01 7.52213229e+01] [ 5.53908359e-01 8.19228291e-01 -1.48494230e-01 1.76418192e+01] [ 2.88649463e-01 -2.16645371e-02 9.57189707e-01 1.35309725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.997105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:75.24, Y:17.68, Z:13.53 [[ 7.82806406e-01 -5.80277362e-01 -2.24704948e-01 7.52361202e+01] [ 5.53420120e-01 8.14321547e-01 -1.74947389e-01 1.76770576e+01] [ 2.84500090e-01 1.25936976e-02 9.58593291e-01 1.35291522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.26, Y:17.69, Z:13.55 [[ 7.82962963e-01 -5.63058515e-01 -2.64450578e-01 7.52553471e+01] [ 5.53472356e-01 8.24602908e-01 -1.17040142e-01 1.76882639e+01] [ 2.83967164e-01 -5.47279885e-02 9.57270859e-01 1.35505898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.057105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.27, Y:17.72, Z:13.55 [[ 7.82041228e-01 -5.72454824e-01 -2.46387888e-01 7.52657859e+01] [ 5.53526112e-01 8.19666464e-01 -1.47498244e-01 1.77235693e+01] [ 2.86391970e-01 -2.10324222e-02 9.57881661e-01 1.35546304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.087105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.28, Y:17.76, Z:13.56 [[ 7.76812745e-01 -5.82600435e-01 -2.39037009e-01 7.52796683e+01] [ 5.55401615e-01 8.12749170e-01 -1.75976795e-01 1.77556232e+01] [ 2.96801288e-01 3.93947647e-03 9.54931137e-01 1.35636356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.117105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:75.30, Y:17.77, Z:13.57 [[ 7.77870929e-01 -5.72207325e-01 -2.59799144e-01 7.53016450e+01] [ 5.58126954e-01 8.19050398e-01 -1.32856118e-01 1.77688250e+01] [ 2.88809836e-01 -4.16559931e-02 9.56479826e-01 1.35698007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.31, Y:17.80, Z:13.58 [[ 7.75497972e-01 -5.81428600e-01 -2.46056252e-01 7.53137458e+01] [ 5.60305400e-01 8.13425262e-01 -1.56196033e-01 1.78005392e+01] [ 2.90965212e-01 -1.67369400e-02 9.56587226e-01 1.35791397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.33, Y:17.82, Z:13.59 [[ 7.77394007e-01 -5.75916181e-01 -2.52940922e-01 7.53335548e+01] [ 5.62147000e-01 8.16528474e-01 -1.31422988e-01 1.78200351e+01] [ 2.82222090e-01 -4.00225371e-02 9.58513896e-01 1.35860798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:75.34, Y:17.85, Z:13.59 [[ 7.77279852e-01 -5.79207652e-01 -2.45671583e-01 7.53441991e+01] [ 5.60599644e-01 8.14852446e-01 -1.47456876e-01 1.78534496e+01] [ 2.85594242e-01 -2.31081430e-02 9.58071992e-01 1.35949634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.36, Y:17.88, Z:13.60 [[ 7.77128581e-01 -5.78982681e-01 -2.46678381e-01 7.53568987e+01] [ 5.60172875e-01 8.15014608e-01 -1.48180764e-01 1.78822223e+01] [ 2.86840580e-01 -2.30270312e-02 9.57701539e-01 1.36017557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.37, Y:17.91, Z:13.61 [[ 7.76136788e-01 -5.80459629e-01 -2.46329667e-01 7.53718504e+01] [ 5.61759781e-01 8.13950114e-01 -1.48024191e-01 1.79093540e+01] [ 2.86422127e-01 -2.34910796e-02 9.57815501e-01 1.36086164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.39, Y:17.93, Z:13.62 [[ 7.75057886e-01 -5.81724712e-01 -2.46742035e-01 7.53895721e+01] [ 5.62985321e-01 8.13034687e-01 -1.48398534e-01 1.79288953e+01] [ 2.86936928e-01 -2.38946897e-02 9.57651420e-01 1.36166233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.40, Y:17.96, Z:13.63 [[ 7.71121154e-01 -5.86136206e-01 -2.48629270e-01 7.54041335e+01] [ 5.67308039e-01 8.09804941e-01 -1.49591263e-01 1.79570605e+01] [ 2.89022067e-01 -2.56963961e-02 9.56977502e-01 1.36251487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.357105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.42, Y:17.99, Z:13.63 [[ 7.66176349e-01 -5.92014044e-01 -2.49986347e-01 7.54188572e+01] [ 5.73238167e-01 8.05442300e-01 -1.50534731e-01 1.79852256e+01] [ 2.90468254e-01 -2.79655644e-02 9.56475886e-01 1.36326121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.387105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.44, Y:18.01, Z:13.64 [[ 7.64382788e-01 -5.94586127e-01 -2.49371791e-01 7.54379709e+01] [ 5.75996871e-01 8.03517471e-01 -1.50290644e-01 1.80057435e+01] [ 2.89735323e-01 -2.87577898e-02 9.56674674e-01 1.36402315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.417105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:18.03, Z:13.65 [[ 7.61613946e-01 -5.98672899e-01 -2.48062407e-01 7.54529152e+01] [ 5.80450662e-01 8.00430470e-01 -1.49626508e-01 1.80334284e+01] [ 2.88134044e-01 -3.00303530e-02 9.57119089e-01 1.36480482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.447105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.46, Y:18.07, Z:13.65 [[ 7.58946347e-01 -6.11397751e-01 -2.24038463e-01 7.54634551e+01] [ 5.80629680e-01 7.91166608e-01 -1.92157675e-01 1.80673440e+01] [ 2.94736521e-01 1.57539842e-02 9.55448688e-01 1.36533899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.477105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.49, Y:18.08, Z:13.65 [[ 0.75913114 -0.58957068 -0.27590998 75.49401117] [ 0.58399062 0.80408011 -0.1114008 18.07679892] [ 0.28753238 -0.07656102 0.954706 13.65486489] [ 0. 0. 0. 1. ]] SLAMing on 83.50710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:75.50, Y:18.11, Z:13.67 [[ 7.55744204e-01 -6.05828676e-01 -2.48640933e-01 7.54994231e+01] [ 5.79026975e-01 7.95542882e-01 -1.78435662e-01 1.81087134e+01] [ 3.05905965e-01 -9.11808973e-03 9.52018068e-01 1.36715896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53710568099999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:75.52, Y:18.14, Z:13.67 [[ 7.58914967e-01 -6.03094708e-01 -2.45611168e-01 7.55236606e+01] [ 5.78495035e-01 7.97573851e-01 -1.70936968e-01 1.81367675e+01] [ 2.98984226e-01 -1.23582180e-02 9.54178027e-01 1.36695402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56710568099999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:75.55, Y:18.15, Z:13.67 [[ 7.60408412e-01 -5.96931820e-01 -2.55834809e-01 7.55485466e+01] [ 5.76897717e-01 8.01770392e-01 -1.56055318e-01 1.81533537e+01] [ 2.98275160e-01 -2.89247404e-02 9.54041555e-01 1.36745876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:75.57, Y:18.17, Z:13.69 [[ 7.59223969e-01 -5.86087037e-01 -2.82985777e-01 7.55650968e+01] [ 5.77903117e-01 8.07076122e-01 -1.21062461e-01 1.81704171e+01] [ 2.99344203e-01 -7.16248409e-02 9.51453063e-01 1.36854634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62710568099999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:75.58, Y:18.20, Z:13.70 [[ 7.61727177e-01 -6.05854840e-01 -2.29590113e-01 7.55750216e+01] [ 5.76290254e-01 7.95508410e-01 -1.87232245e-01 1.82046144e+01] [ 2.96076427e-01 1.03093453e-02 9.55108615e-01 1.37020188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.65710568099999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:75.60, Y:18.22, Z:13.71 [[ 7.61868929e-01 -5.90982134e-01 -2.65133649e-01 7.55963746e+01] [ 5.76606717e-01 8.05273319e-01 -1.38056422e-01 1.82157140e+01] [ 2.95093933e-01 -4.76969444e-02 9.54276989e-01 1.37055508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.68710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:75.61, Y:18.25, Z:13.72 [[ 7.64082060e-01 -5.98747212e-01 -2.40167402e-01 7.56118944e+01] [ 5.73156807e-01 8.00920705e-01 -1.73255011e-01 1.82468429e+01] [ 2.96091000e-01 -5.27253558e-03 9.55145183e-01 1.37184938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.71710568099999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:75.63, Y:18.27, Z:13.72 [[ 7.64195434e-01 -5.94221133e-01 -2.50811849e-01 7.56329374e+01] [ 5.71063337e-01 8.04121586e-01 -1.65151867e-01 1.82703210e+01] [ 2.99819952e-01 -1.70211486e-02 9.53843948e-01 1.37225336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.747105681 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:75.66, Y:18.28, Z:13.72 [[ 7.66848341e-01 -5.84530164e-01 -2.65081326e-01 7.56556105e+01] [ 5.71672323e-01 8.09806718e-01 -1.31923593e-01 1.82844173e+01] [ 2.91777958e-01 -5.03742689e-02 9.55158655e-01 1.37208075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.777105681 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:75.67, Y:18.31, Z:13.74 [[ 7.67615122e-01 -5.90452050e-01 -2.49265722e-01 7.56675924e+01] [ 5.66361387e-01 8.06973388e-01 -1.67417829e-01 1.83147761e+01] [ 3.00003005e-01 -1.26620228e-02 9.53854219e-01 1.37383284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.807105681 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:75.69, Y:18.34, Z:13.75 [[ 7.68253086e-01 -5.86464375e-01 -2.56606183e-01 7.56867877e+01] [ 5.62601796e-01 8.09806510e-01 -1.66411044e-01 1.83377960e+01] [ 3.05395506e-01 -1.65213014e-02 9.52082261e-01 1.37452548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.837105681 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:75.71, Y:18.35, Z:13.75 [[ 7.66362251e-01 -5.76176181e-01 -2.84094896e-01 7.57089730e+01] [ 5.64667725e-01 8.15049396e-01 -1.29787687e-01 1.83540097e+01] [ 3.06331947e-01 -6.09548344e-02 9.49971182e-01 1.37470982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86710568099998 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:75.73, Y:18.38, Z:13.76 [[ 7.64848307e-01 -5.85063483e-01 -2.69643818e-01 7.57295055e+01] [ 5.68671013e-01 8.09840988e-01 -1.44120965e-01 1.83770443e+01] [ 3.02688530e-01 -4.31079470e-02 9.52114152e-01 1.37600021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89710568099999 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:75.74, Y:18.40, Z:13.78 [[ 7.63926092e-01 -5.92343875e-01 -2.56018867e-01 7.57403454e+01] [ 5.68149966e-01 8.05509876e-01 -1.68402660e-01 1.83999389e+01] [ 3.05978010e-01 -1.68099248e-02 9.51890164e-01 1.37777826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92710568099999 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:75.76, Y:18.43, Z:13.78 [[ 7.65076505e-01 -5.98926517e-01 -2.36526887e-01 7.57625545e+01] [ 5.70533708e-01 8.00791296e-01 -1.82276132e-01 1.84255757e+01] [ 2.98578681e-01 4.50862469e-03 9.54374373e-01 1.37848626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95710568099999 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:75.79, Y:18.44, Z:13.78 [[ 7.65892592e-01 -5.89954550e-01 -2.55660253e-01 7.57856546e+01] [ 5.71367296e-01 8.06838730e-01 -1.50168827e-01 1.84384647e+01] [ 2.94869377e-01 -3.10627155e-02 9.55032543e-01 1.37812050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98710568099999 meters Centerline goodness : 0.998074 Centerline is valid? [True, True] Translation: X:75.81, Y:18.46, Z:13.79 [[ 7.64357167e-01 -5.91323073e-01 -2.57089761e-01 7.58067794e+01] [ 5.71748684e-01 8.05895755e-01 -1.53738328e-01 1.84617461e+01] [ 2.98096568e-01 -2.94797402e-02 9.54080385e-01 1.37910106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.01710568099999 meters Centerline goodness : 0.997293 Centerline is valid? [True, True] Translation: X:75.83, Y:18.48, Z:13.80 [[ 7.62761380e-01 -5.82334956e-01 -2.81213577e-01 7.58294424e+01] [ 5.72059471e-01 8.10396400e-01 -1.26513381e-01 1.84773776e+01] [ 3.01567634e-01 -6.43713690e-02 9.51269304e-01 1.37975170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.04710568099999 meters Centerline goodness : 0.997188 Centerline is valid? [True, True] Translation: X:75.84, Y:18.50, Z:13.82 [[ 7.64014028e-01 -5.90189474e-01 -2.60689374e-01 7.58408131e+01] [ 5.68113857e-01 8.06892770e-01 -1.61773620e-01 1.84958064e+01] [ 3.05825459e-01 -2.45039305e-02 9.51772213e-01 1.38167090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.07710568099999 meters Centerline goodness : 0.996760 Centerline is valid? [True, True] Translation: X:75.86, Y:18.52, Z:13.83 [[ 7.63034408e-01 -5.90534319e-01 -2.62769310e-01 7.58596291e+01] [ 5.69185882e-01 8.06538306e-01 -1.59760425e-01 1.85199419e+01] [ 3.06277528e-01 -2.76618801e-02 9.51540276e-01 1.38278614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.107105681 meters Centerline goodness : 0.996091 Centerline is valid? [True, True] Translation: X:75.88, Y:18.54, Z:13.84 [[ 7.64777622e-01 -5.88730772e-01 -2.61746571e-01 7.58766790e+01] [ 5.67615657e-01 8.07869271e-01 -1.58618116e-01 1.85402015e+01] [ 3.04840378e-01 -2.72638662e-02 9.52013144e-01 1.38362255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.137105681 meters Centerline goodness : 0.995982 Centerline is valid? [True, True] Translation: X:75.89, Y:18.56, Z:13.85 [[ 7.66006722e-01 -5.89547852e-01 -2.56255793e-01 7.58931903e+01] [ 5.62806074e-01 8.07676939e-01 -1.75804682e-01 1.85557426e+01] [ 3.10617167e-01 -9.55474870e-03 9.50487076e-01 1.38502274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.167105681 meters Centerline goodness : 0.995960 Centerline is valid? [True, True] Translation: X:75.92, Y:18.58, Z:13.85 [[ 7.66900584e-01 -5.83745322e-01 -2.66655009e-01 7.59218062e+01] [ 5.66385111e-01 8.11015056e-01 -1.46500803e-01 1.85754824e+01] [ 3.01780385e-01 -3.86778756e-02 9.52592579e-01 1.38485629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.197105681 meters Centerline goodness : 0.996164 Centerline is valid? [True, True] Translation: X:75.94, Y:18.60, Z:13.86 [[ 7.68091738e-01 -5.85676766e-01 -2.58877979e-01 7.59375415e+01] [ 5.64791215e-01 8.10142099e-01 -1.57100806e-01 1.85960389e+01] [ 3.01738241e-01 -2.55441770e-02 9.53048545e-01 1.38608689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.227105681 meters Centerline goodness : 0.995801 Centerline is valid? [True, True] Translation: X:75.96, Y:18.61, Z:13.87 [[ 7.69305098e-01 -5.84196205e-01 -2.58620301e-01 7.59584023e+01] [ 5.63255101e-01 8.11230727e-01 -1.56998083e-01 1.86127912e+01] [ 3.01518419e-01 -2.48897779e-02 9.53135427e-01 1.38681768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25710568099998 meters Centerline goodness : 0.995471 Centerline is valid? [True, True] Translation: X:75.98, Y:18.63, Z:13.88 [[ 7.72795035e-01 -5.79644362e-01 -2.58457439e-01 7.59772070e+01] [ 5.58458976e-01 8.14544130e-01 -1.56975898e-01 1.86330399e+01] [ 3.01515184e-01 -2.30276826e-02 9.53183256e-01 1.38781000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28710568099999 meters Centerline goodness : 0.995758 Centerline is valid? [True, True] Translation: X:76.00, Y:18.65, Z:13.89 [[ 7.77594561e-01 -5.73356215e-01 -2.58087871e-01 7.59966173e+01] [ 5.51855609e-01 8.19051189e-01 -1.56877458e-01 1.86513956e+01] [ 3.01333844e-01 -2.04401811e-02 9.53299593e-01 1.38862270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31710568099999 meters Centerline goodness : 0.995667 Centerline is valid? [True, True] Translation: X:76.02, Y:18.67, Z:13.89 [[ 7.84379522e-01 -5.64391020e-01 -2.57316034e-01 7.60168569e+01] [ 5.42507673e-01 8.25336454e-01 -1.56541250e-01 1.86689094e+01] [ 3.00722779e-01 -1.68081718e-02 9.53563472e-01 1.38928194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34710568099999 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:76.04, Y:18.69, Z:13.90 [[ 7.88203270e-01 -5.59223380e-01 -2.56914026e-01 7.60378055e+01] [ 5.37122584e-01 8.28885741e-01 -1.56357788e-01 1.86850384e+01] [ 3.00391304e-01 -1.47526064e-02 9.53701958e-01 1.39010527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37710568099999 meters Centerline goodness : 0.996407 Centerline is valid? [True, True] Translation: X:76.06, Y:18.70, Z:13.91 [[ 7.96705815e-01 -5.48034564e-01 -2.54790032e-01 7.60566832e+01] [ 5.25702218e-01 8.36392271e-01 -1.55193905e-01 1.87038074e+01] [ 2.98156038e-01 -1.02997986e-02 9.54461571e-01 1.39109084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.40710568099999 meters Centerline goodness : 0.997016 Centerline is valid? [True, True] Translation: X:76.07, Y:18.72, Z:13.92 [[ 8.05540387e-01 -5.36782420e-01 -2.50936881e-01 7.60729590e+01] [ 5.11156530e-01 8.43712271e-01 -1.63916463e-01 1.87209038e+01] [ 2.99706001e-01 3.77330566e-03 9.54024148e-01 1.39234862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.43710568099999 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:76.10, Y:18.74, Z:13.93 [[ 8.09495084e-01 -5.28038706e-01 -2.56695994e-01 7.61003093e+01] [ 5.06799355e-01 8.49163532e-01 -1.48578970e-01 1.87369935e+01] [ 2.96432324e-01 -9.81941852e-03 9.55003380e-01 1.39263568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.46710568099999 meters Centerline goodness : 0.997694 Centerline is valid? [True, True] Translation: X:76.12, Y:18.75, Z:13.94 [[ 8.17229150e-01 -5.16889667e-01 -2.54875634e-01 7.61222892e+01] [ 4.92959218e-01 8.56050875e-01 -1.55460955e-01 1.87518604e+01] [ 2.98542671e-01 1.40393071e-03 9.54395255e-01 1.39359403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.497105681 meters Centerline goodness : 0.997576 Centerline is valid? [True, True] Translation: X:76.15, Y:18.77, Z:13.94 [[ 8.19467596e-01 -5.11955291e-01 -2.57632761e-01 7.61456483e+01] [ 4.87208047e-01 8.59005495e-01 -1.57282798e-01 1.87653910e+01] [ 3.01829718e-01 3.36740168e-03 9.53355905e-01 1.39431011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.527105681 meters Centerline goodness : 0.997655 Centerline is valid? [True, True] Translation: X:76.17, Y:18.78, Z:13.95 [[ 8.21479488e-01 -5.06734652e-01 -2.61517577e-01 7.61708929e+01] [ 4.80911526e-01 8.62084525e-01 -1.59794795e-01 1.87752984e+01] [ 3.06423816e-01 5.50132889e-03 9.51879289e-01 1.39486849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.557105681 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:76.20, Y:18.78, Z:13.95 [[ 8.22635243e-01 -5.05410225e-01 -2.60445315e-01 7.61990474e+01] [ 4.79719531e-01 8.62858169e-01 -1.59200976e-01 1.87803055e+01] [ 3.05189169e-01 6.02362931e-03 9.52272696e-01 1.39523856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.587105681 meters Centerline goodness : 0.996396 Centerline is valid? [True, True] Translation: X:76.22, Y:18.79, Z:13.96 [[ 8.23265122e-01 -5.05091862e-01 -2.59069007e-01 7.62240600e+01] [ 4.79643424e-01 8.63043579e-01 -1.58423378e-01 1.87899433e+01] [ 3.03606202e-01 6.16369603e-03 9.52777667e-01 1.39598539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61710568099998 meters Centerline goodness : 0.997039 Centerline is valid? [True, True] Translation: X:76.25, Y:18.80, Z:13.97 [[ 8.24526873e-01 -5.03161550e-01 -2.58812460e-01 7.62521202e+01] [ 4.77627325e-01 8.64164065e-01 -1.58406461e-01 1.87954125e+01] [ 3.03360468e-01 6.99448098e-03 9.52850200e-01 1.39689848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64710568099999 meters Centerline goodness : 0.995969 Centerline is valid? [True, True] Translation: X:76.28, Y:18.80, Z:13.98 [[ 8.25589275e-01 -5.00858191e-01 -2.59891172e-01 7.62828304e+01] [ 4.74947218e-01 8.65492309e-01 -1.59211191e-01 1.87974999e+01] [ 3.04676040e-01 8.00846225e-03 9.52422372e-01 1.39759141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67710568099999 meters Centerline goodness : 0.995631 Centerline is valid? [True, True] Translation: X:76.31, Y:18.80, Z:13.98 [[ 8.25356109e-01 -5.02456288e-01 -2.57536352e-01 7.63141622e+01] [ 4.77057436e-01 8.64570351e-01 -1.57906021e-01 1.87962908e+01] [ 3.01999167e-01 7.46906779e-03 9.53278929e-01 1.39825738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70710568099999 meters Centerline goodness : 0.996009 Centerline is valid? [True, True] Translation: X:76.34, Y:18.80, Z:13.99 [[ 8.23579658e-01 -5.06121492e-01 -2.56042148e-01 7.63407822e+01] [ 4.81176868e-01 8.62440310e-01 -1.57052645e-01 1.88035883e+01] [ 3.00308789e-01 6.14380478e-03 9.53822250e-01 1.39913677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73710568099999 meters Centerline goodness : 0.995597 Centerline is valid? [True, True] Translation: X:76.37, Y:18.81, Z:14.00 [[ 8.20844437e-01 -5.10931408e-01 -2.55271437e-01 7.63675048e+01] [ 4.86323653e-01 8.59609725e-01 -1.56717660e-01 1.88110970e+01] [ 2.99505784e-01 4.49628191e-03 9.54083890e-01 1.40004395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.76710568099999 meters Centerline goodness : 0.995597 Centerline is valid? [True, True] Translation: X:76.39, Y:18.83, Z:14.01 [[ 8.20664324e-01 -5.11251693e-01 -2.55209273e-01 7.63905067e+01] [ 4.86627611e-01 8.59419236e-01 -1.56818830e-01 1.88254922e+01] [ 2.99505651e-01 4.50374061e-03 9.54083896e-01 1.40087478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.79710568099999 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:76.43, Y:18.82, Z:14.02 [[ 8.09739589e-01 -5.28251432e-01 -2.55484290e-01 7.64265858e+01] [ 5.04347079e-01 8.49086436e-01 -1.57118580e-01 1.88178597e+01] [ 2.99926360e-01 -1.62762071e-03 9.53960969e-01 1.40167254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.82710568099999 meters Centerline goodness : 0.997532 Centerline is valid? [True, True] Translation: X:76.45, Y:18.82, Z:14.03 [[ 8.05828004e-01 -5.34106458e-01 -2.55678547e-01 7.64540327e+01] [ 5.10407679e-01 8.45409211e-01 -1.57376198e-01 1.88247854e+01] [ 3.00208642e-01 -3.68214617e-03 9.53866454e-01 1.40252445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.857105681 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:76.48, Y:18.83, Z:14.03 [[ 7.99553543e-01 -5.43480180e-01 -2.55623604e-01 7.64848685e+01] [ 5.20212455e-01 8.39392263e-01 -1.57478988e-01 1.88250502e+01] [ 3.00155184e-01 -7.06569932e-03 9.53864215e-01 1.40331170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.887105681 meters Centerline goodness : 0.997473 Centerline is valid? [True, True] Translation: X:76.51, Y:18.83, Z:14.04 [[ 7.98533703e-01 -5.45510705e-01 -2.54483785e-01 7.65103475e+01] [ 5.22513352e-01 8.38068724e-01 -1.56909560e-01 1.88329489e+01] [ 2.98870746e-01 -7.67360369e-03 9.54262748e-01 1.40415440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.917105681 meters Centerline goodness : 0.998052 Centerline is valid? [True, True] Translation: X:76.54, Y:18.84, Z:14.06 [[ 8.01124331e-01 -5.42158566e-01 -2.53503247e-01 7.65357265e+01] [ 5.19159328e-01 8.40252268e-01 -1.56364057e-01 1.88380973e+01] [ 2.97780791e-01 -6.34152515e-03 9.54613213e-01 1.40558520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.947105681 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:76.56, Y:18.84, Z:14.07 [[ 8.07635744e-01 -5.35454594e-01 -2.47007861e-01 7.65574947e+01] [ 5.07508912e-01 8.44465227e-01 -1.71210936e-01 1.88446182e+01] [ 3.00265232e-01 1.29173808e-02 9.53768280e-01 1.40715540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.977105681 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:76.59, Y:18.85, Z:14.07 [[ 8.10536731e-01 -5.25786179e-01 -2.58029265e-01 7.65883652e+01] [ 5.05559291e-01 8.50518740e-01 -1.45009225e-01 1.88543908e+01] [ 2.95702572e-01 -1.29137893e-02 9.55192768e-01 1.40741869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00710568099998 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:76.61, Y:18.86, Z:14.08 [[ 8.14960233e-01 -5.21287869e-01 -2.53177362e-01 7.66137622e+01] [ 4.97305677e-01 8.53379627e-01 -1.56301876e-01 1.88623621e+01] [ 2.97534674e-01 1.47327389e-03 9.54709876e-01 1.40826428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03710568099999 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:76.64, Y:18.87, Z:14.09 [[ 8.17036107e-01 -5.17583182e-01 -2.54085912e-01 7.66375251e+01] [ 4.93229986e-01 8.55628017e-01 -1.56923160e-01 1.88731822e+01] [ 2.98623813e-01 2.88909756e-03 9.54366529e-01 1.40900284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06710568099999 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:76.66, Y:18.88, Z:14.10 [[ 8.21131886e-01 -5.11700875e-01 -2.52793671e-01 7.66639710e+01] [ 4.87308565e-01 8.59148772e-01 -1.56184989e-01 1.88818550e+01] [ 2.97107367e-01 5.05995340e-03 9.54830671e-01 1.40968988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09710568099999 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:76.69, Y:18.89, Z:14.11 [[ 8.22674952e-01 -5.11253268e-01 -2.48648385e-01 7.66859065e+01] [ 4.81645158e-01 8.59135427e-01 -1.72928481e-01 1.88902742e+01] [ 3.02032888e-01 2.25036385e-02 9.53031857e-01 1.41089188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12710568099999 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:76.72, Y:18.90, Z:14.11 [[ 8.22699535e-01 -5.04277252e-01 -2.62430806e-01 7.67152231e+01] [ 4.82666045e-01 8.63518089e-01 -1.46184814e-01 1.89006145e+01] [ 3.00331424e-01 -6.40026044e-03 9.53813437e-01 1.41096850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.15710568099999 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:76.74, Y:18.91, Z:14.12 [[ 8.23452956e-01 -5.05363577e-01 -2.57939693e-01 7.67403968e+01] [ 4.79533153e-01 8.62871194e-01 -1.59691131e-01 1.89106891e+01] [ 3.03270812e-01 7.80749961e-03 9.52872425e-01 1.41182680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.18710568099999 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:76.77, Y:18.92, Z:14.12 [[ 8.22959920e-01 -5.04855846e-01 -2.60494808e-01 7.67682887e+01] [ 4.78428481e-01 8.63164671e-01 -1.61409228e-01 1.89166646e+01] [ 3.06338308e-01 8.20518979e-03 9.51887344e-01 1.41242229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.21710568099999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:76.79, Y:18.92, Z:14.14 [[ 8.22551834e-01 -5.07985949e-01 -2.55653586e-01 7.67945946e+01] [ 4.82676282e-01 8.61337108e-01 -1.58499193e-01 1.89210694e+01] [ 3.00719284e-01 6.97587984e-03 9.53687186e-01 1.41352260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.247105681 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:76.82, Y:18.93, Z:14.14 [[ 8.21618146e-01 -5.10792479e-01 -2.53050719e-01 7.68200481e+01] [ 4.86110630e-01 8.59683368e-01 -1.56974400e-01 1.89296303e+01] [ 2.97724837e-01 5.96237093e-03 9.54633108e-01 1.41447851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.277105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:76.85, Y:18.93, Z:14.15 [[ 8.18260297e-01 -5.16197370e-01 -2.52963163e-01 7.68498964e+01] [ 4.91742970e-01 8.56459762e-01 -1.57052623e-01 1.89312285e+01] [ 2.97722922e-01 4.11706888e-03 9.54643447e-01 1.41549111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.307105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:76.88, Y:18.94, Z:14.16 [[ 8.16680981e-01 -5.18512346e-01 -2.53332040e-01 7.68755598e+01] [ 4.94051288e-01 8.55063382e-01 -1.57416448e-01 1.89390986e+01] [ 2.98237322e-01 3.39999824e-03 9.54485694e-01 1.41618310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.337105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.90, Y:18.94, Z:14.17 [[ 8.13672732e-01 -5.24763330e-01 -2.50120236e-01 7.69040979e+01] [ 4.97245529e-01 8.51157003e-01 -1.68162543e-01 1.89443978e+01] [ 3.01137127e-01 1.24581063e-02 9.53499463e-01 1.41704884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.93, Y:18.95, Z:14.17 [[ 8.12787103e-01 -5.22111993e-01 -2.58410897e-01 7.69324673e+01] [ 5.00427454e-01 8.52838404e-01 -1.49127528e-01 1.89517285e+01] [ 2.98244008e-01 -8.10697560e-03 9.54455231e-01 1.41749410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.95, Y:18.96, Z:14.19 [[ 8.14156239e-01 -5.26423055e-01 -2.45006908e-01 7.69532752e+01] [ 4.95406213e-01 8.49855586e-01 -1.79772543e-01 1.89555850e+01] [ 3.02856901e-01 2.49849934e-02 9.52708480e-01 1.41893913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.99, Y:18.96, Z:14.20 [[ 8.16403901e-01 -5.14796001e-01 -2.61667245e-01 7.69889501e+01] [ 4.94703166e-01 8.57218451e-01 -1.42987080e-01 1.89618945e+01] [ 2.97915167e-01 -1.27124046e-02 9.54507699e-01 1.41952198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.01, Y:18.97, Z:14.20 [[ 8.19660926e-01 -5.13406500e-01 -2.54105750e-01 7.70083234e+01] [ 4.87192323e-01 8.58096615e-01 -1.62215414e-01 1.89716354e+01] [ 3.01329732e-01 9.16326639e-03 9.53475971e-01 1.42044922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:77.04, Y:18.98, Z:14.21 [[ 8.22004843e-01 -5.08393454e-01 -2.56601120e-01 7.70384020e+01] [ 4.82645360e-01 8.61091276e-01 -1.59922702e-01 1.89816006e+01] [ 3.02260641e-01 7.60989509e-03 9.53194941e-01 1.42123507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.51710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.06, Y:18.99, Z:14.22 [[ 8.24172208e-01 -5.05534205e-01 -2.55294613e-01 7.70645110e+01] [ 4.77035539e-01 8.62642484e-01 -1.68181568e-01 1.89887455e+01] [ 3.05249514e-01 1.68259705e-02 9.52123742e-01 1.42220131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.10, Y:18.99, Z:14.23 [[ 8.25604395e-01 -4.99420957e-01 -2.62594916e-01 7.70962530e+01] [ 4.74709530e-01 8.66352507e-01 -1.55190836e-01 1.89925773e+01] [ 3.05005320e-01 3.46992681e-03 9.52344326e-01 1.42272688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.12, Y:19.00, Z:14.24 [[ 8.26191935e-01 -5.00125022e-01 -2.59387449e-01 7.71211604e+01] [ 4.73516444e-01 8.65890317e-01 -1.61295182e-01 1.90038788e+01] [ 3.05268837e-01 1.04365564e-02 9.52209019e-01 1.42357563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.15, Y:19.01, Z:14.24 [[ 8.26364009e-01 -4.99208484e-01 -2.60602022e-01 7.71461562e+01] [ 4.72251104e-01 8.66412521e-01 -1.62198147e-01 1.90123003e+01] [ 3.06759546e-01 1.09651182e-02 9.51723882e-01 1.42430251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.637105681 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:77.17, Y:19.02, Z:14.25 [[ 8.26358976e-01 -5.00882839e-01 -2.57385361e-01 7.71702022e+01] [ 4.68589941e-01 8.65083130e-01 -1.79038114e-01 1.90204860e+01] [ 3.12336853e-01 2.73415613e-02 9.49577869e-01 1.42523039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.667105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.20, Y:19.03, Z:14.26 [[ 8.26073617e-01 -4.94832337e-01 -2.69709730e-01 7.72000307e+01] [ 4.70598528e-01 8.68988282e-01 -1.52958792e-01 1.90283873e+01] [ 3.10063551e-01 -5.69779441e-04 9.50715662e-01 1.42586957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.697105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.23, Y:19.03, Z:14.27 [[ 8.25231830e-01 -5.00589695e-01 -2.61538495e-01 7.72269086e+01] [ 4.73459708e-01 8.65619684e-01 -1.62906314e-01 1.90337203e+01] [ 3.07942092e-01 1.06075362e-02 9.51345967e-01 1.42663434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.727105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:19.04, Z:14.28 [[ 8.23225441e-01 -5.05753467e-01 -2.57901733e-01 7.72540184e+01] [ 4.79618682e-01 8.62635160e-01 -1.60706258e-01 1.90382931e+01] [ 3.03752850e-01 8.60299100e-03 9.52712021e-01 1.42776013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:77.28, Y:19.05, Z:14.29 [[ 8.21964739e-01 -5.08323587e-01 -2.56867863e-01 7.72776928e+01] [ 4.82481391e-01 8.61131307e-01 -1.60201685e-01 1.90494085e+01] [ 3.02631254e-01 7.74617181e-03 9.53076241e-01 1.42863641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.30, Y:19.06, Z:14.29 [[ 8.19186638e-01 -5.13451367e-01 -2.55540499e-01 7.73038813e+01] [ 4.88105444e-01 8.58098567e-01 -1.59436272e-01 1.90583255e+01] [ 3.01141708e-01 5.87735462e-03 9.53561287e-01 1.42942945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.33, Y:19.07, Z:14.30 [[ 8.17959781e-01 -5.15516648e-01 -2.55312325e-01 7.73293439e+01] [ 4.90270900e-01 8.56863549e-01 -1.59434320e-01 1.90683983e+01] [ 3.00958871e-01 5.23865861e-03 9.53622732e-01 1.43021014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:77.36, Y:19.07, Z:14.31 [[ 8.14800722e-01 -5.19841991e-01 -2.56639997e-01 7.73572452e+01] [ 4.94489151e-01 8.54254006e-01 -1.60407523e-01 1.90729025e+01] [ 3.02622311e-01 3.79447126e-03 9.53103005e-01 1.43085993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.38, Y:19.08, Z:14.32 [[ 8.10963232e-01 -5.24896933e-01 -2.58499217e-01 7.73846138e+01] [ 4.99394199e-01 8.51163473e-01 -1.61635938e-01 1.90808958e+01] [ 3.04867300e-01 1.98779344e-03 9.52392765e-01 1.43157437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.41, Y:19.09, Z:14.32 [[ 8.07789347e-01 -5.28663602e-01 -2.60751158e-01 7.74099493e+01] [ 5.02847053e-01 8.48831137e-01 -1.63188670e-01 1.90916666e+01] [ 3.07605612e-01 7.04117697e-04 9.51513684e-01 1.43220424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.43, Y:19.10, Z:14.33 [[ 8.06635339e-01 -5.30201042e-01 -2.61201618e-01 7.74349957e+01] [ 5.04324694e-01 8.47871921e-01 -1.63614820e-01 1.91031771e+01] [ 3.08214265e-01 2.47069354e-04 9.51316932e-01 1.43294554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.96710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.46, Y:19.11, Z:14.34 [[ 8.05188794e-01 -5.33443989e-01 -2.59053113e-01 7.74600890e+01] [ 5.08119596e-01 8.45834957e-01 -1.62412133e-01 1.91099402e+01] [ 3.05753955e-01 -8.57533928e-04 9.52110174e-01 1.43392596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.997105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.48, Y:19.12, Z:14.35 [[ 8.03687790e-01 -5.36862768e-01 -2.56640418e-01 7.74840343e+01] [ 5.12168438e-01 8.43667025e-01 -1.60964100e-01 1.91204111e+01] [ 3.02934691e-01 -2.07823990e-03 9.53009052e-01 1.43501092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.51, Y:19.15, Z:14.35 [[ 8.04415837e-01 -5.51533496e-01 -2.20739584e-01 7.75087469e+01] [ 5.16043814e-01 8.32815961e-01 -2.00290681e-01 1.91457230e+01] [ 2.94302469e-01 4.72056989e-02 9.54545797e-01 1.43462685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.057105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.54, Y:19.14, Z:14.37 [[ 7.99888378e-01 -5.28184597e-01 -2.84955459e-01 7.75352230e+01] [ 5.18670305e-01 8.47268587e-01 -1.14529719e-01 1.91408868e+01] [ 3.01926642e-01 -5.61869431e-02 9.51673962e-01 1.43692297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.087105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.55, Y:19.16, Z:14.38 [[ 7.92418416e-01 -5.56378974e-01 -2.50030981e-01 7.75517107e+01] [ 5.25051034e-01 8.30792117e-01 -1.84677746e-01 1.91605847e+01] [ 3.10474583e-01 1.50630218e-02 9.50462329e-01 1.43761260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.58, Y:19.17, Z:14.38 [[ 7.89220341e-01 -5.52662348e-01 -2.67760308e-01 7.75806368e+01] [ 5.33912441e-01 8.32929959e-01 -1.45482608e-01 1.91698586e+01] [ 3.03428342e-01 -2.81427264e-02 9.52438569e-01 1.43846546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.60, Y:19.19, Z:14.39 [[ 7.82456338e-01 -5.66853160e-01 -2.57758751e-01 7.76013359e+01] [ 5.43402040e-01 8.23710233e-01 -1.61912555e-01 1.91866637e+01] [ 3.04099165e-01 -1.33771264e-02 9.52546456e-01 1.43925947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.62, Y:19.20, Z:14.40 [[ 7.79418003e-01 -5.70384456e-01 -2.59170116e-01 7.76224155e+01] [ 5.46813240e-01 8.21245990e-01 -1.62942642e-01 1.92018573e+01] [ 3.05782368e-01 -1.47172223e-02 9.51987682e-01 1.44017269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.64, Y:19.22, Z:14.41 [[ 7.79015880e-01 -5.71011868e-01 -2.58997501e-01 7.76433469e+01] [ 5.47486302e-01 8.20806602e-01 -1.62896505e-01 1.92174077e+01] [ 3.05602696e-01 -1.48986195e-02 9.52042553e-01 1.44100948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.66, Y:19.24, Z:14.42 [[ 7.81090229e-01 -5.68835986e-01 -2.57533832e-01 7.76613847e+01] [ 5.45446721e-01 8.22333409e-01 -1.62035919e-01 1.92368280e+01] [ 3.03950536e-01 -1.39063107e-02 9.52586314e-01 1.44185221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.68, Y:19.25, Z:14.43 [[ 7.82733208e-01 -5.66532345e-01 -2.57623422e-01 7.76802993e+01] [ 5.42985645e-01 8.23937529e-01 -1.62152821e-01 1.92542054e+01] [ 3.04130424e-01 -1.29634224e-02 9.52542196e-01 1.44266756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.70, Y:19.27, Z:14.44 [[ 7.86988844e-01 -5.60941531e-01 -2.56891336e-01 7.76967709e+01] [ 5.33242768e-01 8.27855421e-01 -1.74090641e-01 1.92744195e+01] [ 3.10323555e-01 2.19452087e-05 9.50630996e-01 1.44353778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.32710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:77.72, Y:19.30, Z:14.43 [[ 7.93955691e-01 -5.64392662e-01 -2.26042659e-01 7.77188585e+01] [ 5.26371946e-01 8.24170633e-01 -2.08986464e-01 1.93041281e+01] [ 3.04248148e-01 4.69434780e-02 9.51435428e-01 1.44338923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.357105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.74, Y:19.30, Z:14.46 [[ 7.94550737e-01 -5.30828523e-01 -2.94805369e-01 7.77447757e+01] [ 5.23677166e-01 8.44814102e-01 -1.09778676e-01 1.93031264e+01] [ 3.07329386e-01 -6.71581121e-02 9.49230444e-01 1.44570272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.387105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.76, Y:19.34, Z:14.47 [[ 7.98912001e-01 -5.43875053e-01 -2.56786957e-01 7.77550078e+01] [ 5.15104432e-01 8.39134462e-01 -1.74701972e-01 1.93350975e+01] [ 3.10494829e-01 7.29940289e-03 9.50547042e-01 1.44657153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.417105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.78, Y:19.35, Z:14.47 [[ 8.03201934e-01 -5.33839582e-01 -2.64351951e-01 7.77763985e+01] [ 5.10807940e-01 8.45524513e-01 -1.55446280e-01 1.93530998e+01] [ 3.06499431e-01 -1.01783229e-02 9.51816422e-01 1.44734516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.447105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.80, Y:19.38, Z:14.47 [[ 8.07561074e-01 -5.43433028e-01 -2.29184763e-01 7.77951929e+01] [ 5.06614562e-01 8.38125295e-01 -2.02207014e-01 1.93778531e+01] [ 3.01971517e-01 4.71861755e-02 9.52148448e-01 1.44724646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.477105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.82, Y:19.39, Z:14.48 [[ 8.07693396e-01 -5.33009574e-01 -2.52055891e-01 7.78226833e+01] [ 5.04942986e-01 8.46039480e-01 -1.71025667e-01 1.93873758e+01] [ 3.04407553e-01 1.08624476e-02 9.52479947e-01 1.44827712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.85, Y:19.39, Z:14.50 [[ 8.08519867e-01 -5.12487508e-01 -2.89226864e-01 7.78459580e+01] [ 5.02884529e-01 8.56974501e-01 -1.12702508e-01 1.93932510e+01] [ 3.05618675e-01 -5.43254984e-02 9.50602949e-01 1.44995574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.86, Y:19.43, Z:14.50 [[ 8.13595604e-01 -5.36156388e-01 -2.24941149e-01 7.78604650e+01] [ 5.00293197e-01 8.42672735e-01 -1.99021052e-01 1.94282700e+01] [ 2.96258182e-01 4.93861261e-02 9.53830226e-01 1.44991933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:77.89, Y:19.43, Z:14.52 [[ 8.12955763e-01 -5.08346532e-01 -2.84054097e-01 7.78895402e+01] [ 4.95728540e-01 8.60083838e-01 -1.20453332e-01 1.94272853e+01] [ 3.05542372e-01 -4.28904926e-02 9.51211998e-01 1.45178393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:77.91, Y:19.46, Z:14.51 [[ 8.19756590e-01 -5.25842579e-01 -2.26911249e-01 7.79077680e+01] [ 4.88634287e-01 8.48830967e-01 -2.01798224e-01 1.94582842e+01] [ 2.98723394e-01 5.45488075e-02 9.52779493e-01 1.45139730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.94, Y:19.46, Z:14.53 [[ 8.16939317e-01 -4.97137140e-01 -2.92343661e-01 7.79367320e+01] [ 4.82370275e-01 8.66840206e-01 -1.26122856e-01 1.94563852e+01] [ 3.16115595e-01 -3.79831718e-02 9.47960025e-01 1.45342488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.95, Y:19.48, Z:14.54 [[ 8.17447210e-01 -5.10783987e-01 -2.66232564e-01 7.79549636e+01] [ 4.82393959e-01 8.59661630e-01 -1.68160490e-01 1.94779292e+01] [ 3.14763605e-01 9.03334264e-03 9.49127110e-01 1.45435687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.68710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.98, Y:19.49, Z:14.55 [[ 8.20781702e-01 -5.03629973e-01 -2.69581617e-01 7.79795940e+01] [ 4.74074326e-01 8.63835084e-01 -1.70418547e-01 1.94913209e+01] [ 3.18701947e-01 1.20747019e-02 9.47778070e-01 1.45487907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.71710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.00, Y:19.50, Z:14.56 [[ 8.23578579e-01 -4.97962230e-01 -2.71573088e-01 7.80031916e+01] [ 4.67603023e-01 8.67077064e-01 -1.71827758e-01 1.95027460e+01] [ 3.21038529e-01 1.45252634e-02 9.46954740e-01 1.45556260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.747105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:78.03, Y:19.51, Z:14.56 [[ 8.23898079e-01 -4.97315886e-01 -2.71788271e-01 7.80258203e+01] [ 4.66838750e-01 8.67441888e-01 -1.72064386e-01 1.95148531e+01] [ 3.21330884e-01 1.48822199e-02 9.46850032e-01 1.45641911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:19.52, Z:14.57 [[ 8.21378450e-01 -5.01528309e-01 -2.71674063e-01 7.80510089e+01] [ 4.71279186e-01 8.65039173e-01 -1.72055682e-01 1.95222908e+01] [ 3.21299502e-01 1.32884981e-02 9.46884389e-01 1.45745314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:19.54, Z:14.57 [[ 8.20526606e-01 -5.23849647e-01 -2.28730488e-01 7.80792324e+01] [ 4.82420770e-01 8.49278534e-01 -2.14467183e-01 1.95382562e+01] [ 3.06604452e-01 6.56316920e-02 9.49571583e-01 1.45720618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.837105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.11, Y:19.53, Z:14.59 [[ 8.15034961e-01 -5.17068295e-01 -2.61454376e-01 7.81138085e+01] [ 4.93077719e-01 8.55941742e-01 -1.55685893e-01 1.95318717e+01] [ 3.04289954e-01 -2.02788218e-03 9.52577300e-01 1.45859522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.14, Y:19.54, Z:14.61 [[ 8.08641440e-01 -5.12982041e-01 -2.88007719e-01 7.81366645e+01] [ 4.98184565e-01 8.57488683e-01 -1.28550758e-01 1.95359299e+01] [ 3.12907590e-01 -3.95295304e-02 9.48960619e-01 1.46096285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.16, Y:19.56, Z:14.60 [[ 8.08532581e-01 -5.42096049e-01 -2.28925620e-01 7.81622991e+01] [ 5.07974138e-01 8.39356054e-01 -1.93503722e-01 1.95569518e+01] [ 2.97047708e-01 4.01657693e-02 9.54017489e-01 1.46038145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.19, Y:19.55, Z:14.63 [[ 8.03274182e-01 -5.20981920e-01 -2.88666638e-01 7.81910562e+01] [ 5.09479832e-01 8.52065083e-01 -1.20064128e-01 1.95490156e+01] [ 3.08514003e-01 -5.06254164e-02 9.49871664e-01 1.46286645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.21, Y:19.56, Z:14.64 [[ 8.01076903e-01 -5.39135829e-01 -2.60016062e-01 7.82144543e+01] [ 5.12279686e-01 8.42217640e-01 -1.68044546e-01 1.95633699e+01] [ 3.09588950e-01 1.41565779e-03 9.50869433e-01 1.46374510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.24, Y:19.58, Z:14.63 [[ 8.04487095e-01 -5.47552818e-01 -2.30187804e-01 7.82389788e+01] [ 5.10007278e-01 8.35428788e-01 -2.04820205e-01 1.95849222e+01] [ 3.04455399e-01 4.73777566e-02 9.51347601e-01 1.46333942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.01710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.27, Y:19.58, Z:14.66 [[ 8.03315436e-01 -5.19379044e-01 -2.91427038e-01 7.82656856e+01] [ 5.05995679e-01 8.53289903e-01 -1.25955210e-01 1.95815541e+01] [ 3.14090246e-01 -4.62790574e-02 9.48264502e-01 1.46583530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.04710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:78.29, Y:19.60, Z:14.66 [[ 8.07971399e-01 -5.25921850e-01 -2.65684824e-01 7.82870773e+01] [ 4.98078193e-01 8.50522826e-01 -1.68905407e-01 1.95986298e+01] [ 3.14802052e-01 4.13892084e-03 9.49148322e-01 1.46638083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.07710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.31, Y:19.61, Z:14.67 [[ 8.11741886e-01 -5.19487055e-01 -2.66848851e-01 7.83132538e+01] [ 4.91002260e-01 8.54451221e-01 -1.69793675e-01 1.96079915e+01] [ 3.16214943e-01 6.80524923e-03 9.48663164e-01 1.46726049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.34, Y:19.62, Z:14.68 [[ 8.14152763e-01 -5.16071893e-01 -2.66129816e-01 7.83370234e+01] [ 4.87518250e-01 8.56505627e-01 -1.69481762e-01 1.96202499e+01] [ 3.15406458e-01 8.24090289e-03 9.48920889e-01 1.46815318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.137105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.36, Y:19.63, Z:14.69 [[ 8.17996932e-01 -5.09749854e-01 -2.66525994e-01 7.83604733e+01] [ 4.80731921e-01 8.60254452e-01 -1.69879657e-01 1.96310211e+01] [ 3.15876303e-01 1.08334847e-02 9.48738529e-01 1.46887896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.167105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.39, Y:19.64, Z:14.70 [[ 8.20466815e-01 -5.05243325e-01 -2.67513340e-01 7.83860488e+01] [ 4.75735558e-01 8.62883252e-01 -1.70611176e-01 1.96418676e+01] [ 3.17032939e-01 1.27152002e-02 9.48329288e-01 1.46957434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.197105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.41, Y:19.65, Z:14.70 [[ 8.21068415e-01 -5.04091772e-01 -2.67839774e-01 7.84091513e+01] [ 4.74401815e-01 8.63547539e-01 -1.70963641e-01 1.96536530e+01] [ 3.17473742e-01 1.33091709e-02 9.48173660e-01 1.47037594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.227105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.44, Y:19.66, Z:14.71 [[ 8.19575899e-01 -5.06036951e-01 -2.68741418e-01 7.84364218e+01] [ 4.76219322e-01 8.62418807e-01 -1.71606987e-01 1.96616383e+01] [ 3.18607130e-01 1.26650947e-02 9.47802243e-01 1.47116333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.46, Y:19.67, Z:14.72 [[ 8.17134349e-01 -5.09108274e-01 -2.70370526e-01 7.84646987e+01] [ 4.79028693e-01 8.60623172e-01 -1.72798340e-01 1.96680972e+01] [ 3.20660204e-01 1.16842196e-02 9.47122227e-01 1.47197321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.49, Y:19.68, Z:14.73 [[ 8.16509694e-01 -5.10401162e-01 -2.69819520e-01 7.84896353e+01] [ 4.80464945e-01 8.59862315e-01 -1.72598481e-01 1.96790544e+01] [ 3.20102102e-01 1.12895123e-02 9.47315782e-01 1.47286436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.52, Y:19.69, Z:14.74 [[ 8.15885057e-01 -5.12586993e-01 -2.67555878e-01 7.85156320e+01] [ 4.83231260e-01 8.58571498e-01 -1.71296622e-01 1.96854239e+01] [ 3.17520271e-01 1.04669903e-02 9.48193714e-01 1.47384543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.55, Y:19.70, Z:14.74 [[ 8.15021880e-01 -5.19491830e-01 -2.56646789e-01 7.85451457e+01] [ 4.85549041e-01 8.54029887e-01 -1.86748711e-01 1.96964310e+01] [ 3.16198458e-01 2.75896833e-02 9.48291803e-01 1.47430610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.57, Y:19.70, Z:14.76 [[ 8.12699793e-01 -5.11256185e-01 -2.79528461e-01 7.85719386e+01] [ 4.87710553e-01 8.59353450e-01 -1.53785777e-01 1.96967931e+01] [ 3.18837677e-01 -1.13473111e-02 9.47741407e-01 1.47577524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.40710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:78.60, Y:19.71, Z:14.76 [[ 8.11143859e-01 -5.19149498e-01 -2.69312901e-01 7.85951268e+01] [ 4.89654693e-01 8.54644054e-01 -1.72689959e-01 1.97120081e+01] [ 3.19818576e-01 8.20607373e-03 9.47443264e-01 1.47623951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.43710568099999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:78.62, Y:19.72, Z:14.77 [[ 8.07695040e-01 -5.24316956e-01 -2.69667300e-01 7.86213745e+01] [ 4.94970692e-01 8.51499820e-01 -1.73066667e-01 1.97209450e+01] [ 3.20363445e-01 6.30767839e-03 9.47273707e-01 1.47695331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.46710568099999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:78.65, Y:19.73, Z:14.78 [[ 8.04767085e-01 -5.30322973e-01 -2.66659865e-01 7.86471207e+01] [ 5.01917318e-01 8.47786257e-01 -1.71281837e-01 1.97263794e+01] [ 3.16905261e-01 4.00078037e-03 9.48448759e-01 1.47800541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.497105681 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:78.67, Y:19.74, Z:14.79 [[ 8.03018616e-01 -5.33448447e-01 -2.65695044e-01 7.86712101e+01] [ 5.05397440e-01 8.45827888e-01 -1.70729646e-01 1.97376089e+01] [ 3.15807743e-01 2.81748919e-03 9.48819019e-01 1.47912565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.527105681 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:78.70, Y:19.75, Z:14.80 [[ 8.00448555e-01 -5.36732102e-01 -2.66834708e-01 7.86955205e+01] [ 5.08561372e-01 8.43751082e-01 -1.71608396e-01 1.97495865e+01] [ 3.17249809e-01 1.66186789e-03 9.48340549e-01 1.48006079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.557105681 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:78.72, Y:19.76, Z:14.81 [[ 8.00283560e-01 -5.36690873e-01 -2.67411912e-01 7.87184636e+01] [ 5.08342450e-01 8.43776992e-01 -1.72128852e-01 1.97605316e+01] [ 3.18016002e-01 1.81506427e-03 9.48083608e-01 1.48088397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.587105681 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:78.74, Y:19.77, Z:14.82 [[ 8.00867173e-01 -5.36094336e-01 -2.66860703e-01 7.87415934e+01] [ 5.07810432e-01 8.44155445e-01 -1.71843387e-01 1.97726450e+01] [ 3.17396182e-01 2.10907813e-03 9.48290681e-01 1.48180566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61710568099998 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:78.76, Y:19.79, Z:14.83 [[ 8.01039422e-01 -5.39333093e-01 -2.59722272e-01 7.87640455e+01] [ 5.07313127e-01 8.41951666e-01 -1.83713864e-01 1.97863984e+01] [ 3.17756566e-01 1.54015293e-02 9.48047234e-01 1.48270257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64710568099999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:78.79, Y:19.79, Z:14.84 [[ 8.02528999e-01 -5.31676161e-01 -2.70680005e-01 7.87890758e+01] [ 5.08040830e-01 8.46871273e-01 -1.57173666e-01 1.97935930e+01] [ 3.12796612e-01 -1.13800700e-02 9.49751954e-01 1.48400999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67710568099999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:78.81, Y:19.81, Z:14.85 [[ 8.02048279e-01 -5.36268526e-01 -2.62934643e-01 7.88117010e+01] [ 5.08726692e-01 8.44044248e-01 -1.69665729e-01 1.98100762e+01] [ 3.12914863e-01 2.31823492e-03 9.49778350e-01 1.48462687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70710568099999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:78.84, Y:19.82, Z:14.85 [[ 8.00605944e-01 -5.38126467e-01 -2.63533732e-01 7.88355694e+01] [ 5.10504320e-01 8.42862336e-01 -1.70201125e-01 1.98228205e+01] [ 3.13712387e-01 1.72892391e-03 9.49516482e-01 1.48543415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73710568099999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:78.86, Y:19.83, Z:14.86 [[ 8.00327917e-01 -5.38735599e-01 -2.63133387e-01 7.88592149e+01] [ 5.11183710e-01 8.42473347e-01 -1.70087843e-01 1.98336289e+01] [ 3.13315242e-01 1.61654793e-03 9.49647801e-01 1.48636972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.76710568099999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:78.88, Y:19.85, Z:14.87 [[ 8.02292670e-01 -5.35546027e-01 -2.63660623e-01 7.88813046e+01] [ 5.07690323e-01 8.44500961e-01 -1.70495347e-01 1.98487649e+01] [ 3.13969755e-01 2.92922033e-03 9.49428466e-01 1.48737056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.79710568099999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:78.90, Y:19.87, Z:14.88 [[ 8.03966497e-01 -5.32614125e-01 -2.64499653e-01 7.89023840e+01] [ 5.04373226e-01 8.46347684e-01 -1.71181910e-01 1.98659062e+01] [ 3.15032572e-01 4.21797702e-03 9.49071487e-01 1.48826570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.82710568099999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:78.92, Y:19.88, Z:14.89 [[ 8.09042207e-01 -5.24624495e-01 -2.64990276e-01 7.89227930e+01] [ 4.95806412e-01 8.51300825e-01 -1.71647624e-01 1.98832797e+01] [ 3.15636989e-01 7.48629447e-03 9.48850487e-01 1.48905612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.857105681 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:78.94, Y:19.90, Z:14.90 [[ 8.12087109e-01 -5.20071070e-01 -2.64651866e-01 7.89448440e+01] [ 4.91042531e-01 8.54071469e-01 -1.71578434e-01 1.98974910e+01] [ 3.15264587e-01 9.38131276e-03 9.48957444e-01 1.48998237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.887105681 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:78.97, Y:19.91, Z:14.91 [[ 8.18286877e-01 -5.09585840e-01 -2.65948976e-01 7.89657607e+01] [ 4.79671248e-01 8.60311683e-01 -1.72566801e-01 1.99117151e+01] [ 3.16736609e-01 1.36410717e-02 9.48415437e-01 1.49082907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.917105681 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:78.99, Y:19.93, Z:14.92 [[ 8.18585602e-01 -5.08293629e-01 -2.67498036e-01 7.89881954e+01] [ 4.77928431e-01 8.61065176e-01 -1.73640944e-01 1.99256157e+01] [ 3.18593829e-01 1.42950598e-02 9.47783532e-01 1.49164049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.947105681 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:79.01, Y:19.94, Z:14.92 [[ 8.18173995e-01 -5.13139997e-01 -2.59381300e-01 7.90128147e+01] [ 4.74984413e-01 8.57427253e-01 -1.98010894e-01 1.99430582e+01] [ 3.24007904e-01 3.88052896e-02 9.45258180e-01 1.49222628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97710568099998 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:79.04, Y:19.95, Z:14.94 [[ 8.19862814e-01 -4.98798895e-01 -2.81113195e-01 7.90388058e+01] [ 4.75079307e-01 8.66673714e-01 -1.52237724e-01 1.99487740e+01] [ 3.19569426e-01 -8.73701294e-03 9.47522584e-01 1.49368456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00710568099998 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:79.06, Y:19.96, Z:14.94 [[ 8.20472957e-01 -5.05043739e-01 -2.67871141e-01 7.90624360e+01] [ 4.74311715e-01 8.62947618e-01 -1.74211957e-01 1.99624525e+01] [ 3.19143421e-01 1.58817796e-02 9.47573346e-01 1.49391308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03710568099999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:79.09, Y:19.97, Z:14.95 [[ 8.18012333e-01 -5.11123244e-01 -2.63834896e-01 7.90886989e+01] [ 4.75659864e-01 8.59004187e-01 -1.89366047e-01 1.99713123e+01] [ 3.23424669e-01 2.94080915e-02 9.45796832e-01 1.49471289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06710568099999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:79.12, Y:19.98, Z:14.96 [[ 8.18169600e-01 -5.04927918e-01 -2.75038730e-01 7.91150913e+01] [ 4.77889826e-01 8.63159323e-01 -1.63025450e-01 1.99783805e+01] [ 3.19718345e-01 1.94425647e-03 9.47510633e-01 1.49609014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09710568099999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:79.14, Y:19.99, Z:14.97 [[ 8.16691998e-01 -5.15348329e-01 -2.59673412e-01 7.91376566e+01] [ 4.79332136e-01 8.56369991e-01 -1.92018596e-01 1.99905572e+01] [ 3.21332980e-01 3.23502392e-02 9.46413534e-01 1.49655890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12710568099999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:79.17, Y:20.00, Z:14.98 [[ 8.15949814e-01 -5.08536433e-01 -2.74984723e-01 7.91662131e+01] [ 4.83698092e-01 8.61026794e-01 -1.57063730e-01 1.99962953e+01] [ 3.16641843e-01 -4.85346493e-03 9.48532755e-01 1.49793253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.15710568099999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:79.19, Y:20.01, Z:14.98 [[ 8.14888028e-01 -5.15773791e-01 -2.64452074e-01 7.91892541e+01] [ 4.86211153e-01 8.56640614e-01 -1.72527022e-01 2.00117060e+01] [ 3.15525303e-01 1.20106568e-02 9.48841150e-01 1.49841468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.18710568099999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:79.21, Y:20.02, Z:14.99 [[ 8.11633443e-01 -5.21496499e-01 -2.63234793e-01 7.92142767e+01] [ 4.92455973e-01 8.53196299e-01 -1.71881328e-01 2.00213838e+01] [ 3.14226462e-01 9.87308789e-03 9.49296715e-01 1.49933119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.21710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:79.24, Y:20.03, Z:15.00 [[ 8.09223691e-01 -5.25399723e-01 -2.62891897e-01 7.92383207e+01] [ 4.96588112e-01 8.50813272e-01 -1.71805193e-01 2.00335909e+01] [ 3.13938316e-01 8.47984149e-03 9.49405512e-01 1.50025878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.247105681 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:79.26, Y:20.04, Z:15.01 [[ 8.05256553e-01 -5.31496423e-01 -2.62818257e-01 7.92624383e+01] [ 5.02968251e-01 8.47037582e-01 -1.71901928e-01 2.00428310e+01] [ 3.13982201e-01 6.23591499e-03 9.49408390e-01 1.50109525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.277105681 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:79.29, Y:20.06, Z:15.02 [[ 8.03982584e-01 -5.33662916e-01 -2.62327842e-01 7.92863425e+01] [ 5.05334459e-01 8.45679797e-01 -1.71647211e-01 2.00550131e+01] [ 3.13447107e-01 5.43807069e-03 9.49590090e-01 1.50197405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.307105681 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:79.31, Y:20.07, Z:15.03 [[ 8.04672425e-01 -5.33434265e-01 -2.60672540e-01 7.93093073e+01] [ 5.05413569e-01 8.45822884e-01 -1.70706687e-01 2.00688198e+01] [ 3.11543596e-01 5.61552517e-03 9.50215267e-01 1.50289049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.337105681 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:79.33, Y:20.08, Z:15.04 [[ 8.07719331e-01 -5.29912355e-01 -2.58422868e-01 7.93326893e+01] [ 5.02163833e-01 8.48023214e-01 -1.69375656e-01 2.00819665e+01] [ 3.08902844e-01 7.03737382e-03 9.51067562e-01 1.50383899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:79.35, Y:20.10, Z:15.05 [[ 8.09815953e-01 -5.26442141e-01 -2.58953266e-01 7.93548482e+01] [ 4.98356611e-01 8.50168377e-01 -1.69865887e-01 2.00957365e+01] [ 3.09578439e-01 8.50903308e-03 9.50835836e-01 1.50452217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39710568099999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:79.38, Y:20.11, Z:15.05 [[ 8.10200459e-01 -5.24797795e-01 -2.61079471e-01 7.93801310e+01] [ 4.96131489e-01 8.51176358e-01 -1.71325287e-01 2.01073008e+01] [ 3.12135806e-01 9.27807944e-03 9.49992187e-01 1.50529450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42710568099999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:79.40, Y:20.12, Z:15.06 [[ 8.09080873e-01 -5.25592803e-01 -2.62945521e-01 7.94042838e+01] [ 4.96497198e-01 8.50686852e-01 -1.72691667e-01 2.01198975e+01] [ 3.14449795e-01 9.16981055e-03 9.49229815e-01 1.50605995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45710568099999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:79.43, Y:20.13, Z:15.07 [[ 8.07971946e-01 -5.26784193e-01 -2.63969219e-01 7.94259179e+01] [ 4.97470868e-01 8.49952808e-01 -1.73502043e-01 2.01338349e+01] [ 3.15759513e-01 8.86778685e-03 9.48797814e-01 1.50673373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:79.45, Y:20.15, Z:15.07 [[ 8.07867305e-01 -5.26138614e-01 -2.65572168e-01 7.94484674e+01] [ 4.96403125e-01 8.50348661e-01 -1.74616986e-01 2.01466999e+01] [ 3.17701677e-01 9.23649961e-03 9.48145733e-01 1.50746293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.51710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:79.47, Y:20.16, Z:15.08 [[ 8.09320594e-01 -5.22854445e-01 -2.67625494e-01 7.94723478e+01] [ 4.92446301e-01 8.52355129e-01 -1.76032312e-01 2.01585102e+01] [ 3.20151239e-01 1.06753903e-02 9.47306297e-01 1.50841613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.54710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:79.50, Y:20.17, Z:15.09 [[ 8.11455876e-01 -5.20469283e-01 -2.65802721e-01 7.94956336e+01] [ 4.90315494e-01 8.53800861e-01 -1.74970871e-01 2.01722864e+01] [ 3.18009556e-01 1.16539488e-02 9.48015880e-01 1.50924445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.57710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:79.52, Y:20.19, Z:15.10 [[ 8.11277190e-01 -5.20782589e-01 -2.65734484e-01 7.95182459e+01] [ 4.90611287e-01 8.53609690e-01 -1.75074449e-01 2.01874427e+01] [ 3.18009255e-01 1.16615692e-02 9.48015887e-01 1.51011203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.607105681 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:79.54, Y:20.20, Z:15.11 [[ 8.12145835e-01 -5.19941169e-01 -2.64726885e-01 7.95402911e+01] [ 4.89916461e-01 8.54116899e-01 -1.74545649e-01 2.02020179e+01] [ 3.16861175e-01 1.20624632e-02 9.48395220e-01 1.51088223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.637105681 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:79.56, Y:20.22, Z:15.12 [[ 8.12352786e-01 -5.19852310e-01 -2.64266015e-01 7.95636487e+01] [ 4.89908497e-01 8.54169979e-01 -1.74308092e-01 2.02168323e+01] [ 3.16342561e-01 1.21334978e-02 9.48567426e-01 1.51152388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.667105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:79.59, Y:20.23, Z:15.12 [[ 8.11609817e-01 -5.20848036e-01 -2.64588036e-01 7.95866831e+01] [ 4.90834855e-01 8.53566686e-01 -1.74656973e-01 2.02312168e+01] [ 3.16813275e-01 1.18842838e-02 9.48413471e-01 1.51228820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.697105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:79.61, Y:20.24, Z:15.13 [[ 8.08659754e-01 -5.24833070e-01 -2.65743582e-01 7.96114951e+01] [ 4.94707927e-01 8.51140292e-01 -1.75568422e-01 2.02417889e+01] [ 3.18329183e-01 1.05096604e-02 9.47921979e-01 1.51309007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:79.64, Y:20.25, Z:15.14 [[ 8.04322961e-01 -5.31250570e-01 -2.66152976e-01 7.96359568e+01] [ 5.01321494e-01 8.47175850e-01 -1.75982496e-01 2.02525197e+01] [ 3.18969175e-01 8.11855469e-03 9.47730317e-01 1.51385503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75710568099998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:79.66, Y:20.27, Z:15.15 [[ 8.02330935e-01 -5.34830068e-01 -2.64994093e-01 7.96593614e+01] [ 5.05335943e-01 8.44932892e-01 -1.75282608e-01 2.02660116e+01] [ 3.17648634e-01 6.72361895e-03 9.48184654e-01 1.51472232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.68, Y:20.28, Z:15.16 [[ 7.99732563e-01 -5.40065146e-01 -2.62216447e-01 7.96826879e+01] [ 5.11430347e-01 8.41610004e-01 -1.73584564e-01 2.02788238e+01] [ 3.14430958e-01 4.71577961e-03 9.49268631e-01 1.51560960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81710568099999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:79.71, Y:20.29, Z:15.16 [[ 7.97865398e-01 -5.42450402e-01 -2.62979786e-01 7.97054680e+01] [ 5.13721069e-01 8.40078687e-01 -1.74236801e-01 2.02920878e+01] [ 3.15438536e-01 3.91925753e-03 9.48937917e-01 1.51645387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.73, Y:20.30, Z:15.17 [[ 7.97317997e-01 -5.43039456e-01 -2.63423917e-01 7.97293271e+01] [ 5.14192617e-01 8.39698476e-01 -1.74678051e-01 2.03040571e+01] [ 3.16053736e-01 3.82331999e-03 9.48733587e-01 1.51731071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.75, Y:20.32, Z:15.18 [[ 7.97427471e-01 -5.42835203e-01 -2.63513513e-01 7.97509788e+01] [ 5.13909165e-01 8.39829550e-01 -1.74881953e-01 2.03176844e+01] [ 3.16238515e-01 4.03366376e-03 9.48671140e-01 1.51815201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.77, Y:20.33, Z:15.19 [[ 7.96640522e-01 -5.43460619e-01 -2.64602407e-01 7.97737218e+01] [ 5.14287725e-01 8.39425637e-01 -1.75706395e-01 2.03321278e+01] [ 3.17603550e-01 3.89306394e-03 9.48215603e-01 1.51884265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.80, Y:20.35, Z:15.20 [[ 7.96935696e-01 -5.43499144e-01 -2.63632654e-01 7.97964704e+01] [ 5.13572623e-01 8.39385001e-01 -1.77977474e-01 2.03472834e+01] [ 3.18019900e-01 6.44208841e-03 9.48062151e-01 1.51989653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.96710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:79.82, Y:20.36, Z:15.21 [[ 7.97763826e-01 -5.41666090e-01 -2.64897573e-01 7.98180361e+01] [ 5.13243904e-01 8.40590890e-01 -1.73169425e-01 2.03612211e+01] [ 3.16470492e-01 2.19123793e-03 9.48599824e-01 1.52081944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.997105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:79.84, Y:20.39, Z:15.20 [[ 8.00154159e-01 -5.50045417e-01 -2.39172242e-01 7.98424641e+01] [ 5.12614220e-01 8.34167235e-01 -2.03449465e-01 2.03850479e+01] [ 3.11416094e-01 4.01878436e-02 9.49423485e-01 1.52004840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.027105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:79.86, Y:20.39, Z:15.24 [[ 8.00716200e-01 -5.27525382e-01 -2.83849499e-01 7.98644537e+01] [ 5.08306396e-01 8.49045790e-01 -1.44034211e-01 2.03850938e+01] [ 3.16982924e-01 -2.89519901e-02 9.47989245e-01 1.52385412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.057105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.88, Y:20.41, Z:15.24 [[ 8.03619690e-01 -5.34134336e-01 -2.62480296e-01 7.98847628e+01] [ 5.04801514e-01 8.45362397e-01 -1.74750819e-01 2.04083635e+01] [ 3.15231384e-01 7.93274785e-03 9.48981689e-01 1.52360238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.087105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.91, Y:20.43, Z:15.24 [[ 8.02606139e-01 -5.39638522e-01 -2.54192153e-01 7.99052714e+01] [ 5.03189818e-01 8.41345284e-01 -1.97327443e-01 2.04263502e+01] [ 3.20348859e-01 3.04693140e-02 9.46809500e-01 1.52408731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.93, Y:20.43, Z:15.26 [[ 8.02856929e-01 -5.30226572e-01 -2.72544554e-01 7.99290572e+01] [ 5.07301668e-01 8.47741430e-01 -1.54853113e-01 2.04324131e+01] [ 3.13154546e-01 -1.39374118e-02 9.49599905e-01 1.52622324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.95, Y:20.45, Z:15.27 [[ 8.01311364e-01 -5.38958395e-01 -2.59661215e-01 7.99511463e+01] [ 5.10424018e-01 8.42309477e-01 -1.73153303e-01 2.04505773e+01] [ 3.12037528e-01 6.21238879e-03 9.50049466e-01 1.52654567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:79.97, Y:20.47, Z:15.27 [[ 7.96228556e-01 -5.47492603e-01 -2.57433363e-01 7.99730583e+01] [ 5.19843785e-01 8.36805228e-01 -1.71812253e-01 2.04652311e+01] [ 3.09487521e-01 2.97668859e-03 9.50898845e-01 1.52736502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.99, Y:20.48, Z:15.28 [[ 7.89792342e-01 -5.58121115e-01 -2.54418705e-01 7.99942923e+01] [ 5.31620192e-01 8.29758850e-01 -1.69941820e-01 2.04801367e+01] [ 3.05954291e-01 -1.03537283e-03 9.52045640e-01 1.52825734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23710568099999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:80.02, Y:20.50, Z:15.29 [[ 7.85720064e-01 -5.64447375e-01 -2.53067466e-01 8.00153409e+01] [ 5.38532842e-01 8.25461972e-01 -1.69100298e-01 2.04964972e+01] [ 3.04345789e-01 -3.41964514e-03 9.52555482e-01 1.52929831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.26710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:80.04, Y:20.51, Z:15.30 [[ 7.85107483e-01 -5.65061813e-01 -2.53596901e-01 8.00361852e+01] [ 5.39022410e-01 8.25040958e-01 -1.69594393e-01 2.05130678e+01] [ 3.05059145e-01 -3.54458612e-03 9.52326810e-01 1.53010883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.29710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:80.06, Y:20.53, Z:15.31 [[ 7.86049430e-01 -5.62600707e-01 -2.56138125e-01 8.00557700e+01] [ 5.35848388e-01 8.26725013e-01 -1.71441703e-01 2.05324141e+01] [ 3.08209018e-01 -2.48954810e-03 9.51315407e-01 1.53075151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.32710568099999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:80.08, Y:20.55, Z:15.32 [[ 7.87449927e-01 -5.60291217e-01 -2.56897576e-01 8.00763080e+01] [ 5.33208145e-01 8.28294401e-01 -1.72097240e-01 2.05490067e+01] [ 3.09211395e-01 -1.46192080e-03 9.50992206e-01 1.53160301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.357105681 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:80.09, Y:20.57, Z:15.33 [[ 7.91854943e-01 -5.53927901e-01 -2.57156818e-01 8.00949370e+01] [ 5.26412196e-01 8.32563834e-01 -1.72417120e-01 2.05685899e+01] [ 3.09606120e-01 1.15886301e-03 9.50864190e-01 1.53253398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.387105681 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:80.11, Y:20.59, Z:15.33 [[ 7.95625064e-01 -5.48831930e-01 -2.56445452e-01 8.01143812e+01] [ 5.21164963e-01 8.35926336e-01 -1.72087892e-01 2.05893742e+01] [ 3.08816837e-01 3.26705574e-03 9.51115917e-01 1.53311929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.417105681 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:80.14, Y:20.61, Z:15.34 [[ 7.96498288e-01 -5.47009469e-01 -2.57625926e-01 8.01352225e+01] [ 5.18938536e-01 8.37116252e-01 -1.73029410e-01 2.06065818e+01] [ 3.10311576e-01 4.12560793e-03 9.50625955e-01 1.53379089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.447105681 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:80.16, Y:20.62, Z:15.34 [[ 7.98157201e-01 -5.42602726e-01 -2.61777319e-01 8.01550006e+01] [ 5.13312289e-01 8.39967467e-01 -1.75969172e-01 2.06248143e+01] [ 3.15365783e-01 6.07754709e-03 9.48950729e-01 1.53449585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47710568099998 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:80.17, Y:20.64, Z:15.35 [[ 8.00832142e-01 -5.37660229e-01 -2.63797952e-01 8.01749815e+01] [ 5.07618345e-01 8.43122167e-01 -1.77393988e-01 2.06416011e+01] [ 3.17791593e-01 8.15412726e-03 9.48125526e-01 1.53523715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50710568099998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:80.20, Y:20.66, Z:15.36 [[ 8.02456270e-01 -5.35091180e-01 -2.64085900e-01 8.01964216e+01] [ 5.04823127e-01 8.44743729e-01 -1.77655964e-01 2.06574623e+01] [ 3.18147048e-01 9.24447212e-03 9.47996306e-01 1.53611540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53710568099999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:80.22, Y:20.67, Z:15.37 [[ 8.06433859e-01 -5.28805695e-01 -2.64629870e-01 8.02163153e+01] [ 4.98028496e-01 8.48659645e-01 -1.78169652e-01 2.06736193e+01] [ 3.18797818e-01 1.18888238e-02 9.47748177e-01 1.53694150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56710568099999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:80.24, Y:20.70, Z:15.36 [[ 8.12191188e-01 -5.32698784e-01 -2.37860211e-01 8.02384765e+01] [ 4.94153498e-01 8.44894313e-01 -2.04855855e-01 2.06995734e+01] [ 3.10093204e-01 4.88426647e-02 9.49450683e-01 1.53599270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59710568099999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:80.26, Y:20.70, Z:15.39 [[ 8.12418103e-01 -5.09071518e-01 -2.84293890e-01 8.02618160e+01] [ 4.87638804e-01 8.60516643e-01 -1.47375384e-01 2.06991056e+01] [ 3.19664234e-01 -1.89023022e-02 9.47342325e-01 1.53949038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.62710568099999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:80.28, Y:20.72, Z:15.39 [[ 8.14058035e-01 -5.17464213e-01 -2.63704956e-01 8.02839703e+01] [ 4.86223834e-01 8.55544621e-01 -1.77847642e-01 2.07196453e+01] [ 3.17641147e-01 1.65586675e-02 9.48066407e-01 1.53948545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.65710568099999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:80.31, Y:20.73, Z:15.40 [[ 8.15315322e-01 -5.15425168e-01 -2.63813992e-01 8.03067762e+01] [ 4.84004570e-01 8.56755973e-01 -1.78069591e-01 2.07309059e+01] [ 3.17805762e-01 1.74956878e-02 9.47994408e-01 1.54041835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.68710568099999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:80.33, Y:20.74, Z:15.41 [[ 8.15180535e-01 -5.15409947e-01 -2.64259877e-01 8.03300488e+01] [ 4.83855925e-01 8.56763069e-01 -1.78439030e-01 2.07442626e+01] [ 3.18377354e-01 1.75963169e-02 9.47800733e-01 1.54131765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.71710568099999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:80.36, Y:20.76, Z:15.42 [[ 8.13594100e-01 -5.17784457e-01 -2.64506894e-01 8.03554807e+01] [ 4.86241829e-01 8.55345791e-01 -1.78752516e-01 2.07551618e+01] [ 3.18800133e-01 1.68176764e-02 9.47672750e-01 1.54218450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.747105681 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:80.38, Y:20.77, Z:15.43 [[ 8.10951639e-01 -5.22446755e-01 -2.63451756e-01 8.03802811e+01] [ 4.91352850e-01 8.52539068e-01 -1.78183932e-01 2.07659911e+01] [ 3.17694531e-01 1.50507806e-02 9.48073657e-01 1.54296780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.777105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:80.40, Y:20.78, Z:15.44 [[ 8.08448424e-01 -5.26456703e-01 -2.63162470e-01 8.04027124e+01] [ 4.94589848e-01 8.50046378e-01 -1.81113325e-01 2.07794396e+01] [ 3.19048628e-01 1.62632962e-02 9.47598796e-01 1.54397435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.807105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.43, Y:20.79, Z:15.45 [[ 8.02800032e-01 -5.35469271e-01 -2.62268504e-01 8.04282420e+01] [ 5.00601865e-01 8.44259096e-01 -1.91374901e-01 2.07916130e+01] [ 3.23897949e-01 2.23436746e-02 9.45828145e-01 1.54492809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.837105681 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:80.45, Y:20.79, Z:15.47 [[ 7.99236957e-01 -5.35133670e-01 -2.73591379e-01 8.04540488e+01] [ 5.10020110e-01 8.44710382e-01 -1.62307914e-01 2.07926594e+01] [ 3.17961908e-01 -9.81462162e-03 9.48052687e-01 1.54655690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.48, Y:20.80, Z:15.47 [[ 7.92978076e-01 -5.50441223e-01 -2.61151741e-01 8.04799096e+01] [ 5.20536682e-01 8.34851966e-01 -1.79063558e-01 2.08042006e+01] [ 3.16587008e-01 6.05441474e-03 9.48544153e-01 1.54734225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.50, Y:20.82, Z:15.48 [[ 7.89417220e-01 -5.54491624e-01 -2.63361903e-01 8.05026938e+01] [ 5.25565036e-01 8.32188548e-01 -1.76758634e-01 2.08168741e+01] [ 3.17177941e-01 1.12250127e-03 9.48365380e-01 1.54816452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:80.53, Y:20.83, Z:15.49 [[ 7.81256802e-01 -5.65847305e-01 -2.63542476e-01 8.05272916e+01] [ 5.36663668e-01 8.24509040e-01 -1.79379347e-01 2.08314819e+01] [ 3.18794475e-01 -1.29233662e-03 9.47822986e-01 1.54858333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:80.55, Y:20.85, Z:15.50 [[ 7.73288651e-01 -5.79240771e-01 -2.57885228e-01 8.05545700e+01] [ 5.46517022e-01 8.15121088e-01 -1.92085282e-01 2.08463659e+01] [ 3.21471314e-01 7.59870162e-03 9.46888829e-01 1.54963342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:80.57, Y:20.85, Z:15.51 [[ 7.75049015e-01 -5.70738662e-01 -2.71212839e-01 8.05744946e+01] [ 5.47335594e-01 8.20838983e-01 -1.63239433e-01 2.08514545e+01] [ 3.15789126e-01 -2.19258784e-02 9.48576029e-01 1.55131135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.01710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:80.59, Y:20.87, Z:15.52 [[ 7.76456905e-01 -5.75212943e-01 -2.57380545e-01 8.05926016e+01] [ 5.47806017e-01 8.17990063e-01 -1.75501638e-01 2.08742928e+01] [ 3.11485542e-01 -4.72515221e-03 9.50239144e-01 1.55181453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.04710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.61, Y:20.89, Z:15.53 [[ 7.76756857e-01 -5.74678234e-01 -2.57669772e-01 8.06133079e+01] [ 5.47134335e-01 8.18367635e-01 -1.75836383e-01 2.08904982e+01] [ 3.11917944e-01 -4.39786275e-03 9.50098866e-01 1.55273169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.07710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:80.63, Y:20.91, Z:15.54 [[ 7.77212641e-01 -5.73504559e-01 -2.58907380e-01 8.06318438e+01] [ 5.45579877e-01 8.19193419e-01 -1.76818380e-01 2.09068641e+01] [ 3.13501369e-01 -3.82917656e-03 9.49580028e-01 1.55383833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.65, Y:20.93, Z:15.55 [[ 7.77564713e-01 -5.72778057e-01 -2.59457923e-01 8.06523626e+01] [ 5.44665977e-01 8.19703123e-01 -1.77273130e-01 2.09250936e+01] [ 3.14216628e-01 -3.47657265e-03 9.49344945e-01 1.55467498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.137105681 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:80.67, Y:20.95, Z:15.55 [[ 7.82052768e-01 -5.66622101e-01 -2.59485767e-01 8.06668724e+01] [ 5.38121907e-01 8.23977334e-01 -1.77443420e-01 2.09515843e+01] [ 3.14353754e-01 -8.64857844e-04 9.49305520e-01 1.55536203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.167105681 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:80.69, Y:20.97, Z:15.56 [[ 7.83891692e-01 -5.63752915e-01 -2.60185445e-01 8.06857560e+01] [ 5.34889752e-01 8.25943384e-01 -1.78074364e-01 2.09711779e+01] [ 3.15288389e-01 4.20485895e-04 9.48995814e-01 1.55606990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.197105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:80.70, Y:20.99, Z:15.57 [[ 7.85378550e-01 -5.60939218e-01 -2.61778010e-01 8.07048868e+01] [ 5.31524099e-01 8.27855338e-01 -1.79269831e-01 2.09909082e+01] [ 3.17273801e-01 1.65335877e-03 9.48332537e-01 1.55681896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22710568099998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:80.72, Y:21.01, Z:15.58 [[ 7.88130691e-01 -5.55257897e-01 -2.65591192e-01 8.07225881e+01] [ 5.24592837e-01 8.31667983e-01 -1.82018463e-01 2.10142412e+01] [ 3.21950880e-01 4.12710009e-03 9.46747378e-01 1.55750305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25710568099998 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:80.74, Y:21.04, Z:15.58 [[ 7.90377344e-01 -5.51474842e-01 -2.66794212e-01 8.07405285e+01] [ 5.20265902e-01 8.34171225e-01 -1.82980216e-01 2.10364312e+01] [ 3.23461041e-01 5.81948585e-03 9.46223593e-01 1.55831163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28710568099999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:80.76, Y:21.05, Z:15.59 [[ 7.90570415e-01 -5.51635853e-01 -2.65887768e-01 8.07606695e+01] [ 5.20603816e-01 8.34064467e-01 -1.82505158e-01 2.10549711e+01] [ 3.22443928e-01 5.86099204e-03 9.46570421e-01 1.55917854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31710568099999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:80.78, Y:21.07, Z:15.60 [[ 7.88702026e-01 -5.55401921e-01 -2.63586457e-01 8.07792890e+01] [ 5.25075382e-01 8.31570367e-01 -1.81070614e-01 2.10741813e+01] [ 3.19757653e-01 4.40800052e-03 9.47489109e-01 1.56006151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34710568099999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:80.80, Y:21.09, Z:15.61 [[ 7.86986940e-01 -5.58247498e-01 -2.62699995e-01 8.07990967e+01] [ 5.28233119e-01 8.29667612e-01 -1.80614024e-01 2.10911593e+01] [ 3.18781004e-01 3.37404042e-03 9.47822392e-01 1.56087955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37710568099999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:80.82, Y:21.11, Z:15.62 [[ 7.83563057e-01 -5.63360304e-01 -2.62019282e-01 8.08183444e+01] [ 5.33759425e-01 8.26210223e-01 -1.80215269e-01 2.11107564e+01] [ 3.18009138e-01 1.35476537e-03 9.48086680e-01 1.56177323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.40710568099999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:80.84, Y:21.13, Z:15.63 [[ 7.79119300e-01 -5.71932885e-01 -2.56643509e-01 8.08379635e+01] [ 5.38770260e-01 8.20219420e-01 -1.92267287e-01 2.11320565e+01] [ 3.20467975e-01 1.15272640e-02 9.47189210e-01 1.56256307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.43710568099999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:80.86, Y:21.14, Z:15.64 [[ 7.77767231e-01 -5.68441828e-01 -2.68238741e-01 8.08586257e+01] [ 5.43262407e-01 8.22585421e-01 -1.67985663e-01 2.11436157e+01] [ 3.16139355e-01 -1.50702805e-02 9.48593061e-01 1.56382812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.46710568099999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:80.88, Y:21.16, Z:15.64 [[ 7.77607915e-01 -5.72301560e-01 -2.60378291e-01 8.08804149e+01] [ 5.43445249e-01 8.20040893e-01 -1.79444129e-01 2.11614889e+01] [ 3.16217002e-01 -1.96417005e-03 9.48684853e-01 1.56442663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.497105681 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:80.90, Y:21.18, Z:15.65 [[ 7.70965762e-01 -5.82195103e-01 -2.58187248e-01 8.08999288e+01] [ 5.54324276e-01 8.13028199e-01 -1.78072304e-01 2.11809318e+01] [ 3.13586337e-01 -5.83180993e-03 9.49541784e-01 1.56526676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.527105681 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:80.92, Y:21.20, Z:15.66 [[ 7.64284473e-01 -5.91583107e-01 -2.56707367e-01 8.09182179e+01] [ 5.64503655e-01 8.06188185e-01 -1.77189822e-01 2.11996673e+01] [ 3.11776952e-01 -9.48881692e-03 9.50107939e-01 1.56631343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.557105681 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:80.94, Y:21.22, Z:15.67 [[ 7.60423610e-01 -5.96796643e-01 -2.56104861e-01 8.09382096e+01] [ 5.70084222e-01 8.02310612e-01 -1.76922753e-01 2.12180175e+01] [ 3.11062553e-01 -1.14651017e-02 9.50320283e-01 1.56714647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.587105681 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:80.96, Y:21.24, Z:15.68 [[ 7.52864688e-01 -6.06204999e-01 -2.56340125e-01 8.09559601e+01] [ 5.79917576e-01 7.95162725e-01 -1.77233874e-01 2.12399186e+01] [ 3.11272173e-01 -1.52230190e-02 9.50198871e-01 1.56780039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61710568099998 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:80.97, Y:21.26, Z:15.69 [[ 7.47419864e-01 -6.12892669e-01 -2.56371068e-01 8.09728936e+01] [ 5.86928556e-01 7.89963920e-01 -1.77403146e-01 2.12612153e+01] [ 3.11252981e-01 -1.78768657e-02 9.50158934e-01 1.56855456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64710568099999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:80.99, Y:21.28, Z:15.69 [[ 7.45260615e-01 -6.15132273e-01 -2.57291473e-01 8.09878160e+01] [ 5.89078486e-01 7.88199373e-01 -1.78124354e-01 2.12845221e+01] [ 3.12367016e-01 -1.88158054e-02 9.49775138e-01 1.56931451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67710568099999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:81.01, Y:21.31, Z:15.70 [[ 7.45425814e-01 -6.14828143e-01 -2.57539727e-01 8.10062321e+01] [ 5.88672397e-01 7.88441159e-01 -1.78396602e-01 2.13061767e+01] [ 3.12738172e-01 -1.86250961e-02 9.49656749e-01 1.57007268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70710568099999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:81.02, Y:21.33, Z:15.71 [[ 7.47792136e-01 -6.11159102e-01 -2.59406000e-01 8.10208111e+01] [ 5.82826302e-01 7.91396169e-01 -1.84406089e-01 2.13340708e+01] [ 3.17994374e-01 -1.32912171e-02 9.47999431e-01 1.57073067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73710568099999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:81.04, Y:21.36, Z:15.72 [[ 7.53343009e-01 -6.01966128e-01 -2.64784992e-01 8.10371897e+01] [ 5.74925841e-01 7.98335984e-01 -1.79220348e-01 2.13578139e+01] [ 3.19271967e-01 -1.72173379e-02 9.47506715e-01 1.57162833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76710568099999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:81.06, Y:21.38, Z:15.72 [[ 7.56369993e-01 -5.98921251e-01 -2.63054688e-01 8.10554573e+01] [ 5.70540558e-01 8.00718182e-01 -1.82575639e-01 2.13791624e+01] [ 3.19981102e-01 -1.19886331e-02 9.47348071e-01 1.57244959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.79710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:81.07, Y:21.41, Z:15.73 [[ 7.64005617e-01 -5.88812055e-01 -2.63810123e-01 8.10671659e+01] [ 5.59620588e-01 8.08234012e-01 -1.83255503e-01 2.14060516e+01] [ 3.21123363e-01 -7.62534221e-03 9.47006673e-01 1.57335700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.82710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:81.08, Y:21.43, Z:15.74 [[ 7.68253566e-01 -5.82871653e-01 -2.64664116e-01 8.10844919e+01] [ 5.53116969e-01 8.12548278e-01 -1.83920944e-01 2.14282473e+01] [ 3.22254677e-01 -5.09229231e-03 9.46639315e-01 1.57428339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.857105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.10, Y:21.46, Z:15.75 [[ 7.77508087e-01 -5.73585712e-01 -2.57838333e-01 8.10958500e+01] [ 5.37890539e-01 8.18974822e-01 -1.99884989e-01 2.14568250e+01] [ 3.25814277e-01 1.67233952e-02 9.45285875e-01 1.57522967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.887105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.11, Y:21.48, Z:15.76 [[ 7.85003973e-01 -5.57387589e-01 -2.70347625e-01 8.11130519e+01] [ 5.30910155e-01 8.30191682e-01 -1.70047580e-01 2.14790054e+01] [ 3.19222760e-01 -1.00422733e-02 9.47626499e-01 1.57630636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.917105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.13, Y:21.50, Z:15.77 [[ 7.87175895e-01 -5.58458730e-01 -2.61682932e-01 8.11313451e+01] [ 5.27926365e-01 8.29515527e-01 -1.82202480e-01 2.15004771e+01] [ 3.18822621e-01 5.27608061e-03 9.47799715e-01 1.57699034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.947105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.15, Y:21.52, Z:15.78 [[ 7.89413980e-01 -5.54635874e-01 -2.63067701e-01 8.11485958e+01] [ 5.23512476e-01 8.32063791e-01 -1.83315398e-01 2.15222892e+01] [ 3.20562405e-01 6.99251487e-03 9.47201589e-01 1.57771516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.17, Y:21.54, Z:15.79 [[ 7.92055504e-01 -5.50998555e-01 -2.62771137e-01 8.11652168e+01] [ 5.19703529e-01 8.34462060e-01 -1.83252045e-01 2.15437196e+01] [ 3.20244157e-01 8.58270344e-03 9.47296161e-01 1.57851045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:81.18, Y:21.56, Z:15.79 [[ 7.93078574e-01 -5.49505620e-01 -2.62811623e-01 8.11847961e+01] [ 5.18098426e-01 8.35438859e-01 -1.83346483e-01 2.15617634e+01] [ 3.20312966e-01 9.24587919e-03 9.47266656e-01 1.57929708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.20, Y:21.58, Z:15.80 [[ 7.92672699e-01 -5.53685279e-01 -2.55152118e-01 8.12015301e+01] [ 5.12699643e-01 8.31878841e-01 -2.12406850e-01 2.15833212e+01] [ 3.29862194e-01 3.75527109e-02 9.43281891e-01 1.58021366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:81.23, Y:21.59, Z:15.81 [[ 7.92548417e-01 -5.40476820e-01 -2.82403635e-01 8.12295596e+01] [ 5.14081343e-01 8.41264931e-01 -1.67313143e-01 2.15919321e+01] [ 3.28005150e-01 -1.25746739e-02 9.44592240e-01 1.58109678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.25, Y:21.61, Z:15.82 [[ 7.92120074e-01 -5.48066459e-01 -2.68642783e-01 8.12486373e+01] [ 5.15027930e-01 8.36371138e-01 -1.87695369e-01 2.16099568e+01] [ 3.27554607e-01 1.03187335e-02 9.44775901e-01 1.58178748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.27, Y:21.62, Z:15.83 [[ 7.90074741e-01 -5.51168992e-01 -2.68318180e-01 8.12703990e+01] [ 5.18362399e-01 8.34344206e-01 -1.87537113e-01 2.16242927e+01] [ 3.27234361e-01 9.08228076e-03 9.44899564e-01 1.58264811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.29, Y:21.64, Z:15.84 [[ 7.89086220e-01 -5.53388726e-01 -2.66653060e-01 8.12924704e+01] [ 5.21101352e-01 8.32883122e-01 -1.86437888e-01 2.16386046e+01] [ 3.25263459e-01 8.16229856e-03 9.45588208e-01 1.58352404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.18710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.32, Y:21.65, Z:15.84 [[ 7.86015662e-01 -5.58717222e-01 -2.64602430e-01 8.13153977e+01] [ 5.27180163e-01 8.29336218e-01 -1.85155378e-01 2.16494673e+01] [ 3.22893876e-01 6.04187466e-03 9.46415892e-01 1.58440612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.21710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.34, Y:21.66, Z:15.85 [[ 7.79465244e-01 -5.68067923e-01 -2.64069626e-01 8.13400079e+01] [ 5.37143115e-01 8.22978541e-01 -1.84888062e-01 2.16616523e+01] [ 3.22352613e-01 2.27063664e-03 9.46616943e-01 1.58525953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.36, Y:21.68, Z:15.86 [[ 7.75736091e-01 -5.72990949e-01 -2.64414237e-01 8.13627158e+01] [ 5.42208928e-01 8.19561616e-01 -1.85278804e-01 2.16751567e+01] [ 3.22866837e-01 3.59694886e-04 9.46444333e-01 1.58608680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.39, Y:21.69, Z:15.87 [[ 7.68260718e-01 -5.82607794e-01 -2.65223733e-01 8.13861142e+01] [ 5.52131584e-01 8.12745717e-01 -1.85997618e-01 2.16874980e+01] [ 3.23923115e-01 -3.54373582e-03 9.46076771e-01 1.58687714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.307105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:81.41, Y:21.70, Z:15.88 [[ 7.61695238e-01 -5.90811552e-01 -2.66011417e-01 8.14088523e+01] [ 5.60606564e-01 8.06779396e-01 -1.86620700e-01 2.17018189e+01] [ 3.24870196e-01 -6.97964791e-03 9.45732859e-01 1.58772162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.43, Y:21.72, Z:15.89 [[ 7.58824298e-01 -5.94296637e-01 -2.66452984e-01 8.14298310e+01] [ 5.64143917e-01 8.04202526e-01 -1.87082703e-01 2.17164387e+01] [ 3.25464784e-01 -8.35492980e-03 9.45517250e-01 1.58853862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.45, Y:21.73, Z:15.89 [[ 7.54606769e-01 -5.99903229e-01 -2.65866020e-01 8.14527084e+01] [ 5.70197958e-01 8.00001281e-01 -1.86741100e-01 2.17306547e+01] [ 3.24719745e-01 -1.06801634e-02 9.45749978e-01 1.58943660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.47, Y:21.75, Z:15.90 [[ 7.50739609e-01 -6.04643613e-01 -2.66075441e-01 8.14723905e+01] [ 5.75125170e-01 7.96396339e-01 -1.87039865e-01 2.17475354e+01] [ 3.24993967e-01 -1.26084478e-02 9.45632037e-01 1.59041376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.49, Y:21.77, Z:15.91 [[ 7.46657421e-01 -6.09936497e-01 -2.65481007e-01 8.14903406e+01] [ 5.80821753e-01 7.92313228e-01 -1.86777514e-01 2.17675838e+01] [ 3.24266536e-01 -1.47383269e-02 9.45850937e-01 1.59133412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.51, Y:21.78, Z:15.92 [[ 7.45610337e-01 -6.11695111e-01 -2.64375332e-01 8.15100916e+01] [ 5.82883665e-01 7.90945545e-01 -1.86149881e-01 2.17840850e+01] [ 3.22973463e-01 -1.53047869e-02 9.46284262e-01 1.59220062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.53, Y:21.80, Z:15.93 [[ 7.43836955e-01 -6.14369804e-01 -2.63165972e-01 8.15291453e+01] [ 5.85965843e-01 7.88849338e-01 -1.85366536e-01 2.18022052e+01] [ 3.21481905e-01 -1.63237913e-02 9.46775009e-01 1.59326765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.54, Y:21.82, Z:15.94 [[ 7.41328342e-01 -6.20831258e-01 -2.54952619e-01 8.15427302e+01] [ 5.85020882e-01 7.83928654e-01 -2.07861572e-01 2.18231676e+01] [ 3.28911625e-01 4.94106810e-03 9.44347780e-01 1.59426480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.57, Y:21.84, Z:15.95 [[ 7.42026420e-01 -6.11874303e-01 -2.73873380e-01 8.15673450e+01] [ 5.89350614e-01 7.90116970e-01 -1.68466698e-01 2.18376850e+01] [ 3.19472448e-01 -3.64007036e-02 9.46896163e-01 1.59508269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.58, Y:21.86, Z:15.96 [[ 7.42088734e-01 -6.16788238e-01 -2.62443481e-01 8.15836471e+01] [ 5.88589672e-01 7.86943972e-01 -1.85152327e-01 2.18620280e+01] [ 3.20728092e-01 -1.70720665e-02 9.47017442e-01 1.59572494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.60, Y:21.88, Z:15.96 [[ 7.42818749e-01 -6.14914790e-01 -2.64764247e-01 8.16000276e+01] [ 5.86036070e-01 7.88425145e-01 -1.86942547e-01 2.18836853e+01] [ 3.23700527e-01 -1.62969698e-02 9.46019227e-01 1.59646267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.637105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.62, Y:21.90, Z:15.97 [[ 7.43820375e-01 -6.14113374e-01 -2.63810564e-01 8.16189612e+01] [ 5.83030153e-01 7.89152833e-01 -1.93167404e-01 2.19031947e+01] [ 3.26813540e-01 -1.01276626e-02 9.45034571e-01 1.59738330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.667105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.64, Y:21.92, Z:15.98 [[ 7.50054604e-01 -6.02361528e-01 -2.73090975e-01 8.16355844e+01] [ 5.75150944e-01 7.97925225e-01 -1.80323950e-01 2.19219900e+01] [ 3.26526388e-01 -2.18157228e-02 9.44936290e-01 1.59803510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.697105681 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:81.65, Y:21.95, Z:15.99 [[ 7.55337076e-01 -6.00165811e-01 -2.63186058e-01 8.16519779e+01] [ 5.66783562e-01 7.99875610e-01 -1.97371228e-01 2.19511855e+01] [ 3.28971572e-01 -8.77254991e-05 9.44339821e-01 1.59886034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:81.67, Y:21.98, Z:15.99 [[ 7.62418581e-01 -6.04240084e-01 -2.31542283e-01 8.16722592e+01] [ 5.61919745e-01 7.95678167e-01 -2.26146977e-01 2.19800361e+01] [ 3.20880208e-01 4.23104766e-02 9.46174252e-01 1.59855205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:81.69, Y:21.98, Z:16.01 [[ 7.69900658e-01 -5.66035400e-01 -2.94714951e-01 8.16939208e+01] [ 5.49777029e-01 8.22794807e-01 -1.44062224e-01 2.19848064e+01] [ 3.24034250e-01 -5.11139093e-02 9.44663524e-01 1.60089931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.71, Y:22.01, Z:16.02 [[ 7.76830215e-01 -5.73639509e-01 -2.59754752e-01 8.17059885e+01] [ 5.43435188e-01 8.19106433e-01 -1.83692265e-01 2.20130979e+01] [ 3.18139929e-01 1.53782884e-03 9.48042520e-01 1.60197274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.73, Y:22.03, Z:16.03 [[ 7.77494893e-01 -5.73508203e-01 -2.58050447e-01 8.17253446e+01] [ 5.43652510e-01 8.19198032e-01 -1.82637707e-01 2.20305881e+01] [ 3.16138642e-01 1.71011181e-03 9.48711460e-01 1.60292898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.75, Y:22.06, Z:16.03 [[ 7.77000933e-01 -5.87865494e-01 -2.25130433e-01 8.17459333e+01] [ 5.48843072e-01 8.07785857e-01 -2.15065782e-01 2.20576764e+01] [ 3.08286932e-01 4.35450346e-02 9.50296268e-01 1.60292628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:81.77, Y:22.06, Z:16.05 [[ 7.71392499e-01 -5.69975167e-01 -2.82987495e-01 8.17715695e+01] [ 5.53869118e-01 8.20325472e-01 -1.42460942e-01 2.20588782e+01] [ 3.13341049e-01 -4.68447320e-02 9.48484559e-01 1.60484834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.90710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:81.79, Y:22.08, Z:16.06 [[ 7.69344794e-01 -5.86945962e-01 -2.52196405e-01 8.17866815e+01] [ 5.55225100e-01 8.09600023e-01 -1.90454434e-01 2.20804886e+01] [ 3.15964676e-01 6.49935313e-03 9.48748693e-01 1.60586415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.93710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:81.81, Y:22.10, Z:16.06 [[ 7.70194351e-01 -5.95098702e-01 -2.29473736e-01 8.18110109e+01] [ 5.58580550e-01 8.03023497e-01 -2.07704194e-01 2.21034619e+01] [ 3.07877299e-01 3.17930313e-02 9.50894722e-01 1.60604413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.96710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.84, Y:22.11, Z:16.07 [[ 7.73117735e-01 -5.81964870e-01 -2.52202020e-01 8.18370373e+01] [ 5.54184652e-01 8.13210376e-01 -1.77674578e-01 2.21140967e+01] [ 3.08493662e-01 -2.40312176e-03 9.51223363e-01 1.60702533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.997105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.86, Y:22.13, Z:16.08 [[ 7.74657629e-01 -5.78090905e-01 -2.56352225e-01 8.18580226e+01] [ 5.49913460e-01 8.15967402e-01 -1.78304196e-01 2.21295901e+01] [ 3.12251093e-01 -2.84683370e-03 9.49995342e-01 1.60800279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.88, Y:22.15, Z:16.09 [[ 7.78778293e-01 -5.71442485e-01 -2.58762163e-01 8.18792163e+01] [ 5.40001248e-01 8.20620743e-01 -1.87030076e-01 2.21467630e+01] [ 3.19222530e-01 5.92307252e-03 9.47661276e-01 1.60854189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.057105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:81.90, Y:22.16, Z:16.10 [[ 7.80565045e-01 -5.65807138e-01 -2.65669894e-01 8.19016344e+01] [ 5.35408269e-01 8.24537418e-01 -1.82964565e-01 2.21606849e+01] [ 3.22577426e-01 5.73885694e-04 9.46542907e-01 1.60957557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.93, Y:22.17, Z:16.11 [[ 7.82375456e-01 -5.49015114e-01 -2.94059603e-01 8.19250459e+01] [ 5.27719056e-01 8.35128971e-01 -1.55152185e-01 2.21653719e+01] [ 3.30758589e-01 -3.37935944e-02 9.43110147e-01 1.61133955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:81.95, Y:22.18, Z:16.12 [[ 7.82402751e-01 -5.60885660e-01 -2.70653304e-01 8.19467042e+01] [ 5.26793870e-01 8.27852453e-01 -1.92739549e-01 2.21800057e+01] [ 3.32165851e-01 8.22145213e-03 9.43185165e-01 1.61203376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:81.97, Y:22.19, Z:16.13 [[ 7.81213238e-01 -5.62702003e-01 -2.70318945e-01 8.19708110e+01] [ 5.28776467e-01 8.26625757e-01 -1.92575453e-01 2.21910900e+01] [ 3.31815195e-01 7.50419647e-03 9.43314562e-01 1.61295727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:82.00, Y:22.20, Z:16.14 [[ 7.79655417e-01 -5.64666552e-01 -2.70719626e-01 8.19981231e+01] [ 5.33588820e-01 8.25319038e-01 -1.84747007e-01 2.21991350e+01] [ 3.27750517e-01 -4.13961491e-04 9.44764218e-01 1.61398860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.02, Y:22.21, Z:16.15 [[ 7.78401473e-01 -5.69451326e-01 -2.64227806e-01 8.20219838e+01] [ 5.34742255e-01 8.21946706e-01 -1.96097764e-01 2.22093432e+01] [ 3.28849307e-01 1.13490156e-02 9.44314213e-01 1.61493794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.05, Y:22.22, Z:16.16 [[ 7.77898142e-01 -5.67516975e-01 -2.69812831e-01 8.20487733e+01] [ 5.33889181e-01 8.23341798e-01 -1.92537338e-01 2.22175845e+01] [ 3.31416389e-01 5.72428666e-03 9.43467228e-01 1.61583094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.07, Y:22.23, Z:16.17 [[ 7.77853048e-01 -5.67466617e-01 -2.70048653e-01 8.20711438e+01] [ 5.33719289e-01 8.23375336e-01 -1.92864659e-01 2.22299526e+01] [ 3.31795656e-01 5.89018780e-03 9.43332894e-01 1.61675284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.10, Y:22.24, Z:16.18 [[ 7.78039408e-01 -5.68261796e-01 -2.67830563e-01 8.20957364e+01] [ 5.35104189e-01 8.22829014e-01 -1.91352868e-01 2.22402890e+01] [ 3.29117283e-01 5.56281621e-03 9.44272667e-01 1.61787389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.12, Y:22.25, Z:16.19 [[ 7.77951129e-01 -5.69656205e-01 -2.65111012e-01 8.21204141e+01] [ 5.37214982e-01 8.21867582e-01 -1.89561972e-01 2.22497149e+01] [ 3.25871300e-01 5.04834331e-03 9.45400661e-01 1.61899341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.357105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.14, Y:22.26, Z:16.20 [[ 7.75636180e-01 -5.74294690e-01 -2.61866617e-01 8.21435110e+01] [ 5.39076216e-01 8.18549484e-01 -1.98427758e-01 2.22629431e+01] [ 3.28306793e-01 1.27416834e-02 9.44485203e-01 1.61997581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.387105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.17, Y:22.28, Z:16.21 [[ 7.75289221e-01 -5.72328468e-01 -2.67145556e-01 8.21659976e+01] [ 5.39408306e-01 8.20013428e-01 -1.91354797e-01 2.22776783e+01] [ 3.28580741e-01 4.25478013e-03 9.44466301e-01 1.62094043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.417105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.19, Y:22.29, Z:16.22 [[ 7.75174133e-01 -5.71021271e-01 -2.70258713e-01 8.21895214e+01] [ 5.40911513e-01 8.20923956e-01 -1.83026211e-01 2.22906979e+01] [ 3.26373711e-01 -4.30886526e-03 9.45230995e-01 1.62182344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.447105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.21, Y:22.31, Z:16.23 [[ 7.73882411e-01 -5.78814327e-01 -2.57060283e-01 8.22100155e+01] [ 5.40407094e-01 8.15149657e-01 -2.08545461e-01 2.23074751e+01] [ 3.30251702e-01 2.24724637e-02 9.43625350e-01 1.62278107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.24, Y:22.32, Z:16.24 [[ 7.76884404e-01 -5.65262214e-01 -2.77361231e-01 8.22369621e+01] [ 5.37779182e-01 8.24800992e-01 -1.74633548e-01 2.23167393e+01] [ 3.27481564e-01 -1.34890159e-02 9.44761278e-01 1.62367176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.26, Y:22.33, Z:16.24 [[ 7.77956298e-01 -5.68976583e-01 -2.66551394e-01 8.22577990e+01] [ 5.35842841e-01 8.22331164e-01 -1.91425982e-01 2.23334960e+01] [ 3.28110419e-01 6.09139246e-03 9.44619737e-01 1.62441129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.28, Y:22.35, Z:16.25 [[ 7.80505544e-01 -5.65212347e-01 -2.67106903e-01 8.22798983e+01] [ 5.31666355e-01 8.24908280e-01 -1.91982334e-01 2.23469293e+01] [ 3.28849482e-01 7.83152277e-03 9.44349875e-01 1.62521912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:82.30, Y:22.36, Z:16.26 [[ 7.80782162e-01 -5.66639231e-01 -2.63247406e-01 8.23021570e+01] [ 5.29045974e-01 8.23724280e-01 -2.03932999e-01 2.23623036e+01] [ 3.32399718e-01 1.99572678e-02 9.42927428e-01 1.62612463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.33, Y:22.37, Z:16.27 [[ 7.81603616e-01 -5.62716153e-01 -2.69158539e-01 8.23280749e+01] [ 5.26584599e-01 8.26536725e-01 -1.98861011e-01 2.23706627e+01] [ 3.34371721e-01 1.36957438e-02 9.42341753e-01 1.62740169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.35, Y:22.38, Z:16.28 [[ 7.84904388e-01 -5.54186581e-01 -2.77132344e-01 8.23544317e+01] [ 5.24689098e-01 8.32375447e-01 -1.78472590e-01 2.23780347e+01] [ 3.29585273e-01 -5.32440019e-03 9.44110798e-01 1.62837245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.38, Y:22.39, Z:16.29 [[ 7.85401379e-01 -5.58104527e-01 -2.67701347e-01 8.23753391e+01] [ 5.23859357e-01 8.29695077e-01 -1.92814558e-01 2.23940570e+01] [ 3.29721167e-01 1.11989643e-02 9.44011936e-01 1.62899634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.68710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.40, Y:22.41, Z:16.30 [[ 7.85839296e-01 -5.56890454e-01 -2.68941674e-01 8.23995124e+01] [ 5.22222816e-01 8.30501676e-01 -1.93778988e-01 2.24065105e+01] [ 3.31270179e-01 1.18316655e-02 9.43461753e-01 1.62975842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.71710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:82.43, Y:22.42, Z:16.31 [[ 7.84628743e-01 -5.62439759e-01 -2.60805010e-01 8.24258058e+01] [ 5.23058669e-01 8.26390449e-01 -2.08538857e-01 2.24219794e+01] [ 3.32817314e-01 2.72092603e-02 9.42598691e-01 1.63079753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.747105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.45, Y:22.43, Z:16.32 [[ 7.85082925e-01 -5.56188327e-01 -2.72579062e-01 8.24486697e+01] [ 5.21045152e-01 8.30983877e-01 -1.94878800e-01 2.24288165e+01] [ 3.34898120e-01 1.09700193e-02 9.42190484e-01 1.63183810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.47, Y:22.44, Z:16.33 [[ 7.85580176e-01 -5.54046074e-01 -2.75493621e-01 8.24746982e+01] [ 5.21929516e-01 8.32482944e-01 -1.85907848e-01 2.24395374e+01] [ 3.32345254e-01 2.25726763e-03 9.43155097e-01 1.63293624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.50, Y:22.45, Z:16.34 [[ 7.83438465e-01 -5.61254084e-01 -2.66867054e-01 8.24967556e+01] [ 5.26060729e-01 8.27538039e-01 -1.96063520e-01 2.24536478e+01] [ 3.30884090e-01 1.32154259e-02 9.43578864e-01 1.63380769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:82.52, Y:22.46, Z:16.35 [[ 7.80703531e-01 -5.62375636e-01 -2.72462181e-01 8.25228119e+01] [ 5.32659452e-01 8.26870907e-01 -1.80439492e-01 2.24638311e+01] [ 3.26765825e-01 -4.25980766e-03 9.45095736e-01 1.63462326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:82.55, Y:22.48, Z:16.35 [[ 7.78018652e-01 -5.69486514e-01 -2.65277379e-01 8.25459710e+01] [ 5.36228882e-01 8.21970464e-01 -1.91893569e-01 2.24784600e+01] [ 3.27330970e-01 7.04738318e-03 9.44883469e-01 1.63531479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:82.57, Y:22.49, Z:16.36 [[ 7.73151783e-01 -5.75233269e-01 -2.67101119e-01 8.25726220e+01] [ 5.41778052e-01 8.17975353e-01 -1.93372343e-01 2.24859752e+01] [ 3.29716337e-01 4.79664789e-03 9.44067863e-01 1.63607936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92710568099999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:82.60, Y:22.50, Z:16.37 [[ 7.71492943e-01 -5.77101955e-01 -2.67865586e-01 8.25961766e+01] [ 5.43532445e-01 8.16661940e-01 -1.93999375e-01 2.24988981e+01] [ 3.30713047e-01 4.07551190e-03 9.43722560e-01 1.63700655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:82.62, Y:22.51, Z:16.38 [[ 7.70610590e-01 -5.77485992e-01 -2.69572343e-01 8.26174185e+01] [ 5.43441040e-01 8.16390422e-01 -1.95393233e-01 2.25146689e+01] [ 3.32913134e-01 4.07542034e-03 9.42948692e-01 1.63776884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98710568099999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:82.64, Y:22.53, Z:16.39 [[ 7.69720446e-01 -5.80964947e-01 -2.64594342e-01 8.26385177e+01] [ 5.40793076e-01 8.13654723e-01 -2.13328012e-01 2.25345081e+01] [ 3.39224533e-01 2.11121447e-02 9.40468497e-01 1.63855813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01710568099999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:82.67, Y:22.54, Z:16.40 [[ 7.73923761e-01 -5.66627273e-01 -2.82799480e-01 8.26656745e+01] [ 5.36688532e-01 8.23902582e-01 -1.82071291e-01 2.25409014e+01] [ 3.36165781e-01 -1.08659390e-02 9.41740144e-01 1.63969317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.04710568099999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:82.69, Y:22.55, Z:16.41 [[ 7.75042314e-01 -5.69916391e-01 -2.72955525e-01 8.26878138e+01] [ 5.34447132e-01 8.21667288e-01 -1.98063450e-01 2.25533478e+01] [ 3.37158233e-01 7.62725702e-03 9.41417097e-01 1.64054361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.07710568099999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:82.71, Y:22.57, Z:16.42 [[ 7.73571627e-01 -5.74934364e-01 -2.66528452e-01 8.27094762e+01] [ 5.34489934e-01 8.17895260e-01 -2.12997311e-01 2.25719330e+01] [ 3.40451831e-01 2.23119021e-02 9.39997197e-01 1.64152917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.107105681 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:82.73, Y:22.58, Z:16.43 [[ 7.75813245e-01 -5.65990883e-01 -2.78869376e-01 8.27335980e+01] [ 5.36462832e-01 8.24357503e-01 -1.80671903e-01 2.25792535e+01] [ 3.32146712e-01 -9.43539967e-03 9.43180542e-01 1.64289136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.137105681 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:82.75, Y:22.61, Z:16.42 [[ 7.77533395e-01 -5.85890480e-01 -2.28416648e-01 8.27543936e+01] [ 5.40209963e-01 8.08255488e-01 -2.34299514e-01 2.26080521e+01] [ 3.21892864e-01 5.87827475e-02 9.44949508e-01 1.64187101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.167105681 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:82.78, Y:22.60, Z:16.46 [[ 7.70406906e-01 -5.66159509e-01 -2.93149466e-01 8.27817485e+01] [ 5.48789566e-01 8.22921754e-01 -1.47070724e-01 2.26000681e+01] [ 3.24504562e-01 -4.75730666e-02 9.44687034e-01 1.64561572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.197105681 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:82.80, Y:22.62, Z:16.46 [[ 7.67598343e-01 -5.85021147e-01 -2.61807261e-01 8.28015560e+01] [ 5.53162368e-01 8.11016913e-01 -1.90428362e-01 2.26223334e+01] [ 3.23734735e-01 1.35057090e-03 9.46146922e-01 1.64568536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22710568099998 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:82.83, Y:22.63, Z:16.47 [[ 7.61934417e-01 -5.92295555e-01 -2.61996029e-01 8.28259135e+01] [ 5.60753293e-01 8.05719186e-01 -1.90715330e-01 2.26349793e+01] [ 3.24055070e-01 -1.60256217e-03 9.46036862e-01 1.64654981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25710568099998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:82.85, Y:22.65, Z:16.47 [[ 7.59188237e-01 -5.95276336e-01 -2.63209622e-01 8.28475496e+01] [ 5.63554108e-01 8.03516320e-01 -1.91750595e-01 2.26508477e+01] [ 3.25637818e-01 -2.75806713e-03 9.45490563e-01 1.64739528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28710568099999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:82.87, Y:22.67, Z:16.48 [[ 7.55894589e-01 -5.98675084e-01 -2.64974555e-01 8.28681508e+01] [ 5.66662930e-01 8.00981375e-01 -1.93188924e-01 2.26690266e+01] [ 3.27897078e-01 -4.12079524e-03 9.44704464e-01 1.64815255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31710568099999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:82.89, Y:22.69, Z:16.49 [[ 7.49448285e-01 -6.09402592e-01 -2.58758089e-01 8.28888485e+01] [ 5.68446246e-01 7.92654941e-01 -2.20379239e-01 2.26900835e+01] [ 3.39405558e-01 1.80727786e-02 9.40466502e-01 1.64916070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34710568099999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:82.91, Y:22.70, Z:16.50 [[ 7.50965790e-01 -5.95134334e-01 -2.86121490e-01 8.29122550e+01] [ 5.70172621e-01 8.02959708e-01 -1.73663150e-01 2.26954690e+01] [ 3.33096931e-01 -3.27235554e-02 9.42324574e-01 1.65037617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37710568099999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:82.93, Y:22.72, Z:16.51 [[ 7.48259542e-01 -6.05590957e-01 -2.70863895e-01 8.29291877e+01] [ 5.72392499e-01 7.95745517e-01 -1.97878495e-01 2.27188012e+01] [ 3.35372158e-01 -6.97598991e-03 9.42059898e-01 1.65079332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.40710568099999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:82.95, Y:22.74, Z:16.52 [[ 7.48611814e-01 -6.05249181e-01 -2.70654357e-01 8.29494635e+01] [ 5.72049568e-01 7.96007538e-01 -1.97816307e-01 2.27367543e+01] [ 3.35171066e-01 -6.74008418e-03 9.42133179e-01 1.65171713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.43710568099999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:82.97, Y:22.75, Z:16.53 [[ 7.53099679e-01 -6.00267739e-01 -2.69294475e-01 8.29688170e+01] [ 5.67045466e-01 7.99787246e-01 -1.96976650e-01 2.27537711e+01] [ 3.33617015e-01 -4.35915958e-03 9.42698618e-01 1.65260813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.46710568099999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:82.99, Y:22.77, Z:16.54 [[ 7.57754459e-01 -5.94903296e-01 -2.68138486e-01 8.29884670e+01] [ 5.61614394e-01 8.03795028e-01 -1.96221367e-01 2.27704412e+01] [ 3.32261120e-01 -1.90281728e-03 9.43185521e-01 1.65371431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.497105681 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:83.01, Y:22.79, Z:16.55 [[ 7.59271212e-01 -5.93076054e-01 -2.67895542e-01 8.30078160e+01] [ 5.59683646e-01 8.05145861e-01 -1.96199796e-01 2.27868973e+01] [ 3.32056387e-01 -9.67896954e-04 9.43259041e-01 1.65458497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.527105681 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:83.03, Y:22.81, Z:16.55 [[ 7.60656224e-01 -5.95621389e-01 -2.58141959e-01 8.30269268e+01] [ 5.58186968e-01 8.03136747e-01 -2.08323488e-01 2.28092364e+01] [ 3.31405218e-01 1.43710799e-02 9.43379061e-01 1.65503843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.557105681 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:83.05, Y:22.82, Z:16.57 [[ 7.61530428e-01 -5.87637222e-01 -2.73411599e-01 8.30492414e+01] [ 5.59052291e-01 8.08993962e-01 -1.81629581e-01 2.28200117e+01] [ 3.27920636e-01 -1.45349287e-02 9.44593454e-01 1.65663765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58710568099998 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:83.07, Y:22.85, Z:16.56 [[ 7.66447315e-01 -5.99440423e-01 -2.30715609e-01 8.30700365e+01] [ 5.59626278e-01 7.99511942e-01 -2.18172141e-01 2.28459427e+01] [ 3.15241086e-01 3.81029344e-02 9.48246394e-01 1.65627101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:83.09, Y:22.85, Z:16.59 [[ 7.66116885e-01 -5.77453071e-01 -2.82157527e-01 8.30907869e+01] [ 5.56699176e-01 8.15616753e-01 -1.57655764e-01 2.28497395e+01] [ 3.21171211e-01 -3.62941198e-02 9.46325414e-01 1.65935917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:83.11, Y:22.88, Z:16.60 [[ 7.68698877e-01 -5.84147065e-01 -2.60526855e-01 8.31061360e+01] [ 5.51933207e-01 8.11641190e-01 -1.91332992e-01 2.28763304e+01] [ 3.23220932e-01 3.28403376e-03 9.46317835e-01 1.65950829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:83.13, Y:22.89, Z:16.60 [[ 7.70167156e-01 -5.81275237e-01 -2.62605505e-01 8.31268322e+01] [ 5.48342307e-01 8.13694053e-01 -1.92931860e-01 2.28945555e+01] [ 3.25827050e-01 4.59207338e-03 9.45418239e-01 1.66027019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:83.14, Y:22.91, Z:16.61 [[ 7.74893436e-01 -5.77335833e-01 -2.57339267e-01 8.31441435e+01] [ 5.36691130e-01 8.16018934e-01 -2.14652580e-01 2.29133644e+01] [ 3.33920341e-01 2.82211739e-02 9.42178737e-01 1.66084650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.17, Y:22.93, Z:16.62 [[ 7.79703005e-01 -5.61714199e-01 -2.76659324e-01 8.31677026e+01] [ 5.31660962e-01 8.27311840e-01 -1.81360804e-01 2.29289086e+01] [ 3.30756473e-01 -5.68139866e-03 9.43699039e-01 1.66198140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.76710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:83.19, Y:22.95, Z:16.63 [[ 7.81087193e-01 -5.64417819e-01 -2.67086732e-01 8.31874267e+01] [ 5.29198339e-01 8.25398368e-01 -1.96638376e-01 2.29483511e+01] [ 3.31439156e-01 1.22498624e-02 9.43397067e-01 1.66257140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.79710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:83.21, Y:22.96, Z:16.63 [[ 7.82736939e-01 -5.64930079e-01 -2.61107048e-01 8.32074052e+01] [ 5.23579636e-01 8.24551328e-01 -2.14428242e-01 2.29639859e+01] [ 3.36433127e-01 3.11305729e-02 9.41192668e-01 1.66335165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.82710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:83.23, Y:22.98, Z:16.64 [[ 7.83173711e-01 -5.60198179e-01 -2.69846138e-01 8.32302960e+01] [ 5.22027830e-01 8.28140596e-01 -2.04132550e-01 2.29752097e+01] [ 3.37825224e-01 1.90040525e-02 9.41016984e-01 1.66443735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.857105681 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:83.26, Y:22.98, Z:16.65 [[ 7.83194490e-01 -5.55521467e-01 -2.79288902e-01 8.32600003e+01] [ 5.23508064e-01 8.31501944e-01 -1.85859688e-01 2.29846227e+01] [ 3.35478311e-01 -6.45708862e-04 9.42047709e-01 1.66540956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.887105681 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:83.28, Y:23.00, Z:16.66 [[ 7.81236639e-01 -5.69891908e-01 -2.54740114e-01 8.32822068e+01] [ 5.21054323e-01 8.20064014e-01 -2.36637710e-01 2.30011850e+01] [ 3.43761117e-01 5.21366116e-02 9.37608697e-01 1.66579622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.917105681 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:83.31, Y:23.00, Z:16.68 [[ 7.80711837e-01 -5.52952517e-01 -2.91088546e-01 8.33132100e+01] [ 5.26646671e-01 8.32954581e-01 -1.69793843e-01 2.30021802e+01] [ 3.36351471e-01 -2.07407508e-02 9.41508104e-01 1.66756487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.947105681 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:83.33, Y:23.03, Z:16.66 [[ 7.82245188e-01 -5.79214974e-01 -2.29352305e-01 8.33328116e+01] [ 5.28001597e-01 8.11813596e-01 -2.49345141e-01 2.30324790e+01] [ 3.30615759e-01 7.39506531e-02 9.40863710e-01 1.66604658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97710568099998 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:83.36, Y:23.02, Z:16.70 [[ 7.76958901e-01 -5.48840964e-01 -3.08396599e-01 8.33643734e+01] [ 5.32867395e-01 8.34184677e-01 -1.42085407e-01 2.30150734e+01] [ 3.35242009e-01 -5.39399710e-02 9.40586665e-01 1.66984871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00710568099998 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:83.39, Y:23.04, Z:16.70 [[ 7.71017272e-01 -5.81145539e-01 -2.60388611e-01 8.33894522e+01] [ 5.43896860e-01 8.13627508e-01 -2.05393484e-01 2.30384719e+01] [ 3.31222844e-01 1.67373754e-02 9.43404096e-01 1.66982963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03710568099999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:83.41, Y:23.05, Z:16.71 [[ 7.66681973e-01 -5.85035991e-01 -2.64445914e-01 8.34128890e+01] [ 5.51488060e-01 8.10997970e-01 -1.95302874e-01 2.30482741e+01] [ 3.28724310e-01 3.89642892e-03 9.44417887e-01 1.67099715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06710568099999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:83.43, Y:23.06, Z:16.72 [[ 7.65610520e-01 -5.87060905e-01 -2.63058979e-01 8.34337146e+01] [ 5.53952536e-01 8.09536820e-01 -1.94388078e-01 2.30624494e+01] [ 3.27073570e-01 3.10336899e-03 9.44993782e-01 1.67191176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09710568099999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:83.46, Y:23.09, Z:16.71 [[ 7.68041694e-01 -6.02136617e-01 -2.18044609e-01 8.34552914e+01] [ 5.59993007e-01 7.96658174e-01 -2.27472167e-01 2.30904443e+01] [ 3.10676341e-01 5.26046527e-02 9.49058988e-01 1.67063288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12710568099999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:83.48, Y:23.09, Z:16.75 [[ 7.65711771e-01 -5.72590584e-01 -2.92959907e-01 8.34783100e+01] [ 5.54114651e-01 8.18532721e-01 -1.51529329e-01 2.30855618e+01] [ 3.26561537e-01 -4.63055859e-02 9.44040971e-01 1.67476103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.15710568099999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:83.50, Y:23.12, Z:16.73 [[ 7.70572859e-01 -5.93867842e-01 -2.31383782e-01 8.34985646e+01] [ 5.53686567e-01 8.03556057e-01 -2.18469332e-01 2.31183666e+01] [ 3.15671751e-01 4.02324461e-02 9.48015135e-01 1.67278492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.18710568099999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:83.52, Y:23.13, Z:16.74 [[ 7.72349519e-01 -5.87236453e-01 -2.42135436e-01 8.35213925e+01] [ 5.48326305e-01 8.08806955e-01 -2.12531345e-01 2.31310479e+01] [ 3.20646978e-01 3.13792534e-02 9.46678857e-01 1.67398746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.21710568099999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:83.55, Y:23.14, Z:16.75 [[ 7.73800986e-01 -5.77768188e-01 -2.59645827e-01 8.35462368e+01] [ 5.45885704e-01 8.16186966e-01 -1.89334714e-01 2.31441241e+01] [ 3.21311114e-01 4.77044343e-03 9.46961673e-01 1.67536466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.247105681 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:83.57, Y:23.16, Z:16.76 [[ 7.76121479e-01 -5.72852548e-01 -2.63581880e-01 8.35681801e+01] [ 5.41568303e-01 8.19655545e-01 -1.86731254e-01 2.31586168e+01] [ 3.23015825e-01 2.17854535e-03 9.46391056e-01 1.67596904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.277105681 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:83.59, Y:23.18, Z:16.77 [[ 7.75899919e-01 -5.75714093e-01 -2.57939140e-01 8.35891760e+01] [ 5.41527194e-01 8.17559231e-01 -1.95819311e-01 2.31763921e+01] [ 3.23616462e-01 1.22551284e-02 9.46108978e-01 1.67679216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.307105681 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:83.61, Y:23.19, Z:16.78 [[ 7.75760287e-01 -5.78211476e-01 -2.52720133e-01 8.36137632e+01] [ 5.40157031e-01 8.15513890e-01 -2.07767843e-01 2.31943957e+01] [ 3.26230530e-01 2.46694852e-02 9.44968284e-01 1.67766308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33710568099998 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:83.64, Y:23.19, Z:16.81 [[ 7.70573390e-01 -5.60157863e-01 -3.04039174e-01 8.36365819e+01] [ 5.40045832e-01 8.27187518e-01 -1.55278164e-01 2.31912563e+01] [ 3.38477694e-01 -4.45418677e-02 9.39919610e-01 1.68143290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36710568099998 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:83.66, Y:23.21, Z:16.81 [[ 7.70307362e-01 -5.76198273e-01 -2.73170492e-01 8.36565141e+01] [ 5.42670897e-01 8.17309390e-01 -1.93684432e-01 2.32131872e+01] [ 3.34865443e-01 9.54867646e-04 9.42265474e-01 1.68127706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39710568099999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:83.68, Y:23.23, Z:16.82 [[ 7.59058892e-01 -5.95551516e-01 -2.62960054e-01 8.36804529e+01] [ 5.53402498e-01 8.03005344e-01 -2.21196955e-01 2.32289819e+01] [ 3.42892510e-01 2.23787649e-02 9.39108043e-01 1.68195573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42710568099999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:83.71, Y:23.25, Z:16.81 [[ 7.60249529e-01 -6.04412632e-01 -2.38130268e-01 8.37054441e+01] [ 5.59559627e-01 7.95477759e-01 -2.32611604e-01 2.32511826e+01] [ 3.30020724e-01 4.35947785e-02 9.42966498e-01 1.68107600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45710568099999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:83.73, Y:23.25, Z:16.85 [[ 7.55233872e-01 -5.79154827e-01 -3.06922603e-01 8.37264491e+01] [ 5.59189938e-01 8.13598738e-01 -1.59259872e-01 2.32479508e+01] [ 3.41947966e-01 -5.13495813e-02 9.38314877e-01 1.68537739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:83.75, Y:23.27, Z:16.85 [[ 7.56788501e-01 -5.93061873e-01 -2.74861383e-01 8.37450578e+01] [ 5.57078209e-01 8.05156450e-01 -2.03437855e-01 2.32746597e+01] [ 3.41957651e-01 8.40142630e-04 9.39714988e-01 1.68516109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51710568099999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:83.76, Y:23.29, Z:16.86 [[ 7.62857980e-01 -5.85478870e-01 -2.74339563e-01 8.37635845e+01] [ 5.49096824e-01 8.10675795e-01 -2.03217697e-01 2.32945691e+01] [ 3.41380111e-01 4.38725881e-03 9.39915087e-01 1.68601577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.54710568099999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:83.78, Y:23.31, Z:16.87 [[ 7.69979777e-01 -5.79644688e-01 -2.66726785e-01 8.37811771e+01] [ 5.38256203e-01 8.14544686e-01 -2.16326638e-01 2.33145161e+01] [ 3.42653472e-01 2.29997901e-02 9.39180285e-01 1.68681091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.57710568099999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:83.80, Y:23.33, Z:16.88 [[ 7.73630809e-01 -5.68161847e-01 -2.80512899e-01 8.38031596e+01] [ 5.35657780e-01 8.22908549e-01 -1.89452533e-01 2.33270039e+01] [ 3.38476164e-01 -3.69260077e-03 9.40967721e-01 1.68808642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.607105681 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:83.82, Y:23.35, Z:16.88 [[ 7.77736662e-01 -5.66174374e-01 -2.73079224e-01 8.38222304e+01] [ 5.28815255e-01 8.24179311e-01 -2.02689144e-01 2.33481661e+01] [ 3.39823646e-01 1.32303190e-02 9.40396112e-01 1.68846282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.637105681 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:83.84, Y:23.36, Z:16.89 [[ 7.77128025e-01 -5.63320310e-01 -2.80610516e-01 8.38438570e+01] [ 5.23549066e-01 8.26100918e-01 -2.08455385e-01 2.33641802e+01] [ 3.49239757e-01 1.50831483e-02 9.36911997e-01 1.68901464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.667105681 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:83.87, Y:23.38, Z:16.90 [[ 7.78177663e-01 -5.61819429e-01 -2.80710624e-01 8.38673386e+01] [ 5.23033386e-01 8.27155671e-01 -2.05547009e-01 2.33784758e+01] [ 3.47671687e-01 1.31310627e-02 9.37524385e-01 1.68967013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.697105681 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:83.89, Y:23.39, Z:16.90 [[ 7.78825703e-01 -5.63517815e-01 -2.75459971e-01 8.38879669e+01] [ 5.21714956e-01 8.25779497e-01 -2.14246883e-01 2.33900659e+01] [ 3.48201132e-01 2.31493929e-02 9.37133970e-01 1.69040903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72710568099998 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:83.91, Y:23.40, Z:16.92 [[ 7.79100423e-01 -5.63269203e-01 -2.75191454e-01 8.39142481e+01] [ 5.22992454e-01 8.26037003e-01 -2.10099411e-01 2.34026573e+01] [ 3.45660851e-01 1.97654860e-02 9.38151321e-01 1.69171840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75710568099998 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:83.94, Y:23.41, Z:16.93 [[ 7.79269852e-01 -5.60631086e-01 -2.80055858e-01 8.39366791e+01] [ 5.22533162e-01 8.27975061e-01 -2.03510179e-01 2.34144798e+01] [ 3.45973398e-01 1.22508740e-02 9.38164337e-01 1.69288183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78710568099999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:83.96, Y:23.43, Z:16.94 [[ 7.81538762e-01 -5.62489151e-01 -2.69820529e-01 8.39593520e+01] [ 5.19243599e-01 8.26237489e-01 -2.18443808e-01 2.34294832e+01] [ 3.45808109e-01 3.06197206e-02 9.37805515e-01 1.69357536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81710568099999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:83.98, Y:23.44, Z:16.95 [[ 7.81677470e-01 -5.60025053e-01 -2.74503684e-01 8.39819407e+01] [ 5.18883890e-01 8.28149344e-01 -2.11962669e-01 2.34429490e+01] [ 3.46034451e-01 2.32509035e-02 9.37933662e-01 1.69465523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84710568099999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:84.01, Y:23.45, Z:16.96 [[ 7.84229281e-01 -5.50413453e-01 -2.86407866e-01 8.40089016e+01] [ 5.18719717e-01 8.34881819e-01 -1.84125509e-01 2.34476912e+01] [ 3.40461878e-01 -4.16879153e-03 9.40249079e-01 1.69581764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:84.03, Y:23.47, Z:16.96 [[ 7.80945395e-01 -5.67338810e-01 -2.61248857e-01 8.40338093e+01] [ 5.21580645e-01 8.22464565e-01 -2.26948606e-01 2.34689218e+01] [ 3.43624680e-01 4.09721213e-02 9.38212857e-01 1.69612127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.90710568099999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:84.06, Y:23.47, Z:16.98 [[ 7.80991626e-01 -5.53295731e-01 -2.89682437e-01 8.40577768e+01] [ 5.23257099e-01 8.32913871e-01 -1.80156852e-01 2.34705277e+01] [ 3.40960537e-01 -1.08773986e-02 9.40014678e-01 1.69802793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.93710568099999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:84.08, Y:23.49, Z:16.98 [[ 7.77562472e-01 -5.67006352e-01 -2.71846278e-01 8.40821625e+01] [ 5.29624985e-01 8.23597445e-01 -2.02939951e-01 2.34858947e+01] [ 3.38960142e-01 1.38219088e-02 9.40699196e-01 1.69835080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.96710568099999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:84.11, Y:23.50, Z:16.99 [[ 7.72514181e-01 -5.74287819e-01 -2.70952655e-01 8.41071280e+01] [ 5.37532973e-01 8.18583038e-01 -2.02435453e-01 2.34970672e+01] [ 3.38053462e-01 1.07382713e-02 9.41065644e-01 1.69933150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.997105681 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:84.13, Y:23.51, Z:17.00 [[ 7.69846016e-01 -5.77888721e-01 -2.70890639e-01 8.41285673e+01] [ 5.41306744e-01 8.16062559e-01 -2.02555941e-01 2.35108654e+01] [ 3.38118501e-01 9.30195432e-03 9.41057572e-01 1.70014019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.027105681 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:84.15, Y:23.52, Z:17.01 [[ 7.64417968e-01 -5.86096087e-01 -2.68619707e-01 8.41519349e+01] [ 5.47391415e-01 8.10130774e-01 -2.09882748e-01 2.35248336e+01] [ 3.40628549e-01 1.33980224e-02 9.40102486e-01 1.70086112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.057105681 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:84.18, Y:23.54, Z:17.02 [[ 7.62373741e-01 -5.85677796e-01 -2.75259511e-01 8.41760966e+01] [ 5.51441360e-01 8.10542820e-01 -1.97313873e-01 2.35375549e+01] [ 3.38671975e-01 -1.36256336e-03 9.40903522e-01 1.70203344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08710568099998 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:84.20, Y:23.55, Z:17.03 [[ 7.57775962e-01 -5.92980478e-01 -2.72304506e-01 8.41992713e+01] [ 5.56812875e-01 8.05211532e-01 -2.03945607e-01 2.35500505e+01] [ 3.40198492e-01 2.92242414e-03 9.40349108e-01 1.70286914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:84.22, Y:23.56, Z:17.04 [[ 7.51941892e-01 -5.98448262e-01 -2.76483398e-01 8.42225800e+01] [ 5.61436584e-01 8.01161253e-01 -2.07194617e-01 2.35637897e+01] [ 3.45503044e-01 5.70417979e-04 9.38417456e-01 1.70370990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14710568099999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:84.24, Y:23.58, Z:17.05 [[ 7.49401925e-01 -6.01388029e-01 -2.77000348e-01 8.42440049e+01] [ 5.64364851e-01 7.98956837e-01 -2.07750541e-01 2.35798872e+01] [ 3.46250010e-01 -6.40604727e-04 9.38142057e-01 1.70451897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17710568099999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:84.26, Y:23.59, Z:17.06 [[ 7.47119402e-01 -6.04014846e-01 -2.77450293e-01 8.42648806e+01] [ 5.70947393e-01 7.96898279e-01 -1.97413798e-01 2.35935336e+01] [ 3.40340526e-01 -1.09178428e-02 9.40238867e-01 1.70563600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20710568099999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:84.28, Y:23.61, Z:17.07 [[ 7.44705517e-01 -6.12714954e-01 -2.64563939e-01 8.42838638e+01] [ 5.75874558e-01 7.90296231e-01 -2.09285359e-01 2.36132484e+01] [ 3.37316153e-01 3.50032002e-03 9.41384916e-01 1.70670687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23710568099999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:84.30, Y:23.63, Z:17.08 [[ 7.44692843e-01 -6.11447663e-01 -2.67515092e-01 8.43040065e+01] [ 5.77446039e-01 7.91270870e-01 -2.01113109e-01 2.36289224e+01] [ 3.34647040e-01 -4.70803753e-03 9.42331785e-01 1.70798992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26710568099999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:84.32, Y:23.65, Z:17.09 [[ 7.43891888e-01 -6.13303313e-01 -2.65488051e-01 8.43226666e+01] [ 5.79886373e-01 7.89829310e-01 -1.99753486e-01 2.36484142e+01] [ 3.32199719e-01 -5.35790532e-03 9.43193851e-01 1.70900254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.29710568099999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:84.34, Y:23.67, Z:17.10 [[ 7.41408466e-01 -6.15701971e-01 -2.66879318e-01 8.43403930e+01] [ 5.82014636e-01 7.87953699e-01 -2.00967490e-01 2.36689658e+01] [ 3.34024625e-01 -6.32867082e-03 9.42543101e-01 1.70981068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.32710568099999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:84.36, Y:23.69, Z:17.11 [[ 7.40081748e-01 -6.17458097e-01 -2.66504233e-01 8.43583603e+01] [ 5.83917708e-01 7.86572924e-01 -2.00856032e-01 2.36875632e+01] [ 3.33645196e-01 -6.96665788e-03 9.42672981e-01 1.71058275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.357105681 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:84.37, Y:23.71, Z:17.11 [[ 7.36455768e-01 -6.21820496e-01 -2.66406028e-01 8.43744709e+01] [ 5.88546568e-01 7.83109743e-01 -2.00878239e-01 2.37101668e+01] [ 3.33535363e-01 -8.85441569e-03 9.42696007e-01 1.71137565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.387105681 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:84.39, Y:23.73, Z:17.12 [[ 7.34129924e-01 -6.23971204e-01 -2.67793187e-01 8.43927551e+01] [ 5.90417014e-01 7.81386570e-01 -2.02095961e-01 2.37285590e+01] [ 3.35352060e-01 -9.74496171e-03 9.42042479e-01 1.71227185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.417105681 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:84.41, Y:23.75, Z:17.13 [[ 7.29450804e-01 -6.28033597e-01 -2.71063322e-01 8.44094753e+01] [ 5.93865099e-01 7.78098514e-01 -2.04663008e-01 2.37503282e+01] [ 3.39449214e-01 -1.16834507e-02 9.40551821e-01 1.71307893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44710568099998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:84.43, Y:23.77, Z:17.14 [[ 7.26146915e-01 -6.31226028e-01 -2.72514880e-01 8.44252191e+01] [ 5.96833698e-01 7.75488129e-01 -2.05931297e-01 2.37747112e+01] [ 3.41321249e-01 -1.31096876e-02 9.39855277e-01 1.71389995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47710568099998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:84.44, Y:23.80, Z:17.15 [[ 7.26649773e-01 -6.30479183e-01 -2.72903108e-01 8.44388707e+01] [ 5.95871061e-01 7.76103332e-01 -2.06400814e-01 2.38014202e+01] [ 3.41932428e-01 -1.26339600e-02 9.39639610e-01 1.71464859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50710568099998 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:84.46, Y:23.82, Z:17.15 [[ 7.30302716e-01 -6.28305883e-01 -2.68122473e-01 8.44595597e+01] [ 5.94730040e-01 7.77885173e-01 -2.02955261e-01 2.38227111e+01] [ 3.36086481e-01 -1.12417103e-02 9.41764037e-01 1.71463016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53710568099999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:84.47, Y:23.84, Z:17.17 [[ 7.30107196e-01 -6.26557158e-01 -2.72707922e-01 8.44713765e+01] [ 5.91609194e-01 7.79304767e-01 -2.06597779e-01 2.38436457e+01] [ 3.41967901e-01 -1.04979884e-02 9.39652993e-01 1.71654415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56710568099999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:84.49, Y:23.86, Z:17.17 [[ 7.31648086e-01 -6.25064999e-01 -2.72001517e-01 8.44897621e+01] [ 5.90165365e-01 7.80512630e-01 -2.06167109e-01 2.38638552e+01] [ 3.41168463e-01 -9.68410431e-03 9.39952285e-01 1.71746099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59710568099999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:84.50, Y:23.89, Z:17.18 [[ 7.35287804e-01 -6.21471240e-01 -2.70416979e-01 8.45029821e+01] [ 5.86690328e-01 7.83398000e-01 -2.05139056e-01 2.38885984e+01] [ 3.39332144e-01 -7.81478051e-03 9.40634161e-01 1.71840408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.62710568099999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:84.52, Y:23.92, Z:17.18 [[ 7.39314835e-01 -6.30078000e-01 -2.37519028e-01 8.45152500e+01] [ 5.83040626e-01 7.75466519e-01 -2.42312415e-01 2.39231517e+01] [ 3.36863776e-01 4.06619203e-02 9.40674973e-01 1.71819466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.65710568099999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:84.54, Y:23.93, Z:17.21 [[ 7.42157267e-01 -6.02144086e-01 -2.94321409e-01 8.45372963e+01] [ 5.80707775e-01 7.96968703e-01 -1.66190751e-01 2.39286337e+01] [ 3.34635729e-01 -4.75750573e-02 9.41145867e-01 1.72117615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.68710568099999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:84.55, Y:23.96, Z:17.21 [[ 7.43412952e-01 -6.20903178e-01 -2.48629094e-01 8.45534709e+01] [ 5.81444205e-01 7.83682660e-01 -2.18550052e-01 2.39608163e+01] [ 3.30544732e-01 1.79089930e-02 9.43620394e-01 1.72078210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.71710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:84.57, Y:23.97, Z:17.23 [[ 7.45339493e-01 -6.04389744e-01 -2.81393101e-01 8.45706244e+01] [ 5.76320666e-01 7.96290396e-01 -1.83782742e-01 2.39741526e+01] [ 3.35147028e-01 -2.51921235e-02 9.41828979e-01 1.72285204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.747105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:84.58, Y:24.00, Z:17.23 [[ 7.49094570e-01 -6.06073899e-01 -2.67454211e-01 8.45836080e+01] [ 5.70938340e-01 7.95408258e-01 -2.03359570e-01 2.40039368e+01] [ 3.35986216e-01 -3.64313665e-04 9.41866832e-01 1.72336266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.60, Y:24.02, Z:17.24 [[ 7.51128771e-01 -6.04438157e-01 -2.65443185e-01 8.46001223e+01] [ 5.65533406e-01 7.96585188e-01 -2.13597765e-01 2.40238371e+01] [ 3.40554749e-01 1.03224383e-02 9.40168022e-01 1.72418002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.62, Y:24.04, Z:17.25 [[ 7.54553137e-01 -5.95749780e-01 -2.75194047e-01 8.46184121e+01] [ 5.60934508e-01 8.03164749e-01 -2.00695947e-01 2.40442723e+01] [ 3.40590724e-01 -2.93008051e-03 9.40207091e-01 1.72509617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.63, Y:24.06, Z:17.26 [[ 7.55493251e-01 -5.98991457e-01 -2.65403809e-01 8.46346909e+01] [ 5.57336383e-01 8.00542257e-01 -2.20245887e-01 2.40647185e+01] [ 3.44392369e-01 1.84750827e-02 9.38644005e-01 1.72591500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86710568099998 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:84.66, Y:24.09, Z:17.26 [[ 7.57811440e-01 -6.00563166e-01 -2.55040595e-01 8.46582314e+01] [ 5.59298928e-01 7.99212511e-01 -2.20100137e-01 2.40898211e+01] [ 3.36015669e-01 2.41504707e-02 9.41546719e-01 1.72621788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.68, Y:24.10, Z:17.28 [[ 7.53815073e-01 -5.87228057e-01 -2.94832231e-01 8.46760473e+01] [ 5.59606645e-01 8.08900059e-01 -1.80336068e-01 2.40983605e+01] [ 3.44388208e-01 -2.90500291e-02 9.38377780e-01 1.72832318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.70, Y:24.13, Z:17.28 [[ 7.55102436e-01 -6.08140885e-01 -2.44918305e-01 8.46955581e+01] [ 5.60566979e-01 7.92619649e-01 -2.39830679e-01 2.41291700e+01] [ 3.39977902e-01 4.38036160e-02 9.39412726e-01 1.72766106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:84.72, Y:24.14, Z:17.29 [[ 7.51162695e-01 -6.00983507e-01 -2.73081362e-01 8.47216938e+01] [ 5.63878800e-01 7.99258425e-01 -2.07910242e-01 2.41379969e+01] [ 3.43213206e-01 2.18962730e-03 9.39254971e-01 1.72893632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:84.74, Y:24.15, Z:17.30 [[ 7.47584562e-01 -6.03234650e-01 -2.77894369e-01 8.47427490e+01] [ 5.67793553e-01 7.97545257e-01 -2.03794124e-01 2.41516880e+01] [ 3.44569013e-01 -5.43329044e-03 9.38745266e-01 1.73000594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:84.76, Y:24.17, Z:17.31 [[ 7.46252292e-01 -6.08596388e-01 -2.69662665e-01 8.47643661e+01] [ 5.71828193e-01 7.93478937e-01 -2.08335531e-01 2.41663888e+01] [ 3.40763897e-01 1.27015314e-03 9.40148049e-01 1.73106913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.04710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.79, Y:24.17, Z:17.33 [[ 7.41900786e-01 -6.03083847e-01 -2.93041121e-01 8.47855569e+01] [ 5.73726207e-01 7.97164794e-01 -1.88059910e-01 2.41730077e+01] [ 3.47017959e-01 -2.86035756e-02 9.37422195e-01 1.73337539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.07710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.81, Y:24.19, Z:17.34 [[ 7.41428512e-01 -6.08681355e-01 -2.82472599e-01 8.48057132e+01] [ 5.75215360e-01 7.93282072e-01 -1.99576659e-01 2.41907408e+01] [ 3.45559040e-01 -1.45107524e-02 9.38284812e-01 1.73419795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.83, Y:24.21, Z:17.35 [[ 7.38667770e-01 -6.15920073e-01 -2.73883899e-01 8.48260374e+01] [ 5.79111129e-01 7.87800132e-01 -2.09764754e-01 2.42095980e+01] [ 3.44964094e-01 -3.66275100e-03 9.38608735e-01 1.73494324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.137105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.85, Y:24.23, Z:17.36 [[ 7.38374678e-01 -6.17126949e-01 -2.71950664e-01 8.48466484e+01] [ 5.80866810e-01 7.86853205e-01 -2.08460507e-01 2.42257727e+01] [ 3.42631848e-01 -4.04515461e-03 9.39461044e-01 1.73599268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.167105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.87, Y:24.24, Z:17.37 [[ 7.40057060e-01 -6.15106782e-01 -2.71954397e-01 8.48656798e+01] [ 5.78647878e-01 7.88438263e-01 -2.08642610e-01 2.42412283e+01] [ 3.42756737e-01 -2.95839809e-03 9.39419537e-01 1.73722943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.89, Y:24.26, Z:17.38 [[ 7.39838368e-01 -6.15395899e-01 -2.71895343e-01 8.48868172e+01] [ 5.78927629e-01 7.88212506e-01 -2.08719541e-01 2.42577639e+01] [ 3.42756459e-01 -2.98900153e-03 9.39419542e-01 1.73819584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.90, Y:24.28, Z:17.39 [[ 7.43160738e-01 -6.13110586e-01 -2.67969264e-01 8.49039858e+01] [ 5.70651099e-01 7.89872698e-01 -2.24629571e-01 2.42817052e+01] [ 3.49384374e-01 1.40189228e-02 9.36874607e-01 1.73916436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.93, Y:24.29, Z:17.40 [[ 7.49344180e-01 -5.98634904e-01 -2.83053973e-01 8.49257951e+01] [ 5.65423538e-01 8.00925791e-01 -1.97012946e-01 2.42937613e+01] [ 3.44644053e-01 -1.24148742e-02 9.38651345e-01 1.74027709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.94, Y:24.31, Z:17.41 [[ 7.56293477e-01 -5.95269734e-01 -2.71429772e-01 8.49407180e+01] [ 5.54663954e-01 8.03417891e-01 -2.16489238e-01 2.43122312e+01] [ 3.46941026e-01 1.31770885e-02 9.37794374e-01 1.74092263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.96, Y:24.34, Z:17.41 [[ 7.59543376e-01 -5.99405246e-01 -2.52600894e-01 8.49644826e+01] [ 5.52491130e-01 7.99468323e-01 -2.35804902e-01 2.43393712e+01] [ 3.43289108e-01 3.95442977e-02 9.38396951e-01 1.74110009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.99, Y:24.34, Z:17.43 [[ 7.58131669e-01 -5.85384745e-01 -2.87334426e-01 8.49859962e+01] [ 5.50161549e-01 8.10730520e-01 -2.00095711e-01 2.43436940e+01] [ 3.50083766e-01 -6.38145765e-03 9.36696660e-01 1.74304799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.01, Y:24.36, Z:17.44 [[ 7.56799021e-01 -5.92594782e-01 -2.75838116e-01 8.50075254e+01] [ 5.51379099e-01 8.05403542e-01 -2.17499940e-01 2.43640556e+01] [ 3.51050325e-01 1.25123699e-02 9.36272989e-01 1.74377168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.03, Y:24.37, Z:17.45 [[ 7.56071153e-01 -5.85740070e-01 -2.92001682e-01 8.50330657e+01] [ 5.52356856e-01 8.10385516e-01 -1.95389916e-01 2.43739376e+01] [ 3.51081636e-01 -1.35604520e-02 9.36246655e-01 1.74490003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.43710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.05, Y:24.39, Z:17.46 [[ 7.55071990e-01 -5.93444223e-01 -2.78729696e-01 8.50538063e+01] [ 5.53205305e-01 8.04834238e-01 -2.14955204e-01 2.43913561e+01] [ 3.51895127e-01 8.11190767e-03 9.36004283e-01 1.74564049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.46710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.08, Y:24.40, Z:17.47 [[ 7.51582589e-01 -5.96861260e-01 -2.80856277e-01 8.50783902e+01] [ 5.56144238e-01 8.02316244e-01 -2.16776916e-01 2.44021520e+01] [ 3.54721297e-01 6.72915568e-03 9.34947870e-01 1.74675797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.497105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.10, Y:24.41, Z:17.48 [[ 7.49619916e-01 -5.99568392e-01 -2.80335022e-01 8.51010922e+01] [ 5.59121784e-01 8.00303980e-01 -2.16555696e-01 2.44134681e+01] [ 3.54193185e-01 5.59304488e-03 9.35155552e-01 1.74795827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.527105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.12, Y:24.43, Z:17.49 [[ 7.48508069e-01 -6.04353800e-01 -2.72932509e-01 8.51218895e+01] [ 5.58327936e-01 7.96425549e-01 -2.32327918e-01 2.44307252e+01] [ 3.57778684e-01 2.15134767e-02 9.33558559e-01 1.74910018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.557105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.14, Y:24.44, Z:17.51 [[ 7.49507293e-01 -6.03126340e-01 -2.72905543e-01 8.51421801e+01] [ 5.57853075e-01 7.97388265e-01 -2.30156255e-01 2.44441701e+01] [ 3.56424977e-01 2.02625953e-02 9.34104204e-01 1.75051830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.17, Y:24.46, Z:17.52 [[ 7.48037129e-01 -5.99486905e-01 -2.84703186e-01 8.51655726e+01] [ 5.60650094e-01 8.00384127e-01 -2.12265686e-01 2.44550579e+01] [ 3.55122410e-01 -8.36253116e-04 9.34819434e-01 1.75165728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.19, Y:24.47, Z:17.53 [[ 7.47477076e-01 -5.96794744e-01 -2.91743130e-01 8.51905192e+01] [ 5.65921108e-01 8.02078745e-01 -1.90795666e-01 2.44670198e+01] [ 3.47866815e-01 -2.24882089e-02 9.37274218e-01 1.75254335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.21, Y:24.48, Z:17.53 [[ 7.41248981e-01 -6.12184856e-01 -2.75281038e-01 8.52117080e+01] [ 5.73873286e-01 7.90714677e-01 -2.13166017e-01 2.44836532e+01] [ 3.48165765e-01 3.26591466e-05 9.37432984e-01 1.75315999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.23, Y:24.50, Z:17.54 [[ 7.35976403e-01 -6.19846288e-01 -2.72266989e-01 8.52326597e+01] [ 5.78397221e-01 7.84695388e-01 -2.22956952e-01 2.45019517e+01] [ 3.51845690e-01 6.61258576e-03 9.36034660e-01 1.75414403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.26, Y:24.51, Z:17.55 [[ 7.32494843e-01 -6.18888163e-01 -2.83599625e-01 8.52556126e+01] [ 5.84142379e-01 7.85326666e-01 -2.05035873e-01 2.45131149e+01] [ 3.49612622e-01 -1.54748400e-02 9.36766536e-01 1.75511989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73710568099999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:85.27, Y:24.53, Z:17.56 [[ 7.30522758e-01 -6.24714739e-01 -2.75804270e-01 8.52748733e+01] [ 5.86984297e-01 7.80832688e-01 -2.13891906e-01 2.45285092e+01] [ 3.48978416e-01 -5.63987039e-03 9.37113791e-01 1.75614551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:85.29, Y:24.54, Z:17.57 [[ 7.30747532e-01 -6.24816765e-01 -2.74976460e-01 8.52946906e+01] [ 5.87290800e-01 7.80751418e-01 -2.13346526e-01 2.45447681e+01] [ 3.47990747e-01 -5.58869838e-03 9.37481310e-01 1.75732620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.79710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.31, Y:24.56, Z:17.59 [[ 7.33801257e-01 -6.22184150e-01 -2.72805056e-01 8.53116002e+01] [ 5.85029279e-01 7.82859876e-01 -2.11828132e-01 2.45640539e+01] [ 3.45364238e-01 -4.15919590e-03 9.38459506e-01 1.75865097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.82710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.33, Y:24.58, Z:17.60 [[ 7.37291391e-01 -6.18815257e-01 -2.71051808e-01 8.53286265e+01] [ 5.81869064e-01 7.85532832e-01 -2.10633717e-01 2.45831147e+01] [ 3.43263452e-01 -2.41823532e-03 9.39236049e-01 1.75970421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.857105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.35, Y:24.60, Z:17.61 [[ 7.38444036e-01 -6.17006486e-01 -2.72035663e-01 8.53484074e+01] [ 5.79628841e-01 7.86956630e-01 -2.11493901e-01 2.46006522e+01] [ 3.44573377e-01 -1.50330573e-03 9.38758184e-01 1.76059544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.887105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.37, Y:24.62, Z:17.61 [[ 7.40895714e-01 -6.13210249e-01 -2.73946584e-01 8.53671612e+01] [ 5.74974491e-01 7.89919632e-01 -2.13146217e-01 2.46197021e+01] [ 3.47099229e-01 4.06821326e-04 9.37828321e-01 1.76140459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.917105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.38, Y:24.64, Z:17.62 [[ 7.45122322e-01 -6.08399514e-01 -2.73208266e-01 8.53849381e+01] [ 5.70001217e-01 7.93626030e-01 -2.12735368e-01 2.46393776e+01] [ 3.46253286e-01 2.78482724e-03 9.38136934e-01 1.76233108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.40, Y:24.66, Z:17.63 [[ 7.48622043e-01 -6.03759457e-01 -2.73933487e-01 8.54036961e+01] [ 5.64785572e-01 7.97150285e-01 -2.13468221e-01 2.46588013e+01] [ 3.47249615e-01 5.09333460e-03 9.37758904e-01 1.76330609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.42, Y:24.68, Z:17.64 [[ 7.49499511e-01 -6.01925325e-01 -2.75565576e-01 8.54228443e+01] [ 5.62285870e-01 7.98528865e-01 -2.14909870e-01 2.46772468e+01] [ 3.49406760e-01 6.12821285e-03 9.36951099e-01 1.76422297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.44, Y:24.70, Z:17.65 [[ 7.52002947e-01 -5.97771834e-01 -2.77777612e-01 8.54402083e+01] [ 5.57128152e-01 8.01623457e-01 -2.16813411e-01 2.46977200e+01] [ 3.52278000e-01 8.28659645e-03 9.35858720e-01 1.76502536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:85.46, Y:24.72, Z:17.66 [[ 7.52614849e-01 -5.96681549e-01 -2.78463674e-01 8.54601908e+01] [ 5.55710883e-01 8.02428460e-01 -2.17471792e-01 2.47156010e+01] [ 3.53208583e-01 8.92720571e-03 9.35502005e-01 1.76590833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:85.48, Y:24.74, Z:17.66 [[ 7.53977822e-01 -5.99360219e-01 -2.68858275e-01 8.54807513e+01] [ 5.53864658e-01 8.00095130e-01 -2.30394712e-01 2.47359388e+01] [ 3.53201622e-01 2.48014064e-02 9.35218426e-01 1.76629825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.50, Y:24.75, Z:17.68 [[ 7.52924879e-01 -5.89948083e-01 -2.91659709e-01 8.55015225e+01] [ 5.52129291e-01 8.07428535e-01 -2.07875940e-01 2.47470136e+01] [ 3.58130384e-01 -4.51890093e-03 9.33660649e-01 1.76794758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.52, Y:24.77, Z:17.69 [[ 7.52834022e-01 -5.94925036e-01 -2.81611678e-01 8.55205045e+01] [ 5.52709420e-01 8.03716018e-01 -2.20347134e-01 2.47660002e+01] [ 3.57425843e-01 1.02353921e-02 9.33885434e-01 1.76874951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.54, Y:24.78, Z:17.70 [[ 7.51298550e-01 -5.98198303e-01 -2.78763841e-01 8.55412872e+01] [ 5.57015611e-01 8.01300598e-01 -2.18291000e-01 2.47800704e+01] [ 3.53954938e-01 8.72590094e-03 9.35221771e-01 1.76995763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.18710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:85.56, Y:24.79, Z:17.71 [[ 7.47971373e-01 -6.03576527e-01 -2.76105417e-01 8.55631242e+01] [ 5.63492545e-01 7.97280479e-01 -2.16379274e-01 2.47938137e+01] [ 3.50734910e-01 6.26215805e-03 9.36453847e-01 1.77108706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.21710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.58, Y:24.81, Z:17.72 [[ 7.46236283e-01 -6.06151196e-01 -2.75158387e-01 8.55837193e+01] [ 5.66457056e-01 7.95332586e-01 -2.15806581e-01 2.48099251e+01] [ 3.49653849e-01 5.17729118e-03 9.36864655e-01 1.77207451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.60, Y:24.83, Z:17.73 [[ 7.43911984e-01 -6.09672237e-01 -2.73669003e-01 8.56049532e+01] [ 5.70589103e-01 7.92645244e-01 -2.14805941e-01 2.48251022e+01] [ 3.47883653e-01 3.64416265e-03 9.37530631e-01 1.77314024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.62, Y:24.84, Z:17.74 [[ 7.41899044e-01 -6.12097000e-01 -2.73720789e-01 8.56245553e+01] [ 5.73096025e-01 7.90778250e-01 -2.15013268e-01 2.48399984e+01] [ 3.48061423e-01 2.64984146e-03 9.37467986e-01 1.77413232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.307105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:85.64, Y:24.86, Z:17.75 [[ 7.41269135e-01 -6.12954135e-01 -2.73509230e-01 8.56445123e+01] [ 5.74036741e-01 7.90115068e-01 -2.14941850e-01 2.48567550e+01] [ 3.47853259e-01 2.32541225e-03 9.37546107e-01 1.77503490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.66, Y:24.87, Z:17.76 [[ 7.39751372e-01 -6.15057781e-01 -2.72895280e-01 8.56628459e+01] [ 5.76398301e-01 7.88480666e-01 -2.14623478e-01 2.48739589e+01] [ 3.47178492e-01 1.47163651e-03 9.37797915e-01 1.77603063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.68, Y:24.89, Z:17.77 [[ 7.38481894e-01 -6.16238001e-01 -2.73669908e-01 8.56824185e+01] [ 5.77394571e-01 7.87559348e-01 -2.15327152e-01 2.48919279e+01] [ 3.48224068e-01 9.99684471e-04 9.37410795e-01 1.77703376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.70, Y:24.91, Z:17.78 [[ 7.38202746e-01 -6.16449581e-01 -2.73946383e-01 8.57020188e+01] [ 5.77478863e-01 7.87393700e-01 -2.15706569e-01 2.49077100e+01] [ 3.48675880e-01 1.03693606e-03 9.37242794e-01 1.77798923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.72, Y:24.92, Z:17.79 [[ 7.40175518e-01 -6.15205173e-01 -2.71408912e-01 8.57222658e+01] [ 5.76855630e-01 7.88365213e-01 -2.13817381e-01 2.49236975e+01] [ 3.45510904e-01 1.69863122e-03 9.38413198e-01 1.77923438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.74, Y:24.94, Z:17.80 [[ 7.44061372e-01 -6.11326906e-01 -2.69540515e-01 8.57409157e+01] [ 5.73214231e-01 7.91369924e-01 -2.12506679e-01 2.49411623e+01] [ 3.43217308e-01 3.61355201e-03 9.39249073e-01 1.78033568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.76, Y:24.96, Z:17.81 [[ 7.45756546e-01 -6.09313848e-01 -2.69413824e-01 8.57600662e+01] [ 5.71051802e-01 7.92915370e-01 -2.12567768e-01 2.49580278e+01] [ 3.43142846e-01 4.67455433e-03 9.39271598e-01 1.78124768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.78, Y:24.98, Z:17.82 [[ 7.48832809e-01 -6.05492218e-01 -2.69496935e-01 8.57801088e+01] [ 5.66931917e-01 7.95824616e-01 -2.12723723e-01 2.49770612e+01] [ 3.43274853e-01 6.50808933e-03 9.39212447e-01 1.78199855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.80, Y:24.99, Z:17.83 [[ 7.50307847e-01 -6.03287249e-01 -2.70337994e-01 8.58013341e+01] [ 5.64280391e-01 7.97487007e-01 -2.13546517e-01 2.49923085e+01] [ 3.44420929e-01 7.67919850e-03 9.38783923e-01 1.78289918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.82, Y:25.01, Z:17.84 [[ 7.50586130e-01 -6.02615241e-01 -2.71063338e-01 8.58234765e+01] [ 5.63290739e-01 7.97990291e-01 -2.14277947e-01 2.50075704e+01] [ 3.45433068e-01 8.14658669e-03 9.38408029e-01 1.78382902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.85, Y:25.02, Z:17.85 [[ 7.50669293e-01 -6.00770422e-01 -2.74900915e-01 8.58457707e+01] [ 5.60105075e-01 7.99367796e-01 -2.17470531e-01 2.50211063e+01] [ 3.50396801e-01 9.27505197e-03 9.36555420e-01 1.78462173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.637105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:85.87, Y:25.04, Z:17.85 [[ 7.51737104e-01 -5.98251968e-01 -2.77463346e-01 8.58688365e+01] [ 5.56595375e-01 8.01237403e-01 -2.19591014e-01 2.50358396e+01] [ 3.53684767e-01 1.06398979e-02 9.35304163e-01 1.78531491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.667105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.89, Y:25.05, Z:17.86 [[ 7.52967726e-01 -5.96956599e-01 -2.76915912e-01 8.58910972e+01] [ 5.55318179e-01 8.02192865e-01 -2.19336106e-01 2.50508572e+01] [ 3.53074104e-01 1.13765687e-02 9.35526189e-01 1.78623182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.91, Y:25.06, Z:17.87 [[ 7.56679430e-01 -5.93197431e-01 -2.74869148e-01 8.59137126e+01] [ 5.51888619e-01 8.04949205e-01 -2.17889257e-01 2.50623057e+01] [ 3.50507050e-01 1.31751644e-02 9.36467417e-01 1.78717744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.94, Y:25.07, Z:17.88 [[ 7.60735361e-01 -5.88226732e-01 -2.74355650e-01 8.59387838e+01] [ 5.46734024e-01 8.08547362e-01 -2.17561645e-01 2.50729324e+01] [ 3.49805113e-01 1.55072682e-02 9.36694138e-01 1.78810812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.96, Y:25.09, Z:17.89 [[ 7.62662534e-01 -5.85640604e-01 -2.74537689e-01 8.59612421e+01] [ 5.43862688e-01 8.10395482e-01 -2.17881939e-01 2.50851816e+01] [ 3.50084613e-01 1.68595864e-02 9.36566345e-01 1.78901645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:85.99, Y:25.10, Z:17.90 [[ 7.66115671e-01 -5.81541101e-01 -2.73636121e-01 8.59875663e+01] [ 5.39748826e-01 8.13300407e-01 -2.17287029e-01 2.50953650e+01] [ 3.48909707e-01 1.87722234e-02 9.36968313e-01 1.78995270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:86.01, Y:25.11, Z:17.91 [[ 7.67009648e-01 -5.80785491e-01 -2.72735062e-01 8.60115489e+01] [ 5.39167846e-01 8.13830297e-01 -2.16744736e-01 2.51086044e+01] [ 3.47842254e-01 1.91953275e-02 9.37356552e-01 1.79081081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84710568099999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:86.04, Y:25.12, Z:17.92 [[ 7.66534247e-01 -5.80646556e-01 -2.74362579e-01 8.60392447e+01] [ 5.38439238e-01 8.13921292e-01 -2.18209343e-01 2.51151587e+01] [ 3.50012048e-01 1.95373560e-02 9.36541434e-01 1.79168543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87710568099999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:86.07, Y:25.12, Z:17.92 [[ 7.64861882e-01 -5.81773208e-01 -2.76633758e-01 8.60670822e+01] [ 5.38879444e-01 8.13122811e-01 -2.20091436e-01 2.51223965e+01] [ 3.52980519e-01 1.92673043e-02 9.35432266e-01 1.79244188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90710568099999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:86.09, Y:25.14, Z:17.93 [[ 7.64039069e-01 -5.82930038e-01 -2.76472191e-01 8.60910769e+01] [ 5.40131992e-01 8.12305101e-01 -2.20040573e-01 2.51352497e+01] [ 3.52848030e-01 1.87881197e-02 9.35491996e-01 1.79331086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.93710568099999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:86.12, Y:25.14, Z:17.94 [[ 7.63565321e-01 -5.84270579e-01 -2.74947070e-01 8.61192637e+01] [ 5.41982963e-01 8.11354857e-01 -2.18992613e-01 2.51401272e+01] [ 3.51030582e-01 1.81985372e-02 9.36187131e-01 1.79425296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.96710568099999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:86.15, Y:25.15, Z:17.95 [[ 7.60211082e-01 -5.88536355e-01 -2.75143725e-01 8.61474835e+01] [ 5.46410979e-01 8.08305483e-01 -2.19265336e-01 2.51455210e+01] [ 3.51445804e-01 1.63463861e-02 9.36065512e-01 1.79532774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.997105681 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:86.17, Y:25.16, Z:17.96 [[ 7.57558808e-01 -5.91720538e-01 -2.75629203e-01 8.61711280e+01] [ 5.49581497e-01 8.06002783e-01 -2.19817405e-01 2.51583033e+01] [ 3.52228377e-01 1.50439014e-02 9.35793167e-01 1.79623427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.027105681 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:86.20, Y:25.17, Z:17.97 [[ 7.52426935e-01 -5.97820736e-01 -2.76521381e-01 8.61980151e+01] [ 5.55730305e-01 8.01534117e-01 -2.20696370e-01 2.51678676e+01] [ 3.53578188e-01 1.23865822e-02 9.35322959e-01 1.79712326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.057105681 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:86.22, Y:25.18, Z:17.98 [[ 7.49710433e-01 -6.01078409e-01 -2.76837521e-01 8.62215621e+01] [ 5.59034755e-01 7.99114091e-01 -2.21126237e-01 2.51808246e+01] [ 3.54138970e-01 1.10188512e-02 9.35127892e-01 1.79803347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08710568099998 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:86.24, Y:25.20, Z:17.99 [[ 7.49573697e-01 -6.01288794e-01 -2.76750896e-01 8.62424108e+01] [ 5.59219052e-01 7.98955131e-01 -2.21234605e-01 2.51977299e+01] [ 3.54137437e-01 1.10672667e-02 9.35127901e-01 1.79900384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11710568099998 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:86.27, Y:25.21, Z:18.00 [[ 7.44850307e-01 -6.07299232e-01 -2.76379565e-01 8.62691759e+01] [ 5.65700846e-01 7.94429806e-01 -2.21051661e-01 2.52068784e+01] [ 3.53808667e-01 8.30224346e-03 9.35280974e-01 1.80000983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14710568099999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:86.29, Y:25.22, Z:18.01 [[ 7.40861528e-01 -6.12313541e-01 -2.76036816e-01 8.62932412e+01] [ 5.71090076e-01 7.90591849e-01 -2.20953962e-01 2.52162942e+01] [ 3.53525560e-01 6.05440371e-03 9.35405272e-01 1.80108796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17710568099999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:86.32, Y:25.23, Z:18.02 [[ 7.37649227e-01 -6.16526142e-01 -2.75261938e-01 8.63165569e+01] [ 5.75786124e-01 7.87323700e-01 -2.20435321e-01 2.52287161e+01] [ 3.52624385e-01 4.11193981e-03 9.35755916e-01 1.80207267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20710568099999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:86.34, Y:25.24, Z:18.03 [[ 7.35543350e-01 -6.19071532e-01 -2.75184336e-01 8.63376294e+01] [ 5.78467715e-01 7.85328778e-01 -2.20530752e-01 2.52443714e+01] [ 3.52634489e-01 3.02467378e-03 9.35756255e-01 1.80299633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23710568099999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:86.36, Y:25.26, Z:18.04 [[ 7.32265276e-01 -6.22633944e-01 -2.75888631e-01 8.63577571e+01] [ 5.81990562e-01 7.82511866e-01 -2.21273959e-01 2.52607235e+01] [ 3.53658806e-01 1.46665726e-03 9.35373347e-01 1.80373649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.26710568099999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:86.38, Y:25.28, Z:18.05 [[ 7.31155172e-01 -6.24033066e-01 -2.75671629e-01 8.63780415e+01] [ 5.83513355e-01 7.81397445e-01 -2.21201711e-01 2.52759085e+01] [ 3.53446289e-01 8.74698155e-04 9.35454411e-01 1.80469019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.29710568099999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:86.40, Y:25.29, Z:18.06 [[ 7.28616289e-01 -6.27907031e-01 -2.73589224e-01 8.63995036e+01] [ 5.88235694e-01 7.78287841e-01 -2.19651555e-01 2.52888614e+01] [ 3.50851922e-01 -8.93246589e-04 9.36430526e-01 1.80602580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.32710568099999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:86.42, Y:25.30, Z:18.07 [[ 7.25749884e-01 -6.32297234e-01 -2.71085436e-01 8.64198999e+01] [ 5.93603299e-01 7.74720691e-01 -2.17814082e-01 2.53041628e+01] [ 3.47738738e-01 -2.83866437e-03 9.37587176e-01 1.80735869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.357105681 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:86.44, Y:25.32, Z:18.08 [[ 7.23943440e-01 -6.34609884e-01 -2.70510982e-01 8.64394975e+01] [ 5.96176287e-01 7.72823326e-01 -2.17526877e-01 2.53219841e+01] [ 3.47101903e-01 -3.79507687e-03 9.37819741e-01 1.80830532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.387105681 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:86.46, Y:25.34, Z:18.09 [[ 7.19888840e-01 -6.39070401e-01 -2.70830352e-01 8.64579345e+01] [ 6.00780290e-01 7.69126370e-01 -2.17962543e-01 2.53424115e+01] [ 3.47596175e-01 -5.80073536e-03 9.37626392e-01 1.80905148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.417105681 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:86.48, Y:25.36, Z:18.10 [[ 7.14909703e-01 -6.44517060e-01 -2.71112292e-01 8.64765825e+01] [ 6.06454476e-01 7.64544828e-01 -2.18367065e-01 2.53609209e+01] [ 3.48018799e-01 -8.30452958e-03 9.37450772e-01 1.80987394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:86.50, Y:25.38, Z:18.11 [[ 7.12133376e-01 -6.47565411e-01 -2.71155107e-01 8.64962100e+01] [ 6.09665007e-01 7.61947999e-01 -2.18503608e-01 2.53779710e+01] [ 3.48101470e-01 -9.71006830e-03 9.37406572e-01 1.81081683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47710568099998 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:86.51, Y:25.40, Z:18.12 [[ 7.07108812e-01 -6.52087315e-01 -2.73457969e-01 8.65144850e+01] [ 6.13775169e-01 7.58050576e-01 -2.20543341e-01 2.53958340e+01] [ 3.51108486e-01 -1.18935710e-02 9.36259245e-01 1.81171823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50710568099998 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:86.53, Y:25.42, Z:18.12 [[ 7.02092248e-01 -6.56301314e-01 -2.76288002e-01 8.65323156e+01] [ 6.17437845e-01 7.54367697e-01 -2.22934712e-01 2.54176583e+01] [ 3.54735088e-01 -1.40699356e-02 9.34860981e-01 1.81249096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53710568099999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:86.55, Y:25.44, Z:18.13 [[ 6.99200030e-01 -6.59590256e-01 -2.75789796e-01 8.65480471e+01] [ 6.21046112e-01 7.51464409e-01 -2.22717238e-01 2.54388723e+01] [ 3.54148337e-01 -1.55542809e-02 9.35059902e-01 1.81325268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56710568099999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:86.57, Y:25.46, Z:18.14 [[ 6.97683981e-01 -6.61352638e-01 -2.75408335e-01 8.65664602e+01] [ 6.23008814e-01 7.49897236e-01 -2.22517760e-01 2.54574312e+01] [ 3.53690657e-01 -1.63347430e-02 9.35219811e-01 1.81427694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59710568099999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:86.58, Y:25.48, Z:18.16 [[ 6.95500255e-01 -6.63932110e-01 -2.74724497e-01 8.65825424e+01] [ 6.25908288e-01 7.47589243e-01 -2.22146660e-01 2.54767729e+01] [ 3.52871379e-01 -1.74492809e-02 9.35509120e-01 1.81552426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.62710568099999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:86.60, Y:25.50, Z:18.16 [[ 6.95519783e-01 -6.64582092e-01 -2.73098655e-01 8.65961313e+01] [ 6.27021506e-01 7.47008914e-01 -2.20956362e-01 2.54995949e+01] [ 3.50850771e-01 -1.75592095e-02 9.36266741e-01 1.81649969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65710568099999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:86.61, Y:25.52, Z:18.17 [[ 6.96614683e-01 -6.63395553e-01 -2.73192833e-01 8.66137401e+01] [ 6.25659206e-01 7.48079441e-01 -2.21196085e-01 2.55198101e+01] [ 3.51110441e-01 -1.68371704e-02 9.36182657e-01 1.81737902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.68710568099999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:86.63, Y:25.54, Z:18.18 [[ 6.99781354e-01 -6.59543633e-01 -2.74423492e-01 8.66293731e+01] [ 6.21102091e-01 7.51519929e-01 -2.22373535e-01 2.55441088e+01] [ 3.52899772e-01 -1.48321518e-02 9.35543563e-01 1.81818474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.71710568099999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:86.64, Y:25.57, Z:18.18 [[ 7.04489353e-01 -6.59383131e-01 -2.62504550e-01 8.66415569e+01] [ 6.17259889e-01 7.51805890e-01 -2.31901130e-01 2.55724379e+01] [ 3.50264160e-01 1.33834807e-03 9.36650003e-01 1.81812733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.747105681 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:86.66, Y:25.60, Z:18.19 [[ 7.03068734e-01 -6.65742443e-01 -2.49962708e-01 8.66578308e+01] [ 6.18484607e-01 7.45936451e-01 -2.47094320e-01 2.55981461e+01] [ 3.50957471e-01 1.91262035e-02 9.36196049e-01 1.81901348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.777105681 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:86.67, Y:25.61, Z:18.22 [[ 6.98806957e-01 -6.52659970e-01 -2.92752115e-01 8.66737893e+01] [ 6.17164423e-01 7.57026006e-01 -2.14522031e-01 2.56091444e+01] [ 3.61630907e-01 -3.07667024e-02 9.31813553e-01 1.82172354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80710568099998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:86.69, Y:25.63, Z:18.23 [[ 6.97973789e-01 -6.53861853e-01 -2.92056957e-01 8.66891647e+01] [ 6.23125823e-01 7.55512749e-01 -2.02273813e-01 2.56323962e+01] [ 3.52911884e-01 -4.08064123e-02 9.34766302e-01 1.82260393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83710568099998 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:86.70, Y:25.66, Z:18.23 [[ 6.96743301e-01 -6.62726479e-01 -2.74485675e-01 8.67033506e+01] [ 6.24210792e-01 7.48694326e-01 -2.23198777e-01 2.56563508e+01] [ 3.53425607e-01 -1.58246676e-02 9.35328777e-01 1.82324126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86710568099998 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:86.72, Y:25.68, Z:18.24 [[ 6.96618138e-01 -6.63321868e-01 -2.73362888e-01 8.67171898e+01] [ 6.25114077e-01 7.48164779e-01 -2.22445171e-01 2.56812721e+01] [ 3.52073231e-01 -1.59236484e-02 9.35836993e-01 1.82426605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89710568099999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:86.73, Y:25.70, Z:18.25 [[ 6.97214111e-01 -6.62984025e-01 -2.72662183e-01 8.67336861e+01] [ 6.24888287e-01 7.48471632e-01 -2.22046941e-01 2.57022370e+01] [ 3.51293484e-01 -1.55691438e-02 9.36135936e-01 1.82536812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.75, Y:25.73, Z:18.27 [[ 6.99848386e-01 -6.61411085e-01 -2.69717655e-01 8.67450259e+01] [ 6.23982615e-01 7.49884168e-01 -2.19816813e-01 2.57284901e+01] [ 3.47646276e-01 -1.44606860e-02 9.37514243e-01 1.82653101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.76, Y:25.75, Z:18.28 [[ 7.03429252e-01 -6.58766289e-01 -2.66860008e-01 8.67566695e+01] [ 6.21905115e-01 7.52237746e-01 -2.17652019e-01 2.57543359e+01] [ 3.44123984e-01 -1.28588068e-02 9.38836160e-01 1.82752925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:86.77, Y:25.78, Z:18.28 [[ 7.06300451e-01 -6.55401146e-01 -2.67561228e-01 8.67698218e+01] [ 6.18051405e-01 7.55198965e-01 -2.18373497e-01 2.57806455e+01] [ 3.45184203e-01 -1.11292928e-02 9.38468969e-01 1.82824139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.78, Y:25.80, Z:18.29 [[ 7.05563110e-01 -6.59445767e-01 -2.59445521e-01 8.67842243e+01] [ 6.12620296e-01 7.51630519e-01 -2.44433909e-01 2.58039203e+01] [ 3.56198078e-01 1.35219576e-02 9.34312627e-01 1.82917880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.04710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.80, Y:25.83, Z:18.30 [[ 7.11352879e-01 -6.43227658e-01 -2.83258296e-01 8.68025338e+01] [ 6.11396815e-01 7.65106957e-01 -2.02003166e-01 2.58251391e+01] [ 3.46656916e-01 -2.94876863e-02 9.37528378e-01 1.83018756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.07710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.81, Y:25.85, Z:18.31 [[ 7.17604191e-01 -6.42560267e-01 -2.68627120e-01 8.68143829e+01] [ 6.03874050e-01 7.66221320e-01 -2.19638387e-01 2.58502764e+01] [ 3.46958726e-01 -4.60351993e-03 9.37869101e-01 1.83118971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.107105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.83, Y:25.87, Z:18.32 [[ 7.20679394e-01 -6.38971127e-01 -2.68955592e-01 8.68318686e+01] [ 5.99890832e-01 7.69225777e-01 -2.20051573e-01 2.58701435e+01] [ 3.47494175e-01 -2.75735977e-03 9.37678087e-01 1.83223700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.137105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.85, Y:25.89, Z:18.33 [[ 7.27008742e-01 -6.31145886e-01 -2.70394451e-01 8.68477425e+01] [ 5.91044337e-01 7.75663315e-01 -2.21388827e-01 2.58934604e+01] [ 3.49463704e-01 1.13650346e-03 9.36949213e-01 1.83300276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.167105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:25.91, Z:18.34 [[ 7.28768818e-01 -6.31157539e-01 -2.65586466e-01 8.68654176e+01] [ 5.85715235e-01 7.75485008e-01 -2.35713103e-01 2.59134721e+01] [ 3.54730425e-01 1.62223195e-02 9.34827878e-01 1.83388676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.89, Y:25.93, Z:18.35 [[ 7.33346976e-01 -6.19667848e-01 -2.79667607e-01 8.68865495e+01] [ 5.79607135e-01 7.84862999e-01 -2.19193160e-01 2.59298363e+01] [ 3.55327711e-01 -1.35269895e-03 9.34740813e-01 1.83467182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.91, Y:25.95, Z:18.35 [[ 7.36137922e-01 -6.17616503e-01 -2.76858837e-01 8.69059247e+01] [ 5.76595860e-01 7.86472429e-01 -2.21355670e-01 2.59491331e+01] [ 3.54454757e-01 3.31264425e-03 9.35067298e-01 1.83534649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.93, Y:25.97, Z:18.36 [[ 7.36805757e-01 -6.17811567e-01 -2.74638205e-01 8.69262510e+01] [ 5.75312076e-01 7.86285302e-01 -2.25325185e-01 2.59667169e+01] [ 3.55152490e-01 8.01821796e-03 9.34773993e-01 1.83625387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.95, Y:25.98, Z:18.37 [[ 7.35725599e-01 -6.18059291e-01 -2.76966704e-01 8.69482617e+01] [ 5.74756015e-01 7.86089457e-01 -2.27417875e-01 2.59809847e+01] [ 3.58278336e-01 8.12887301e-03 9.33579432e-01 1.83708982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:86.97, Y:26.00, Z:18.38 [[ 7.33033504e-01 -6.20990929e-01 -2.77546659e-01 8.69697569e+01] [ 5.77668754e-01 7.83788370e-01 -2.27979389e-01 2.59959722e+01] [ 3.59110977e-01 6.78649785e-03 9.33270191e-01 1.83803965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.99, Y:26.01, Z:18.39 [[ 7.31371843e-01 -6.24440153e-01 -2.74170973e-01 8.69911998e+01] [ 5.82369341e-01 7.81055539e-01 -2.25384551e-01 2.60104230e+01] [ 3.54881920e-01 5.17114583e-03 9.34896830e-01 1.83917253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.01, Y:26.02, Z:18.40 [[ 7.30139645e-01 -6.26361233e-01 -2.73070877e-01 8.70125640e+01] [ 5.84701506e-01 7.79520706e-01 -2.24658892e-01 2.60246171e+01] [ 3.53582024e-01 4.36741075e-03 9.35393328e-01 1.84021605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.04, Y:26.04, Z:18.41 [[ 7.26063714e-01 -6.31495955e-01 -2.72110900e-01 8.70363900e+01] [ 5.90416985e-01 7.75376548e-01 -2.24051315e-01 2.60370361e+01] [ 3.52475910e-01 2.01663323e-03 9.35818714e-01 1.84108053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.43710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.06, Y:26.05, Z:18.42 [[ 7.23485229e-01 -6.34370345e-01 -2.72292837e-01 8.70577098e+01] [ 5.93360745e-01 7.73028892e-01 -2.24386625e-01 2.60523187e+01] [ 3.52834451e-01 7.72528239e-04 9.35685446e-01 1.84196492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.46710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.08, Y:26.06, Z:18.43 [[ 7.17968136e-01 -6.40640036e-01 -2.72217010e-01 8.70816602e+01] [ 6.00017128e-01 7.67838356e-01 -2.24507693e-01 2.60640292e+01] [ 3.52847279e-01 -2.14549887e-03 9.35678468e-01 1.84280728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.497105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.10, Y:26.08, Z:18.44 [[ 7.12632667e-01 -6.46337879e-01 -2.72767352e-01 8.71048504e+01] [ 6.05914146e-01 7.63035606e-01 -2.25043799e-01 2.60751999e+01] [ 3.53585534e-01 -4.90003428e-03 9.35389363e-01 1.84379016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.527105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.13, Y:26.09, Z:18.45 [[ 7.10779308e-01 -6.48463149e-01 -2.72558837e-01 8.71254986e+01] [ 6.08213546e-01 7.61223459e-01 -2.24978061e-01 2.60915461e+01] [ 3.53368163e-01 -5.86422651e-03 9.35465955e-01 1.84480458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.14, Y:26.11, Z:18.46 [[ 7.07582222e-01 -6.59283248e-01 -2.54308865e-01 8.71405870e+01] [ 6.06217586e-01 7.51277429e-01 -2.60926166e-01 2.61124029e+01] [ 3.63080760e-01 3.04602100e-02 9.31259651e-01 1.84596397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.17, Y:26.12, Z:18.48 [[ 7.10797774e-01 -6.42478673e-01 -2.86334907e-01 8.71666640e+01] [ 6.05978645e-01 7.66014546e-01 -2.14503139e-01 2.61209351e+01] [ 3.57150396e-01 -2.10444852e-02 9.33809790e-01 1.84753167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.19, Y:26.14, Z:18.48 [[ 7.17678174e-01 -6.36895670e-01 -2.81606009e-01 8.71874358e+01] [ 6.02769093e-01 7.70654681e-01 -2.06786808e-01 2.61369226e+01] [ 3.48722612e-01 -2.13370203e-02 9.36983069e-01 1.84847243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:87.21, Y:26.16, Z:18.49 [[ 7.19859022e-01 -6.40144828e-01 -2.68360927e-01 8.72050742e+01] [ 6.00405158e-01 7.68253172e-01 -2.22037631e-01 2.61570569e+01] [ 3.48305375e-01 -1.28949276e-03 9.37380234e-01 1.84912763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.23, Y:26.18, Z:18.50 [[ 7.23008008e-01 -6.36439404e-01 -2.68708590e-01 8.72254261e+01] [ 5.96305142e-01 7.71326481e-01 -2.22431197e-01 2.61755645e+01] [ 3.48826030e-01 5.87222949e-04 9.37187311e-01 1.84986039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:87.25, Y:26.19, Z:18.51 [[ 7.25531961e-01 -6.32956345e-01 -2.70128931e-01 8.72481797e+01] [ 5.92079942e-01 7.74183682e-01 -2.23787776e-01 2.61904950e+01] [ 3.50777303e-01 2.42726228e-03 9.36455761e-01 1.85065331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.27, Y:26.21, Z:18.52 [[ 7.25833504e-01 -6.31886456e-01 -2.71818378e-01 8.72690139e+01] [ 5.90336627e-01 7.75054694e-01 -2.25372775e-01 2.62071600e+01] [ 3.53084114e-01 3.11876617e-03 9.35586384e-01 1.85152760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.76710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.29, Y:26.23, Z:18.52 [[ 7.25018059e-01 -6.33190449e-01 -2.70958795e-01 8.72880477e+01] [ 5.85052699e-01 7.73798023e-01 -2.42796127e-01 2.62269102e+01] [ 3.63403569e-01 1.75064023e-02 9.31467322e-01 1.85223657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.79710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.31, Y:26.24, Z:18.53 [[ 7.26357519e-01 -6.24625994e-01 -2.86787590e-01 8.73091935e+01] [ 5.84051289e-01 7.80896382e-01 -2.21551195e-01 2.62393617e+01] [ 3.62338027e-01 -6.57328516e-03 9.32023576e-01 1.85324923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.82710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.33, Y:26.26, Z:18.54 [[ 7.26845292e-01 -6.29393915e-01 -2.74880376e-01 8.73299373e+01] [ 5.85383629e-01 7.77052755e-01 -2.31333143e-01 2.62604219e+01] [ 3.59196226e-01 7.23293394e-03 9.33234031e-01 1.85420807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.857105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.35, Y:26.28, Z:18.55 [[ 7.25061096e-01 -6.31189691e-01 -2.75474104e-01 8.73493716e+01] [ 5.88199134e-01 7.75618183e-01 -2.28993912e-01 2.62751328e+01] [ 3.58201321e-01 4.00094763e-03 9.33635800e-01 1.85534533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.887105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.37, Y:26.29, Z:18.56 [[ 7.22975110e-01 -6.33927337e-01 -2.74669113e-01 8.73700402e+01] [ 5.91347164e-01 7.73387815e-01 -2.28429024e-01 2.62917849e+01] [ 3.57233148e-01 2.72369772e-03 9.34011274e-01 1.85633713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.917105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.39, Y:26.31, Z:18.58 [[ 7.16788487e-01 -6.46501679e-01 -2.61246713e-01 8.73873119e+01] [ 5.97089522e-01 7.62583030e-01 -2.48900028e-01 2.63086379e+01] [ 3.60136596e-01 2.24209997e-02 9.32630115e-01 1.85751406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.41, Y:26.32, Z:18.59 [[ 7.12531112e-01 -6.41353328e-01 -2.84544064e-01 8.74129379e+01] [ 6.08020375e-01 7.66791669e-01 -2.05771136e-01 2.63187781e+01] [ 3.50158020e-01 -2.63902520e-02 9.36318811e-01 1.85881628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.43, Y:26.34, Z:18.60 [[ 7.07707338e-01 -6.54282202e-01 -2.66580429e-01 8.74312129e+01] [ 6.15461165e-01 7.56219285e-01 -2.22125971e-01 2.63391701e+01] [ 3.46926331e-01 -6.86972157e-03 9.37867223e-01 1.85951294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.45, Y:26.36, Z:18.60 [[ 7.07478088e-01 -6.54565804e-01 -2.66492706e-01 8.74516234e+01] [ 6.15724607e-01 7.55973885e-01 -2.22231172e-01 2.63565271e+01] [ 3.46926452e-01 -6.86243197e-03 9.37867232e-01 1.86049060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.47, Y:26.37, Z:18.61 [[ 7.05128271e-01 -6.57322491e-01 -2.65934700e-01 8.74706927e+01] [ 6.18775940e-01 7.53566277e-01 -2.21932879e-01 2.63738775e+01] [ 3.46280895e-01 -8.06284725e-03 9.38096228e-01 1.86143790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.49, Y:26.39, Z:18.62 [[ 7.00706620e-01 -6.62157722e-01 -2.65626400e-01 8.74902954e+01] [ 6.23999538e-01 7.49293007e-01 -2.21775935e-01 2.63919374e+01] [ 3.45882652e-01 -1.03508848e-02 9.38220683e-01 1.86226448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.51, Y:26.41, Z:18.63 [[ 6.98605821e-01 -6.64146141e-01 -2.66195062e-01 8.75094009e+01] [ 6.25892989e-01 7.47518564e-01 -2.22427433e-01 2.64083446e+01] [ 3.46710072e-01 -1.12205235e-02 9.37905233e-01 1.86317225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.53, Y:26.43, Z:18.64 [[ 6.96708965e-01 -6.65717141e-01 -2.67240167e-01 8.75276000e+01] [ 6.27227587e-01 7.46108102e-01 -2.23401556e-01 2.64275477e+01] [ 3.48112299e-01 -1.19745381e-02 9.37376359e-01 1.86413151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.54, Y:26.45, Z:18.65 [[ 6.97203694e-01 -6.65328987e-01 -2.66916367e-01 8.75422071e+01] [ 6.26839977e-01 7.46459881e-01 -2.23314327e-01 2.64494598e+01] [ 3.47819855e-01 -1.16182755e-02 9.37489394e-01 1.86521343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.18710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.56, Y:26.47, Z:18.66 [[ 6.99253229e-01 -6.63794461e-01 -2.65371127e-01 8.75588401e+01] [ 6.25618448e-01 7.47838500e-01 -2.22124142e-01 2.64699956e+01] [ 3.45899521e-01 -1.07000489e-02 9.38210547e-01 1.86632205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.21710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.57, Y:26.51, Z:18.66 [[ 7.07436256e-01 -6.72159273e-01 -2.18485365e-01 8.75728791e+01] [ 6.23353880e-01 7.39071082e-01 -2.55350495e-01 2.65074229e+01] [ 3.33112419e-01 4.44504986e-02 9.41838771e-01 1.86576658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.60, Y:26.51, Z:18.69 [[ 7.07509288e-01 -6.39481964e-01 -3.00821252e-01 8.75950952e+01] [ 6.16951238e-01 7.66510957e-01 -1.78415590e-01 2.65088787e+01] [ 3.44676337e-01 -5.93613573e-02 9.36842811e-01 1.86879727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.61, Y:26.54, Z:18.69 [[ 7.12568243e-01 -6.48804377e-01 -2.67019436e-01 8.76073163e+01] [ 6.08954794e-01 7.60949090e-01 -2.23898506e-01 2.65392574e+01] [ 3.48454528e-01 -3.05980093e-03 9.37320692e-01 1.86897256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.63, Y:26.56, Z:18.70 [[ 7.13224275e-01 -6.47654725e-01 -2.68056880e-01 8.76255800e+01] [ 6.07338957e-01 7.61930295e-01 -2.24948033e-01 2.65583269e+01] [ 3.49929314e-01 -2.36298825e-03 9.36773127e-01 1.86981670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.64, Y:26.58, Z:18.71 [[ 7.15046302e-01 -6.44597223e-01 -2.70560912e-01 8.76423112e+01] [ 6.03218872e-01 7.64522001e-01 -2.27229185e-01 2.65798389e+01] [ 3.53321071e-01 -7.28059525e-04 9.35501839e-01 1.87062880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.66, Y:26.60, Z:18.72 [[ 7.16369453e-01 -6.42445680e-01 -2.72173392e-01 8.76618648e+01] [ 6.00332985e-01 7.66331068e-01 -2.28772813e-01 2.65980739e+01] [ 3.55549032e-01 4.91190424e-04 9.34657501e-01 1.87155247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.68, Y:26.62, Z:18.72 [[ 7.18110582e-01 -6.38677118e-01 -2.76421292e-01 8.76819183e+01] [ 5.94845756e-01 7.69470589e-01 -2.32537177e-01 2.66166014e+01] [ 3.61214229e-01 2.55937514e-03 9.32479346e-01 1.87232919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.70, Y:26.64, Z:18.73 [[ 7.22029461e-01 -6.34008931e-01 -2.76958720e-01 8.77012214e+01] [ 5.89592823e-01 7.73309100e-01 -2.33180916e-01 2.66358767e+01] [ 3.62013482e-01 5.07061736e-03 9.32159068e-01 1.87316577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.72, Y:26.65, Z:18.74 [[ 7.24703959e-01 -6.31551196e-01 -2.75585303e-01 8.77205024e+01] [ 5.87346489e-01 7.75307592e-01 -2.32211627e-01 2.66537816e+01] [ 3.60316909e-01 6.42062546e-03 9.32807858e-01 1.87413742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.74, Y:26.67, Z:18.75 [[ 7.29295459e-01 -6.26983422e-01 -2.73897649e-01 8.77397467e+01] [ 5.82954657e-01 7.78983135e-01 -2.30974336e-01 2.66691008e+01] [ 3.58178729e-01 8.77862437e-03 9.33611768e-01 1.87524384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.76, Y:26.68, Z:18.76 [[ 7.31326283e-01 -6.25275044e-01 -2.72383897e-01 8.77611804e+01] [ 5.81602495e-01 7.80345078e-01 -2.29782717e-01 2.66833510e+01] [ 3.56230832e-01 9.62698587e-03 9.34348391e-01 1.87636096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.78, Y:26.70, Z:18.77 [[ 7.31094369e-01 -6.25882976e-01 -2.71609136e-01 8.77815876e+01] [ 5.82435422e-01 7.79859605e-01 -2.29320684e-01 2.66999015e+01] [ 3.55344906e-01 9.46027910e-03 9.34687381e-01 1.87728945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.80, Y:26.71, Z:18.78 [[ 7.28048719e-01 -6.35102301e-01 -2.58050633e-01 8.77965349e+01] [ 5.83556999e-01 7.71700889e-01 -2.52861557e-01 2.67125340e+01] [ 3.59730860e-01 3.35082796e-02 9.32454237e-01 1.87805000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.83, Y:26.72, Z:18.79 [[ 7.23274995e-01 -6.35517466e-01 -2.70168157e-01 8.78277585e+01] [ 5.93938295e-01 7.72080340e-01 -2.26117779e-01 2.67233209e+01] [ 3.52293320e-01 3.08212067e-03 9.35884564e-01 1.87935341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.637105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.85, Y:26.74, Z:18.80 [[ 7.20375516e-01 -6.37661310e-01 -2.72850087e-01 8.78531360e+01] [ 6.00270891e-01 7.70268018e-01 -2.15318459e-01 2.67375674e+01] [ 3.47467947e-01 -8.67381895e-03 9.37651743e-01 1.88042385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.667105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.88, Y:26.75, Z:18.81 [[ 7.14604579e-01 -6.47341257e-01 -2.65121844e-01 8.78767822e+01] [ 6.07138190e-01 7.62200147e-01 -2.24575500e-01 2.67501102e+01] [ 3.47452894e-01 -4.82915586e-04 9.37697314e-01 1.88129042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.90, Y:26.76, Z:18.82 [[ 7.12815893e-01 -6.51484565e-01 -2.59733255e-01 8.78998817e+01] [ 6.05389234e-01 7.58520390e-01 -2.41144550e-01 2.67629821e+01] [ 3.54114922e-01 1.46519516e-02 9.35087131e-01 1.88213134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.92, Y:26.78, Z:18.83 [[ 7.14357119e-01 -6.44936032e-01 -2.71572130e-01 8.79237203e+01] [ 6.03253637e-01 7.64236045e-01 -2.28097164e-01 2.67756487e+01] [ 3.54653291e-01 -8.84042584e-04 9.34997466e-01 1.88318254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.95, Y:26.79, Z:18.84 [[ 7.19935509e-01 -6.36042535e-01 -2.77745850e-01 8.79484048e+01] [ 5.97431112e-01 7.71605012e-01 -2.18407354e-01 2.67880445e+01] [ 3.53226457e-01 -8.69480257e-03 9.35497445e-01 1.88407078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.97, Y:26.80, Z:18.85 [[ 7.24313130e-01 -6.34499569e-01 -2.69779145e-01 8.79711713e+01] [ 5.91704106e-01 7.72897069e-01 -2.29164506e-01 2.68024300e+01] [ 3.53916291e-01 6.35743294e-03 9.35255496e-01 1.88484062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.99, Y:26.81, Z:18.86 [[ 7.25341128e-01 -6.32612413e-01 -2.71443886e-01 8.79949510e+01] [ 5.89069868e-01 7.74432410e-01 -2.30762070e-01 2.68143644e+01] [ 3.56197893e-01 7.48180568e-03 9.34380588e-01 1.88588704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.02, Y:26.83, Z:18.87 [[ 7.25359866e-01 -6.32348197e-01 -2.72008865e-01 8.80162905e+01] [ 5.88528533e-01 7.74645191e-01 -2.31428160e-01 2.68292498e+01] [ 3.57053539e-01 7.78372063e-03 9.34051489e-01 1.88682983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:88.04, Y:26.84, Z:18.88 [[ 7.26941043e-01 -6.31411544e-01 -2.69955891e-01 8.80386801e+01] [ 5.88144369e-01 7.75403252e-01 -2.29860823e-01 2.68417223e+01] [ 3.54461453e-01 8.32222931e-03 9.35033592e-01 1.88779803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.06, Y:26.85, Z:18.89 [[ 7.25834312e-01 -6.33104068e-01 -2.68968010e-01 8.80614891e+01] [ 5.90229854e-01 7.74029700e-01 -2.29143499e-01 2.68547993e+01] [ 3.53260910e-01 7.56726494e-03 9.35494236e-01 1.88885885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.08, Y:26.87, Z:18.90 [[ 7.23633060e-01 -6.35866411e-01 -2.68382381e-01 8.80833577e+01] [ 5.93302149e-01 7.71773010e-01 -2.28820849e-01 2.68698876e+01] [ 3.52629770e-01 6.35048814e-03 9.35741373e-01 1.88987129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.96710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.11, Y:26.88, Z:18.91 [[ 7.17136320e-01 -6.43574850e-01 -2.67445154e-01 8.81061859e+01] [ 6.01766092e-01 7.65378388e-01 -2.28196174e-01 2.68829671e+01] [ 3.51558059e-01 2.70833983e-03 9.36162163e-01 1.89074060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.997105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:88.13, Y:26.90, Z:18.92 [[ 7.09909891e-01 -6.50965108e-01 -2.68835220e-01 8.81273542e+01] [ 6.09174843e-01 7.59107171e-01 -2.29482710e-01 2.68977759e+01] [ 3.53459980e-01 -8.55607263e-04 9.35449256e-01 1.89155545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.027105681 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:88.15, Y:26.91, Z:18.92 [[ 7.06450747e-01 -6.54223893e-01 -2.70034146e-01 8.81484269e+01] [ 6.12229901e-01 7.56297136e-01 -2.30627818e-01 2.69141556e+01] [ 3.55108280e-01 -2.39578360e-03 9.34822106e-01 1.89246784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:88.17, Y:26.93, Z:18.93 [[ 7.01712258e-01 -6.58881989e-01 -2.71061677e-01 8.81699495e+01] [ 6.16823513e-01 7.52232104e-01 -2.31679984e-01 2.69290663e+01] [ 3.56551064e-01 -4.62453095e-03 9.34264391e-01 1.89329810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08710568099998 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:88.19, Y:26.95, Z:18.94 [[ 7.00309883e-01 -6.60565238e-01 -2.70591269e-01 8.81900790e+01] [ 6.18718693e-01 7.50749634e-01 -2.31435017e-01 2.69459784e+01] [ 3.56024222e-01 -5.34364665e-03 9.34461448e-01 1.89441169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11710568099998 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:88.21, Y:26.96, Z:18.96 [[ 6.99165299e-01 -6.62548999e-01 -2.68694454e-01 8.82095873e+01] [ 6.21382941e-01 7.48993197e-01 -2.29983546e-01 2.69619631e+01] [ 3.53625686e-01 -6.16563570e-03 9.35366698e-01 1.89550944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.23, Y:26.98, Z:18.97 [[ 7.02076170e-01 -6.59282393e-01 -2.69138957e-01 8.82302992e+01] [ 6.17683749e-01 7.51882547e-01 -2.30519895e-01 2.69780749e+01] [ 3.54338593e-01 -4.40023474e-03 9.35106839e-01 1.89659618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:88.25, Y:27.00, Z:18.98 [[ 7.05573128e-01 -6.55405683e-01 -2.69462340e-01 8.82491557e+01] [ 6.13360582e-01 7.55273509e-01 -2.30977753e-01 2.69953434e+01] [ 3.54901899e-01 -2.30588206e-03 9.34900703e-01 1.89750077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.27, Y:27.01, Z:18.98 [[ 7.13739334e-01 -6.47101379e-01 -2.68022327e-01 8.82676869e+01] [ 6.04909591e-01 7.62401548e-01 -2.29844004e-01 2.70130386e+01] [ 3.53073009e-01 1.91943028e-03 9.35593804e-01 1.89829806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.29, Y:27.03, Z:18.99 [[ 7.20771011e-01 -6.39881969e-01 -2.66533705e-01 8.82899142e+01] [ 5.97649210e-01 7.68453285e-01 -2.28680936e-01 2.70284849e+01] [ 3.51147508e-01 5.53293107e-03 9.36303804e-01 1.89921565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.26710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.31, Y:27.04, Z:19.00 [[ 7.22349587e-01 -6.37933130e-01 -2.66931445e-01 8.83114057e+01] [ 5.95372139e-01 7.70063115e-01 -2.29204745e-01 2.70432394e+01] [ 3.51771360e-01 6.64240751e-03 9.36062385e-01 1.90015276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.29710568099999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:88.33, Y:27.06, Z:19.01 [[ 7.19985604e-01 -6.47312473e-01 -2.50214493e-01 8.83324922e+01] [ 5.92808460e-01 7.61110994e-01 -2.63226488e-01 2.70624105e+01] [ 3.60830790e-01 4.11900141e-02 9.31721269e-01 1.90079909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.32710568099999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:88.36, Y:27.07, Z:19.02 [[ 7.20626057e-01 -6.28410511e-01 -2.92913495e-01 8.83618044e+01] [ 5.94386860e-01 7.77449456e-01 -2.05612753e-01 2.70665015e+01] [ 3.56934653e-01 -2.59340248e-02 9.33769286e-01 1.90234152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.357105681 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:88.38, Y:27.09, Z:19.03 [[ 7.21281754e-01 -6.37589100e-01 -2.70615541e-01 8.83820166e+01] [ 5.94269836e-01 7.70354377e-01 -2.31078983e-01 2.70866061e+01] [ 3.55803308e-01 5.85440126e-03 9.34542526e-01 1.90276098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.387105681 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:88.40, Y:27.10, Z:19.04 [[ 7.23221353e-01 -6.35447368e-01 -2.70476464e-01 8.84039501e+01] [ 5.91260287e-01 7.72096606e-01 -2.32976618e-01 2.70991835e+01] [ 3.56878339e-01 8.57167358e-03 9.34111545e-01 1.90373124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.417105681 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:88.42, Y:27.12, Z:19.05 [[ 7.27209151e-01 -6.30598793e-01 -2.71130990e-01 8.84247497e+01] [ 5.85811897e-01 7.76029661e-01 -2.33671536e-01 2.71151586e+01] [ 3.57758679e-01 1.10963199e-02 9.33748146e-01 1.90462764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44710568099998 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:88.45, Y:27.14, Z:19.05 [[ 7.31863680e-01 -6.31193457e-01 -2.56846987e-01 8.84466794e+01] [ 5.82467857e-01 7.75056946e-01 -2.44985562e-01 2.71363836e+01] [ 3.53704325e-01 2.96909208e-02 9.34885929e-01 1.90496455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47710568099998 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:88.47, Y:27.14, Z:19.07 [[ 7.34923110e-01 -6.16000226e-01 -2.83604908e-01 8.84669651e+01] [ 5.75778395e-01 7.87742384e-01 -2.18954736e-01 2.71442106e+01] [ 3.58283773e-01 -2.37868304e-03 9.33609704e-01 1.90690847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:88.49, Y:27.16, Z:19.08 [[ 7.37901345e-01 -6.18125696e-01 -2.70965366e-01 8.84896708e+01] [ 5.72392294e-01 7.85882913e-01 -2.33998095e-01 2.71594415e+01] [ 3.57587286e-01 1.75690211e-02 9.33714444e-01 1.90770091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53710568099999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:88.51, Y:27.17, Z:19.09 [[ 7.38733492e-01 -6.17591757e-01 -2.69913410e-01 8.85107813e+01] [ 5.72122975e-01 7.86295085e-01 -2.33270958e-01 2.71747962e+01] [ 3.56297809e-01 1.79014061e-02 9.34200948e-01 1.90862195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56710568099999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:88.53, Y:27.19, Z:19.09 [[ 7.39183566e-01 -6.17606245e-01 -2.68645086e-01 8.85321647e+01] [ 5.72513030e-01 7.86282606e-01 -2.32354241e-01 2.71886643e+01] [ 3.54734389e-01 1.79496246e-02 9.34794803e-01 1.90945719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59710568099999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:88.56, Y:27.20, Z:19.10 [[ 7.38006860e-01 -6.18880244e-01 -2.68948170e-01 8.85572351e+01] [ 5.73715931e-01 7.85291197e-01 -2.32739696e-01 2.71987237e+01] [ 3.55240630e-01 1.74636428e-02 9.34611746e-01 1.91030986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.62710568099999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:88.58, Y:27.21, Z:19.11 [[ 7.36071689e-01 -6.23400955e-01 -2.63760721e-01 8.85797532e+01] [ 5.73674194e-01 7.81342204e-01 -2.45768752e-01 2.72142309e+01] [ 3.59299858e-01 2.95907011e-02 9.32752916e-01 1.91120165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65710568099999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:88.61, Y:27.22, Z:19.13 [[ 7.36619446e-01 -6.15295957e-01 -2.80718145e-01 8.86072145e+01] [ 5.72568468e-01 7.88278601e-01 -2.25349057e-01 2.72196122e+01] [ 3.59940470e-01 5.26613966e-03 9.32960410e-01 1.91273669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.68710568099999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:88.63, Y:27.23, Z:19.14 [[ 7.38799401e-01 -6.17074384e-01 -2.70914469e-01 8.86315038e+01] [ 5.70926687e-01 7.86678435e-01 -2.34903718e-01 2.72315781e+01] [ 3.58075638e-01 1.88744260e-02 9.33501791e-01 1.91356380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.71710568099999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:88.66, Y:27.24, Z:19.14 [[ 7.40670255e-01 -6.15066279e-01 -2.70372051e-01 8.86570392e+01] [ 5.68940206e-01 7.88224458e-01 -2.34540499e-01 2.72418132e+01] [ 3.57371816e-01 1.98916409e-02 9.33750346e-01 1.91449383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.747105681 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:88.68, Y:27.26, Z:19.15 [[ 7.42251133e-01 -6.20651155e-01 -2.52696258e-01 8.86806888e+01] [ 5.69847120e-01 7.83010333e-01 -2.49337279e-01 2.72610816e+01] [ 3.52615251e-01 4.10726430e-02 9.34866580e-01 1.91460257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.777105681 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:88.71, Y:27.26, Z:19.17 [[ 7.40001175e-01 -6.09405256e-01 -2.84646264e-01 8.87065490e+01] [ 5.70105647e-01 7.92853445e-01 -2.15320613e-01 2.72606851e+01] [ 3.56900284e-01 -2.94093558e-03 9.34137858e-01 1.91710159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80710568099998 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:88.73, Y:27.28, Z:19.18 [[ 7.38339886e-01 -6.21284399e-01 -2.62411714e-01 8.87290993e+01] [ 5.72268542e-01 7.83019739e-01 -2.43698182e-01 2.72808158e+01] [ 3.56879430e-01 2.97621190e-02 9.33676223e-01 1.91753361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:88.76, Y:27.29, Z:19.18 [[ 7.38915622e-01 -6.22356117e-01 -2.58218060e-01 8.87566339e+01] [ 5.73703762e-01 7.82094772e-01 -2.43293570e-01 2.72913126e+01] [ 3.53366236e-01 3.16327473e-02 9.34950091e-01 1.91813477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:88.78, Y:27.30, Z:19.20 [[ 7.36930096e-01 -6.18593736e-01 -2.72535912e-01 8.87815738e+01] [ 5.75550548e-01 7.85642304e-01 -2.26953162e-01 2.72997924e+01] [ 3.54507546e-01 1.03904219e-02 9.34995422e-01 1.91951721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:88.80, Y:27.32, Z:19.20 [[ 7.36641044e-01 -6.20747658e-01 -2.68388370e-01 8.88006116e+01] [ 5.75863980e-01 7.83834686e-01 -2.32344275e-01 2.73181524e+01] [ 3.54599278e-01 1.65991348e-02 9.34871018e-01 1.92035191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:88.83, Y:27.33, Z:19.21 [[ 7.32699812e-01 -6.27663794e-01 -2.63038299e-01 8.88261189e+01] [ 5.78742861e-01 7.78021270e-01 -2.44416866e-01 2.73321548e+01] [ 3.58061009e-01 2.68526540e-02 9.33311978e-01 1.92099611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95710568099999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:88.85, Y:27.33, Z:19.24 [[ 7.31432836e-01 -6.13116704e-01 -2.98486035e-01 8.88465532e+01] [ 5.78356237e-01 7.89662022e-01 -2.04787582e-01 2.73331809e+01] [ 3.61261773e-01 -2.28428981e-02 9.32184603e-01 1.92363765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:88.87, Y:27.35, Z:19.24 [[ 7.30586508e-01 -6.26594105e-01 -2.71335922e-01 8.88689570e+01] [ 5.80269462e-01 7.79188081e-01 -2.36966846e-01 2.73515381e+01] [ 3.59903745e-01 1.56768308e-02 9.32857723e-01 1.92350704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:88.89, Y:27.36, Z:19.25 [[ 7.29396355e-01 -6.28222351e-01 -2.70772294e-01 8.88929750e+01] [ 5.82158802e-01 7.77890404e-01 -2.36595960e-01 2.73627279e+01] [ 3.59266039e-01 1.49397565e-02 9.33115597e-01 1.92459684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.04710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:88.92, Y:27.38, Z:19.26 [[ 7.27088505e-01 -6.30076707e-01 -2.72663985e-01 8.89161344e+01] [ 5.85532227e-01 7.76472495e-01 -2.32900143e-01 2.73804152e+01] [ 3.58461040e-01 9.68546720e-03 9.33494443e-01 1.92574210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.07710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:88.94, Y:27.39, Z:19.26 [[ 7.27383835e-01 -6.31122997e-01 -2.69437414e-01 8.89387046e+01] [ 5.85388213e-01 7.75553615e-01 -2.36299027e-01 2.73935235e+01] [ 3.58096911e-01 1.41546057e-02 9.33577126e-01 1.92641971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.107105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:88.96, Y:27.40, Z:19.28 [[ 7.25086106e-01 -6.34265528e-01 -2.68248725e-01 8.89630826e+01] [ 5.89226488e-01 7.73016036e-01 -2.35070956e-01 2.74049084e+01] [ 3.56457970e-01 1.23874304e-02 9.34229237e-01 1.92765983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.137105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.99, Y:27.42, Z:19.29 [[ 7.20414464e-01 -6.42109086e-01 -2.62104791e-01 8.89859430e+01] [ 5.93693055e-01 7.66318042e-01 -2.45530477e-01 2.74241326e+01] [ 3.58512980e-01 2.12739129e-02 9.33282306e-01 1.92860183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.167105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.01, Y:27.43, Z:19.30 [[ 7.16123331e-01 -6.40400095e-01 -2.77587990e-01 8.90086111e+01] [ 6.00150751e-01 7.68013919e-01 -2.23547972e-01 2.74308797e+01] [ 3.56351583e-01 -6.50672199e-03 9.34329284e-01 1.93021525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.03, Y:27.45, Z:19.31 [[ 7.09694786e-01 -6.51646158e-01 -2.67750994e-01 8.90298566e+01] [ 6.07710313e-01 7.58511186e-01 -2.35263590e-01 2.74491214e+01] [ 3.56400738e-01 4.25030322e-03 9.34323525e-01 1.93080594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.05, Y:27.47, Z:19.32 [[ 7.06551966e-01 -6.55557829e-01 -2.66511260e-01 8.90501454e+01] [ 6.12239784e-01 7.55141102e-01 -2.34359473e-01 2.74655777e+01] [ 3.54889794e-01 2.41835032e-03 9.34905014e-01 1.93185125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:27.48, Z:19.33 [[ 7.01421371e-01 -6.62131009e-01 -2.63800281e-01 8.90699023e+01] [ 6.20096496e-01 7.49387737e-01 -2.32160191e-01 2.74807738e+01] [ 3.51409157e-01 -7.39510441e-04 9.36221692e-01 1.93305339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.09, Y:27.50, Z:19.34 [[ 6.97142555e-01 -6.67207401e-01 -2.62348131e-01 8.90897558e+01] [ 6.25956123e-01 7.44865170e-01 -2.30986602e-01 2.74979398e+01] [ 3.49529956e-01 -3.18782843e-03 9.36919766e-01 1.93417680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:27.52, Z:19.35 [[ 6.93852141e-01 -6.70740586e-01 -2.62061581e-01 8.91078582e+01] [ 6.29754975e-01 7.41676437e-01 -2.30921491e-01 2.75157401e+01] [ 3.49253316e-01 -4.80921373e-03 9.37016005e-01 1.93529486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.13, Y:27.54, Z:19.36 [[ 6.93421052e-01 -6.71452217e-01 -2.61379352e-01 8.91260811e+01] [ 6.30665350e-01 7.41030963e-01 -2.30508846e-01 2.75350597e+01] [ 3.48465868e-01 -5.00321412e-03 9.37308117e-01 1.93620823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.14, Y:27.56, Z:19.37 [[ 6.93279323e-01 -6.71118000e-01 -2.62610759e-01 8.91425956e+01] [ 6.29837324e-01 7.41335602e-01 -2.31789713e-01 2.75574656e+01] [ 3.50240953e-01 -4.70704223e-03 9.36647809e-01 1.93694914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.16, Y:27.58, Z:19.38 [[ 6.93876716e-01 -6.69214596e-01 -2.65870134e-01 8.91611069e+01] [ 6.26657716e-01 7.43060266e-01 -2.34864958e-01 2.75772066e+01] [ 3.54732590e-01 -3.64224465e-03 9.34960707e-01 1.93781368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.43710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.18, Y:27.60, Z:19.39 [[ 6.93532757e-01 -6.68992440e-01 -2.67322706e-01 8.91797130e+01] [ 6.25862374e-01 7.43261456e-01 -2.36344447e-01 2.75963024e+01] [ 3.56803312e-01 -3.39460716e-03 9.34173364e-01 1.93871100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.46710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.20, Y:27.62, Z:19.40 [[ 6.93431247e-01 -6.68167275e-01 -2.69639755e-01 8.91953961e+01] [ 6.24123317e-01 7.44005655e-01 -2.38591010e-01 2.76181577e+01] [ 3.60032207e-01 -2.84199673e-03 9.32935546e-01 1.93952486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.497105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.21, Y:27.64, Z:19.40 [[ 6.92833690e-01 -6.68502005e-01 -2.70345238e-01 8.92128934e+01] [ 6.24200024e-01 7.43704548e-01 -2.39327966e-01 2.76379610e+01] [ 3.61048208e-01 -2.93502594e-03 9.32542534e-01 1.94030909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.527105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.23, Y:27.66, Z:19.41 [[ 6.92530791e-01 -6.68167259e-01 -2.71944144e-01 8.92306380e+01] [ 6.23250886e-01 7.44006245e-01 -2.40858964e-01 2.76576642e+01] [ 3.63262215e-01 -2.68717966e-03 9.31683069e-01 1.94134367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.25, Y:27.68, Z:19.43 [[ 6.90023368e-01 -6.69995091e-01 -2.73814408e-01 8.92476509e+01] [ 6.24499044e-01 7.42357168e-01 -2.42707187e-01 2.76753996e+01] [ 3.65880712e-01 -3.52320518e-03 9.30655087e-01 1.94252774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:89.27, Y:27.69, Z:19.44 [[ 6.88079546e-01 -6.72223211e-01 -2.73244384e-01 8.92661388e+01] [ 6.27039187e-01 7.40334319e-01 -2.42336451e-01 2.76943959e+01] [ 3.65196382e-01 -4.58818139e-03 9.30919197e-01 1.94362078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:89.28, Y:27.72, Z:19.45 [[ 6.82987004e-01 -6.78431931e-01 -2.70663754e-01 8.92816568e+01] [ 6.34517088e-01 7.34623352e-01 -2.40242786e-01 2.77160929e+01] [ 3.61824291e-01 -7.65807616e-03 9.32214855e-01 1.94465757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:89.30, Y:27.74, Z:19.46 [[ 6.75375928e-01 -6.85792741e-01 -2.71211490e-01 8.92973976e+01] [ 6.42181958e-01 7.27706791e-01 -2.40925630e-01 2.77382792e+01] [ 3.62587491e-01 -1.14517552e-02 9.31879374e-01 1.94556490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:89.31, Y:27.76, Z:19.47 [[ 6.66489932e-01 -6.93592238e-01 -2.73351381e-01 8.93142149e+01] [ 6.49811188e-01 7.20197728e-01 -2.43023977e-01 2.77584496e+01] [ 3.65426587e-01 -1.56537518e-02 9.30708531e-01 1.94656730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:89.33, Y:27.78, Z:19.48 [[ 6.63469601e-01 -6.96430737e-01 -2.73481840e-01 8.93309893e+01] [ 6.52759625e-01 7.17420913e-01 -2.43335379e-01 2.77770333e+01] [ 3.65667829e-01 -1.70722760e-02 9.30588833e-01 1.94752934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73710568099999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:89.34, Y:27.80, Z:19.48 [[ 6.60909761e-01 -6.99109697e-01 -2.72844132e-01 8.93431633e+01] [ 6.55796404e-01 7.14778541e-01 -2.42945905e-01 2.78024715e+01] [ 3.64868969e-01 -1.83648811e-02 9.30877740e-01 1.94848363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.76710568099999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:89.35, Y:27.83, Z:19.49 [[ 6.62674941e-01 -6.97924999e-01 -2.71592743e-01 8.93537510e+01] [ 6.54847109e-01 7.15957914e-01 -2.42032083e-01 2.78287474e+01] [ 3.63369215e-01 -1.74631260e-02 9.31481536e-01 1.94929902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.79710568099999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:89.37, Y:27.85, Z:19.50 [[ 6.63909208e-01 -6.97079396e-01 -2.70748739e-01 8.93696419e+01] [ 6.54139295e-01 7.16797122e-01 -2.41461527e-01 2.78503302e+01] [ 3.62389772e-01 -1.67988581e-02 9.31875234e-01 1.95034944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.82710568099999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:89.38, Y:27.88, Z:19.52 [[ 6.65992637e-01 -6.95472426e-01 -2.69762696e-01 8.93808746e+01] [ 6.52650229e-01 7.18381214e-01 -2.40782287e-01 2.78761305e+01] [ 3.61249894e-01 -1.57014550e-02 9.32336837e-01 1.95160530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.857105681 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:89.39, Y:27.90, Z:19.53 [[ 6.68051215e-01 -6.94255421e-01 -2.67800270e-01 8.93911424e+01] [ 6.51903691e-01 7.19577275e-01 -2.39228182e-01 2.79035522e+01] [ 3.58788450e-01 -1.47633066e-02 9.33302144e-01 1.95268407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.887105681 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:89.41, Y:27.93, Z:19.54 [[ 6.67711956e-01 -6.94759155e-01 -2.67339596e-01 8.94054319e+01] [ 6.52520741e-01 7.19089094e-01 -2.39013718e-01 2.79270243e+01] [ 3.58297957e-01 -1.48523143e-02 9.33489145e-01 1.95361616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91710568099998 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:89.42, Y:27.96, Z:19.54 [[ 6.63936748e-01 -6.97347881e-01 -2.69988753e-01 8.94153422e+01] [ 6.54365919e-01 7.16548056e-01 -2.41586686e-01 2.79557695e+01] [ 3.61929880e-01 -1.62731602e-02 9.32063274e-01 1.95433002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94710568099998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:89.43, Y:27.98, Z:19.55 [[ 6.59725552e-01 -7.01119349e-01 -2.70543628e-01 8.94266417e+01] [ 6.58201471e-01 7.12809834e-01 -2.42225029e-01 2.79822269e+01] [ 3.62674813e-01 -1.82701731e-02 9.31736648e-01 1.95536901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97710568099998 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:89.44, Y:28.00, Z:19.56 [[ 6.58332787e-01 -7.02814715e-01 -2.69535561e-01 8.94417642e+01] [ 6.60284378e-01 7.11120019e-01 -2.41521963e-01 2.80047379e+01] [ 3.61417323e-01 -1.89682932e-02 9.32211201e-01 1.95637119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00710568099998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:89.45, Y:28.03, Z:19.57 [[ 6.56191356e-01 -7.05109078e-01 -2.68764007e-01 8.94508033e+01] [ 6.62936233e-01 7.08816401e-01 -2.41028754e-01 2.80321885e+01] [ 3.60455899e-01 -2.00124131e-02 9.32561552e-01 1.95735136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03710568099999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:89.46, Y:28.06, Z:19.58 [[ 6.54708141e-01 -7.05606293e-01 -2.71066430e-01 8.94608621e+01] [ 6.62654506e-01 7.08311866e-01 -2.43276193e-01 2.80606742e+01] [ 3.63656782e-01 -2.03484869e-02 9.31310735e-01 1.95825514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06710568099999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:89.47, Y:28.08, Z:19.59 [[ 6.54039948e-01 -7.05866794e-01 -2.71999659e-01 8.94749131e+01] [ 6.62552280e-01 7.08050128e-01 -2.44314332e-01 2.80831580e+01] [ 3.65042768e-01 -2.04226611e-02 9.30766723e-01 1.95920852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:89.49, Y:28.11, Z:19.60 [[ 6.51447993e-01 -7.07464530e-01 -2.74061037e-01 8.94850607e+01] [ 6.63531316e-01 7.06425893e-01 -2.46350666e-01 2.81118787e+01] [ 3.67888170e-01 -2.13634335e-02 9.29624600e-01 1.96008425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.12710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.50, Y:28.14, Z:19.61 [[ 6.49236187e-01 -7.08892653e-01 -2.75614912e-01 8.94993117e+01] [ 6.64487625e-01 7.04967925e-01 -2.47944389e-01 2.81352107e+01] [ 3.70065629e-01 -2.21682291e-02 9.28741083e-01 1.96104080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:89.51, Y:28.16, Z:19.62 [[ 6.45555880e-01 -7.11770042e-01 -2.76841133e-01 8.95100416e+01] [ 6.67128087e-01 7.02009657e-01 -2.49243972e-01 2.81633704e+01] [ 3.71749541e-01 -2.37875840e-02 9.28028248e-01 1.96198136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.18710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:89.52, Y:28.19, Z:19.63 [[ 6.43729481e-01 -7.13700317e-01 -2.76123546e-01 8.95195719e+01] [ 6.69386457e-01 7.00016366e-01 -2.48794812e-01 2.81907086e+01] [ 3.70855938e-01 -2.46768070e-02 9.28362498e-01 1.96314390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.21710568099999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:89.53, Y:28.23, Z:19.62 [[ 6.48248782e-01 -7.28708552e-01 -2.20810693e-01 8.95260974e+01] [ 6.73159122e-01 6.84001082e-01 -2.81068170e-01 2.82328397e+01] [ 3.55851533e-01 3.35613672e-02 9.33939678e-01 1.96225128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.247105681 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:89.55, Y:28.25, Z:19.64 [[ 6.49275653e-01 -7.12749025e-01 -2.65386423e-01 8.95471125e+01] [ 6.74303690e-01 7.00863030e-01 -2.32605992e-01 2.82479442e+01] [ 3.51789226e-01 -2.79256372e-02 9.35662599e-01 1.96391425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.277105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:89.55, Y:28.27, Z:19.67 [[ 6.44254949e-01 -7.00485135e-01 -3.07011621e-01 8.95539172e+01] [ 6.73435736e-01 7.09843965e-01 -2.06411859e-01 2.82672823e+01] [ 3.62518785e-01 -7.37707359e-02 9.29052210e-01 1.96688179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:89.56, Y:28.30, Z:19.67 [[ 6.43145572e-01 -7.15981615e-01 -2.71540236e-01 8.95592849e+01] [ 6.73170803e-01 6.97666996e-01 -2.45156750e-01 2.83029524e+01] [ 3.64972387e-01 -2.51214803e-02 9.30679358e-01 1.96743554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.57, Y:28.33, Z:19.68 [[ 6.42480644e-01 -7.18405751e-01 -2.66667956e-01 8.95732872e+01] [ 6.72287770e-01 6.95434832e-01 -2.53770662e-01 2.83272038e+01] [ 3.67760489e-01 -1.62348670e-02 9.29778819e-01 1.96835312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:89.59, Y:28.36, Z:19.69 [[ 6.42905156e-01 -7.13876371e-01 -2.77585100e-01 8.95856454e+01] [ 6.73160464e-01 6.99510541e-01 -2.39874952e-01 2.83550339e+01] [ 3.65414764e-01 -3.26424712e-02 9.30272282e-01 1.96922968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.60, Y:28.38, Z:19.70 [[ 6.42929561e-01 -7.16027025e-01 -2.71931755e-01 8.95988027e+01] [ 6.72958608e-01 6.97627138e-01 -2.45851763e-01 2.83789014e+01] [ 3.65743478e-01 -2.49334487e-02 9.30381659e-01 1.97013646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.61, Y:28.41, Z:19.71 [[ 6.42308516e-01 -7.18173162e-01 -2.67707077e-01 8.96063208e+01] [ 6.72285465e-01 6.95648142e-01 -2.53191463e-01 2.84080649e+01] [ 3.68065244e-01 -1.73485436e-02 9.29638104e-01 1.97120965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.62, Y:28.44, Z:19.72 [[ 6.39950172e-01 -7.17586700e-01 -2.74832869e-01 8.96162112e+01] [ 6.77568363e-01 6.95663329e-01 -2.38649629e-01 2.84372510e+01] [ 3.62442949e-01 -3.34941863e-02 9.31403913e-01 1.97216639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.63, Y:28.46, Z:19.73 [[ 6.37520758e-01 -7.21678471e-01 -2.69717384e-01 8.96305672e+01] [ 6.79668410e-01 6.91676585e-01 -2.44201464e-01 2.84609785e+01] [ 3.62792138e-01 -2.76348835e-02 9.31460240e-01 1.97309911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.64, Y:28.49, Z:19.74 [[ 6.32247469e-01 -7.29197516e-01 -2.61790222e-01 8.96394433e+01] [ 6.82292783e-01 6.84124591e-01 -2.57779172e-01 2.84868178e+01] [ 3.67069061e-01 -1.56373506e-02 9.30062244e-01 1.97403294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.65, Y:28.51, Z:19.75 [[ 6.28253168e-01 -7.26599344e-01 -2.78121105e-01 8.96527090e+01] [ 6.89415572e-01 6.85595825e-01 -2.33804477e-01 2.85149788e+01] [ 3.60560848e-01 -4.48526173e-02 9.31656652e-01 1.97472172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.66, Y:28.54, Z:19.76 [[ 6.26093529e-01 -7.31575501e-01 -2.69822497e-01 8.96639642e+01] [ 6.90209159e-01 6.80961431e-01 -2.44750578e-01 2.85399782e+01] [ 3.62792240e-01 -3.29972055e-02 9.31285657e-01 1.97564153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.67, Y:28.57, Z:19.76 [[ 6.23756258e-01 -7.33204987e-01 -2.70810962e-01 8.96740265e+01] [ 6.91619390e-01 6.79157582e-01 -2.45779575e-01 2.85702418e+01] [ 3.64130128e-01 -3.39915645e-02 9.30727577e-01 1.97632256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.637105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.69, Y:28.60, Z:19.77 [[ 6.23354609e-01 -7.33411474e-01 -2.71176401e-01 8.96852141e+01] [ 6.91655246e-01 6.78932731e-01 -2.46299345e-01 2.85980310e+01] [ 3.64749300e-01 -3.40287482e-02 9.30483741e-01 1.97716788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.70, Y:28.62, Z:19.78 [[ 6.26052153e-01 -7.29711344e-01 -2.74918271e-01 8.96990424e+01] [ 6.90943864e-01 6.82535530e-01 -2.38205432e-01 2.86171571e+01] [ 3.61462694e-01 -4.08240689e-02 9.31492414e-01 1.97786902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:89.71, Y:28.66, Z:19.78 [[ 6.28273820e-01 -7.49095449e-01 -2.10066692e-01 8.97074254e+01] [ 6.91070203e-01 6.61370581e-01 -2.91566337e-01 2.86604353e+01] [ 3.57342946e-01 3.80126642e-02 9.33199366e-01 1.97841640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:89.73, Y:28.67, Z:19.79 [[ 0.62690467 -0.71216437 -0.31593107 89.73173808] [ 0.69026853 0.69575192 -0.19864196 28.66963323] [ 0.36127537 -0.09354771 0.92775478 19.79368047] [ 0. 0. 0. 1. ]] SLAMing on 103.75710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:89.74, Y:28.70, Z:19.81 [[ 6.26393449e-01 -7.29955884e-01 -2.73487943e-01 8.97372407e+01] [ 6.87234401e-01 6.82721905e-01 -2.48192826e-01 2.86985218e+01] [ 3.67886023e-01 -3.24839624e-02 9.29303323e-01 1.98114016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:89.75, Y:28.73, Z:19.82 [[ 6.30089864e-01 -7.27674494e-01 -2.71065663e-01 8.97462908e+01] [ 6.85457484e-01 6.85235516e-01 -2.46171331e-01 2.87266433e+01] [ 3.64876418e-01 -3.06939269e-02 9.30549882e-01 1.98224647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:89.77, Y:28.74, Z:19.83 [[ 6.29843692e-01 -7.27922556e-01 -2.70971724e-01 8.97658375e+01] [ 6.85683358e-01 6.84972340e-01 -2.46274696e-01 2.87446993e+01] [ 3.64877042e-01 -3.06862378e-02 9.30549890e-01 1.98324888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:89.77, Y:28.77, Z:19.84 [[ 6.39950293e-01 -7.27546927e-01 -2.47263201e-01 8.97740614e+01] [ 6.81151232e-01 6.86041191e-01 -2.55696075e-01 2.87712762e+01] [ 3.55663635e-01 -4.79085600e-03 9.34601747e-01 1.98408639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87710568099999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:89.80, Y:28.79, Z:19.85 [[ 6.41004474e-01 -7.15431752e-01 -2.77976028e-01 8.97954995e+01] [ 6.79585577e-01 6.97361414e-01 -2.27707054e-01 2.87923255e+01] [ 3.56758613e-01 -4.29472593e-02 9.33208886e-01 1.98501899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.90710568099999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:89.80, Y:28.82, Z:19.86 [[ 6.50934754e-01 -7.12177292e-01 -2.62844917e-01 8.98009213e+01] [ 6.69189402e-01 7.01796434e-01 -2.44268927e-01 2.88207947e+01] [ 3.58426409e-01 -1.68898990e-02 9.33405186e-01 1.98624021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.93710568099999 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:89.81, Y:28.85, Z:19.87 [[ 6.60251431e-01 -7.02619622e-01 -2.65318139e-01 8.98122817e+01] [ 6.59989478e-01 7.11393701e-01 -2.41522030e-01 2.88533198e+01] [ 3.58443770e-01 -1.56419140e-02 9.33420267e-01 1.98705275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.96710568099999 meters Centerline goodness : 0.998022 Centerline is valid? [True, True] Translation: X:89.82, Y:28.87, Z:19.88 [[ 6.67757464e-01 -6.94340317e-01 -2.68312306e-01 8.98247511e+01] [ 6.53210376e-01 7.19431108e-01 -2.36082795e-01 2.88710731e+01] [ 3.56954022e-01 -1.76183340e-02 9.33955791e-01 1.98766282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.997105681 meters Centerline goodness : 0.997498 Centerline is valid? [True, True] Translation: X:89.84, Y:28.90, Z:19.89 [[ 6.73305488e-01 -6.92274371e-01 -2.59645749e-01 8.98374667e+01] [ 6.46742645e-01 7.21632460e-01 -2.46922142e-01 2.89004192e+01] [ 3.58306671e-01 -1.66994525e-03 9.33602453e-01 1.98856263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.027105681 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:89.85, Y:28.93, Z:19.90 [[ 6.71960243e-01 -6.92211798e-01 -2.63272213e-01 8.98533367e+01] [ 6.44624351e-01 7.21694378e-01 -2.52223454e-01 2.89276957e+01] [ 3.64594127e-01 -2.27546425e-04 9.31166511e-01 1.98951917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05710568099998 meters Centerline goodness : 0.997661 Centerline is valid? [True, True] Translation: X:89.87, Y:28.95, Z:19.90 [[ 6.71189108e-01 -6.90107963e-01 -2.70658790e-01 8.98715642e+01] [ 6.44484449e-01 7.23653994e-01 -2.46910293e-01 2.89470955e+01] [ 3.66258073e-01 -8.71188142e-03 9.30472529e-01 1.99024883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08710568099998 meters Centerline goodness : 0.997277 Centerline is valid? [True, True] Translation: X:89.89, Y:28.97, Z:19.91 [[ 6.70007512e-01 -6.92378104e-01 -2.67773215e-01 8.98879507e+01] [ 6.45584887e-01 7.21516211e-01 -2.50268878e-01 2.89654837e+01] [ 3.66483407e-01 -5.18831271e-03 9.30410121e-01 1.99121458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11710568099998 meters Centerline goodness : 0.997953 Centerline is valid? [True, True] Translation: X:89.91, Y:28.98, Z:19.92 [[ 6.68204541e-01 -6.90890632e-01 -2.75994250e-01 8.99125005e+01] [ 6.51580085e-01 7.22513152e-01 -2.31123643e-01 2.89825375e+01] [ 3.59090635e-01 -2.53944888e-02 9.32957146e-01 1.99175273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14710568099999 meters Centerline goodness : 0.997904 Centerline is valid? [True, True] Translation: X:89.93, Y:29.01, Z:19.93 [[ 6.68984988e-01 -7.08844544e-01 -2.23603440e-01 8.99257581e+01] [ 6.52407732e-01 7.04135603e-01 -2.80280579e-01 2.90068667e+01] [ 3.56122502e-01 4.16228869e-02 9.33511810e-01 1.99345343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17710568099999 meters Centerline goodness : 0.997975 Centerline is valid? [True, True] Translation: X:89.96, Y:29.01, Z:19.93 [[ 6.63836329e-01 -6.83567764e-01 -3.03408041e-01 8.99628737e+01] [ 6.58168607e-01 7.26628611e-01 -1.97040469e-01 2.90123685e+01] [ 3.55155476e-01 -6.88910261e-02 9.32265313e-01 1.99313421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20710568099999 meters Centerline goodness : 0.997798 Centerline is valid? [True, True] Translation: X:89.97, Y:29.03, Z:19.96 [[ 6.60543685e-01 -7.06330681e-01 -2.54517208e-01 8.99710145e+01] [ 6.57728188e-01 7.07876943e-01 -2.57495367e-01 2.90338080e+01] [ 3.62043742e-01 2.68379651e-03 9.32157243e-01 1.99581776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23710568099999 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:89.99, Y:29.05, Z:19.96 [[ 6.60977023e-01 -7.01218803e-01 -2.67210714e-01 8.99946287e+01] [ 6.57370323e-01 7.12807450e-01 -2.44478625e-01 2.90487199e+01] [ 3.61902796e-01 -1.40616398e-02 9.32109777e-01 1.99634632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.26710568099999 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:90.02, Y:29.06, Z:19.97 [[ 6.64903630e-01 -6.97578119e-01 -2.66998000e-01 9.00163290e+01] [ 6.53446107e-01 7.16409578e-01 -2.44469838e-01 2.90636106e+01] [ 3.61816734e-01 -1.19199207e-02 9.32173035e-01 1.99726972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.29710568099999 meters Centerline goodness : 0.998099 Centerline is valid? [True, True] Translation: X:90.04, Y:29.08, Z:19.98 [[ 6.71245571e-01 -6.91940474e-01 -2.65796472e-01 9.00375652e+01] [ 6.47717449e-01 7.21902424e-01 -2.43554913e-01 2.90791084e+01] [ 3.60404619e-01 -8.67585665e-03 9.32755724e-01 1.99829413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.32710568099999 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:90.06, Y:29.09, Z:19.99 [[ 6.73933321e-01 -6.90049162e-01 -2.63905350e-01 9.00553841e+01] [ 6.44263618e-01 7.23754355e-01 -2.47192282e-01 2.90940225e+01] [ 3.61577473e-01 -3.43349967e-03 9.32335745e-01 1.99933084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.357105681 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:90.08, Y:29.11, Z:20.00 [[ 6.74721223e-01 -6.87539112e-01 -2.68404993e-01 9.00786879e+01] [ 6.42982032e-01 7.26101013e-01 -2.43621480e-01 2.91102532e+01] [ 3.62388433e-01 -8.20300504e-03 9.31991059e-01 2.00029382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.387105681 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:90.10, Y:29.12, Z:20.01 [[ 6.74085890e-01 -6.88155235e-01 -2.68422401e-01 9.01027419e+01] [ 6.42522108e-01 7.25536095e-01 -2.46500944e-01 2.91237224e+01] [ 3.64381056e-01 -6.30451942e-03 9.31228597e-01 2.00101919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41710568099998 meters Centerline goodness : 0.997955 Centerline is valid? [True, True] Translation: X:90.12, Y:29.14, Z:20.02 [[ 6.74412455e-01 -6.88026722e-01 -2.67931093e-01 9.01243924e+01] [ 6.42484412e-01 7.25659900e-01 -2.46234626e-01 2.91376649e+01] [ 3.63842852e-01 -6.07785192e-03 9.31440518e-01 2.00192357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44710568099998 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:90.15, Y:29.15, Z:20.03 [[ 6.75257732e-01 -6.87424012e-01 -2.67348505e-01 9.01467237e+01] [ 6.42008051e-01 7.26234156e-01 -2.45783672e-01 2.91506381e+01] [ 3.63115213e-01 -5.67256792e-03 9.31726979e-01 2.00321360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47710568099998 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:90.17, Y:29.16, Z:20.04 [[ 6.77539297e-01 -6.85375263e-01 -2.66835623e-01 9.01691702e+01] [ 6.39911742e-01 7.28176676e-01 -2.45502935e-01 2.91641932e+01] [ 3.62565116e-01 -4.41336295e-03 9.31947992e-01 2.00441120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50710568099998 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:90.19, Y:29.18, Z:20.05 [[ 6.81068578e-01 -6.82017415e-01 -2.66454194e-01 9.01938977e+01] [ 6.36365149e-01 7.31331772e-01 -2.45343099e-01 2.91758483e+01] [ 3.62194684e-01 -2.46668703e-03 9.32099204e-01 2.00536192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53710568099999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:90.21, Y:29.19, Z:20.06 [[ 6.82987236e-01 -6.80227531e-01 -2.66118285e-01 9.02141118e+01] [ 6.34486766e-01 7.32999767e-01 -2.45230272e-01 2.91899745e+01] [ 3.61877023e-01 -1.35938440e-03 9.32224851e-01 2.00642214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56710568099999 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:90.24, Y:29.20, Z:20.08 [[ 6.86826771e-01 -6.77138109e-01 -2.64107871e-01 9.02379598e+01] [ 6.31855211e-01 7.35855873e-01 -2.43464836e-01 2.92023087e+01] [ 3.59204647e-01 3.40233050e-04 9.33258756e-01 2.00758438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59710568099999 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:90.26, Y:29.21, Z:20.08 [[ 6.89121477e-01 -6.75130959e-01 -2.63267502e-01 9.02622207e+01] [ 6.29927002e-01 7.37696285e-01 -2.42891257e-01 2.92134280e+01] [ 3.58194866e-01 1.54227361e-03 9.33645575e-01 2.00846265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.62710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:90.28, Y:29.23, Z:20.09 [[ 6.88991318e-01 -6.75136303e-01 -2.63594264e-01 9.02843191e+01] [ 6.29763197e-01 7.37691159e-01 -2.43331194e-01 2.92276816e+01] [ 3.58732880e-01 1.65111363e-03 9.33438801e-01 2.00948761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:90.31, Y:29.24, Z:20.10 [[ 6.86481673e-01 -6.77078531e-01 -2.65155758e-01 9.03100962e+01] [ 6.31207528e-01 7.35910333e-01 -2.44975588e-01 2.92385370e+01] [ 3.60998573e-01 8.02940747e-04 9.32566022e-01 2.01040727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.68710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.33, Y:29.25, Z:20.11 [[ 6.84163549e-01 -6.79292256e-01 -2.65484968e-01 9.03330987e+01] [ 6.33385247e-01 7.33867828e-01 -2.45481445e-01 2.92524464e+01] [ 3.61584521e-01 -2.04805146e-04 9.32339312e-01 2.01146363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.71710568099999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:90.36, Y:29.26, Z:20.12 [[ 6.76620864e-01 -6.86493922e-01 -2.66289882e-01 9.03579972e+01] [ 6.40752177e-01 7.27125141e-01 -2.46425804e-01 2.92631263e+01] [ 3.62795885e-01 -3.88898144e-03 9.31860516e-01 2.01232636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.747105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:90.38, Y:29.27, Z:20.13 [[ 6.66438191e-01 -6.96029054e-01 -2.67214694e-01 9.03840605e+01] [ 6.50648786e-01 7.17957163e-01 -2.47373543e-01 2.92746452e+01] [ 3.64027877e-01 -9.00373942e-03 9.31344532e-01 2.01321273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.777105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:90.41, Y:29.29, Z:20.14 [[ 6.60831248e-01 -7.01281888e-01 -2.67405638e-01 9.04060764e+01] [ 6.56166385e-01 7.12787374e-01 -2.47749541e-01 2.92894974e+01] [ 3.64345628e-01 -1.17419529e-02 9.31189771e-01 2.01419600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:29.30, Z:20.15 [[ 6.49113285e-01 -7.12479398e-01 -2.66505255e-01 9.04292430e+01] [ 6.68489367e-01 7.01468424e-01 -2.47111343e-01 2.93003331e+01] [ 3.63006763e-01 -1.77526737e-02 9.31617375e-01 2.01524196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:29.31, Z:20.17 [[ 6.42048508e-01 -7.19724393e-01 -2.64141082e-01 9.04514225e+01] [ 6.77081385e-01 6.93925687e-01 -2.45006001e-01 2.93128639e+01] [ 3.59631077e-01 -2.15392726e-02 9.32845940e-01 2.01659146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:29.33, Z:20.18 [[ 6.40624533e-01 -7.21353891e-01 -2.63151612e-01 9.04702347e+01] [ 6.79097478e-01 6.92210259e-01 -2.44277655e-01 2.93287283e+01] [ 3.58366883e-01 -2.22153377e-02 9.33316482e-01 2.01774056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:29.35, Z:20.19 [[ 6.39589663e-01 -7.23476659e-01 -2.59820295e-01 9.04902551e+01] [ 6.80934458e-01 6.90057354e-01 -2.45253158e-01 2.93499016e+01] [ 3.56725841e-01 -2.00592071e-02 9.33993738e-01 2.01917360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:29.36, Z:20.20 [[ 6.43622810e-01 -7.17892125e-01 -2.65293377e-01 9.05088886e+01] [ 6.78869878e-01 6.95562256e-01 -2.35220825e-01 2.93641405e+01] [ 3.53391238e-01 -2.87061942e-02 9.35035073e-01 2.01986102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.53, Y:29.39, Z:20.21 [[ 6.44349178e-01 -7.18935629e-01 -2.60663958e-01 9.05254376e+01] [ 6.77156478e-01 6.94778936e-01 -2.42366117e-01 2.93858506e+01] [ 3.55349464e-01 -2.03418796e-02 9.34512154e-01 2.02055308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:29.41, Z:20.22 [[ 6.40571893e-01 -7.25327762e-01 -2.52125539e-01 9.05420312e+01] [ 6.76437422e-01 6.88397816e-01 -2.61803098e-01 2.94085532e+01] [ 3.63455725e-01 -2.84344289e-03 9.31607133e-01 2.02193041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:90.56, Y:29.43, Z:20.22 [[ 6.40210232e-01 -7.16400888e-01 -2.77309621e-01 9.05627777e+01] [ 6.77985166e-01 6.96660413e-01 -2.34521607e-01 2.94261157e+01] [ 3.61202122e-01 -3.78686769e-02 9.31718300e-01 2.02228285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.04710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:29.45, Z:20.23 [[ 6.38124341e-01 -7.22273151e-01 -2.66681121e-01 9.05775376e+01] [ 6.78110613e-01 6.91272015e-01 -2.49617704e-01 2.94480690e+01] [ 3.64641362e-01 -2.15521657e-02 9.30898588e-01 2.02343924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.07710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.59, Y:29.47, Z:20.24 [[ 6.36284870e-01 -7.22774129e-01 -2.69701914e-01 9.05937549e+01] [ 6.80573431e-01 6.90528670e-01 -2.44928483e-01 2.94672975e+01] [ 3.63264875e-01 -2.77076685e-02 9.31273814e-01 2.02438315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:29.49, Z:20.25 [[ 6.33116529e-01 -7.26627610e-01 -2.66787888e-01 9.06092434e+01] [ 6.85769374e-01 6.86389003e-01 -2.42054750e-01 2.94892990e+01] [ 3.59003937e-01 -2.97060998e-02 9.32863185e-01 2.02533309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.137105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:29.51, Z:20.26 [[ 6.31966620e-01 -7.29105116e-01 -2.62724039e-01 9.06253036e+01] [ 6.87078753e-01 6.83926626e-01 -2.45289946e-01 2.95099697e+01] [ 3.58526120e-01 -2.54970471e-02 9.33171432e-01 2.02632968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:90.64, Y:29.53, Z:20.27 [[ 6.29101667e-01 -7.31018068e-01 -2.64279544e-01 9.06387769e+01] [ 6.88564504e-01 6.81838341e-01 -2.46931973e-01 2.95345634e+01] [ 3.60707660e-01 -2.66281974e-02 9.32298731e-01 2.02705533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:90.65, Y:29.56, Z:20.28 [[ 6.28117340e-01 -7.31595626e-01 -2.65021599e-01 9.06548394e+01] [ 6.88873369e-01 6.81207430e-01 -2.47810246e-01 2.95554157e+01] [ 3.61831575e-01 -2.69124093e-02 9.31854943e-01 2.02794464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:90.67, Y:29.58, Z:20.29 [[ 6.27321289e-01 -7.32213868e-01 -2.65199644e-01 9.06683253e+01] [ 6.89452458e-01 6.80530255e-01 -2.48060234e-01 2.95800085e+01] [ 3.62109525e-01 -2.72290814e-02 9.31737768e-01 2.02873546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25710568099998 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:90.68, Y:29.60, Z:20.30 [[ 6.27667599e-01 -7.32123105e-01 -2.64630202e-01 9.06818581e+01] [ 6.89472115e-01 6.80637986e-01 -2.47709780e-01 2.96039314e+01] [ 3.61471421e-01 -2.69757425e-02 9.31992876e-01 2.02970165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28710568099999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:90.70, Y:29.62, Z:20.31 [[ 6.28457487e-01 -7.31648824e-01 -2.64066630e-01 9.06981862e+01] [ 6.89075495e-01 6.81166232e-01 -2.47361126e-01 2.96237303e+01] [ 3.60854749e-01 -2.65058921e-02 9.32245294e-01 2.03061024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31710568099999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:90.71, Y:29.65, Z:20.32 [[ 6.29471275e-01 -7.30463618e-01 -2.64931721e-01 9.07124033e+01] [ 6.87462512e-01 6.82462273e-01 -2.48275132e-01 2.96472238e+01] [ 3.62161855e-01 -2.58485627e-02 9.31756751e-01 2.03163487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34710568099999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:90.72, Y:29.67, Z:20.33 [[ 6.32141121e-01 -7.28291823e-01 -2.64553629e-01 9.07246239e+01] [ 6.85165800e-01 6.84831547e-01 -2.48099939e-01 2.96712578e+01] [ 3.61863827e-01 -2.44289252e-02 9.31910832e-01 2.03276886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37710568099999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:90.74, Y:29.69, Z:20.34 [[ 6.33953006e-01 -7.27172350e-01 -2.63294434e-01 9.07387252e+01] [ 6.84303785e-01 6.86051878e-01 -2.47105546e-01 2.96913870e+01] [ 3.60321962e-01 -2.35200739e-02 9.32531442e-01 2.03388995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40710568099999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:90.75, Y:29.71, Z:20.35 [[ 6.40169719e-01 -7.22868898e-01 -2.60083231e-01 9.07502030e+01] [ 6.80680536e-01 6.90675272e-01 -2.44216455e-01 2.97140377e+01] [ 3.56169536e-01 -2.06936137e-02 9.34192184e-01 2.03505972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.43710568099999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:90.77, Y:29.74, Z:20.36 [[ 6.49739671e-01 -7.21034818e-01 -2.40722147e-01 9.07656082e+01] [ 6.73562728e-01 6.92880280e-01 -2.57352230e-01 2.97401979e+01] [ 3.52351547e-01 5.07048720e-03 9.35853983e-01 2.03570642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.46710568099999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:90.79, Y:29.76, Z:20.36 [[ 6.53764450e-01 -7.04754783e-01 -2.75522665e-01 9.07886202e+01] [ 6.68223701e-01 7.08545435e-01 -2.26804877e-01 2.97554509e+01] [ 3.55062149e-01 -3.58338098e-02 9.34155666e-01 2.03639077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.497105681 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:90.80, Y:29.78, Z:20.38 [[ 6.64958594e-01 -7.00011200e-01 -2.60411960e-01 9.07975900e+01] [ 6.55826605e-01 7.14087673e-01 -2.44888260e-01 2.97818370e+01] [ 3.57381496e-01 -7.94453870e-03 9.33924703e-01 2.03775921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.527105681 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:90.81, Y:29.80, Z:20.39 [[ 6.71043870e-01 -6.93991107e-01 -2.60914676e-01 9.08121977e+01] [ 6.49111484e-01 7.19968990e-01 -2.45558414e-01 2.98035667e+01] [ 3.58265832e-01 -4.58224387e-03 9.33608375e-01 2.03881292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55710568099998 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:90.83, Y:29.83, Z:20.40 [[ 6.81748862e-01 -6.82664911e-01 -2.63034426e-01 9.08265991e+01] [ 6.36122640e-01 7.30729849e-01 -2.47753659e-01 2.98267416e+01] [ 3.61339836e-01 1.58362175e-03 9.32432848e-01 2.03964032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58710568099998 meters Centerline goodness : 0.997892 Centerline is valid? [True, True] Translation: X:90.85, Y:29.84, Z:20.40 [[ 6.85255876e-01 -6.77929916e-01 -2.66149234e-01 9.08486351e+01] [ 6.29811589e-01 7.35113972e-01 -2.50888045e-01 2.98429595e+01] [ 3.65734532e-01 4.29863549e-03 9.30709285e-01 2.04020162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61710568099998 meters Centerline goodness : 0.998150 Centerline is valid? [True, True] Translation: X:90.87, Y:29.86, Z:20.41 [[ 6.84844846e-01 -6.78369604e-01 -2.66086859e-01 9.08694563e+01] [ 6.30270583e-01 7.34709180e-01 -2.50921128e-01 2.98592981e+01] [ 3.65713724e-01 4.13532113e-03 9.30718202e-01 2.04116926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64710568099999 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:90.89, Y:29.87, Z:20.42 [[ 6.84590505e-01 -6.79617724e-01 -2.63544285e-01 9.08914805e+01] [ 6.32478848e-01 7.33557684e-01 -2.48724004e-01 2.98740472e+01] [ 3.62362177e-01 3.58790559e-03 9.32030461e-01 2.04225263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67710568099999 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:90.91, Y:29.89, Z:20.43 [[ 6.82396063e-01 -6.81502292e-01 -2.64367621e-01 9.09135936e+01] [ 6.34114129e-01 7.31810781e-01 -2.49704330e-01 2.98876353e+01] [ 3.63641148e-01 2.75800749e-03 9.31535028e-01 2.04317535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70710568099999 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:90.93, Y:29.91, Z:20.44 [[ 6.82235811e-01 -6.81680142e-01 -2.64322688e-01 9.09328006e+01] [ 6.34286436e-01 7.31645210e-01 -2.49751886e-01 2.99060398e+01] [ 3.63641329e-01 2.73338509e-03 9.31535030e-01 2.04418283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73710568099999 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:90.96, Y:29.92, Z:20.45 [[ 6.79622170e-01 -6.84282849e-01 -2.64330642e-01 9.09565827e+01] [ 6.37025281e-01 7.29215261e-01 -2.49887763e-01 2.99193451e+01] [ 3.63747849e-01 1.44396251e-03 9.31496333e-01 2.04520328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.76710568099999 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:90.98, Y:29.93, Z:20.46 [[ 6.78678484e-01 -6.85771165e-01 -2.62894320e-01 9.09786480e+01] [ 6.39074666e-01 7.27816784e-01 -2.48729371e-01 2.99333531e+01] [ 3.61910329e-01 7.98172496e-04 9.32212570e-01 2.04620562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79710568099999 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:91.01, Y:29.94, Z:20.47 [[ 6.76438288e-01 -6.89007015e-01 -2.60193343e-01 9.10061030e+01] [ 6.43453941e-01 7.24754264e-01 -2.46370215e-01 2.99422856e+01] [ 3.58327041e-01 -7.68185655e-04 9.33595813e-01 2.04726225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.82710568099999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:91.03, Y:29.95, Z:20.48 [[ 6.72245556e-01 -6.92988603e-01 -2.60485524e-01 9.10309569e+01] [ 6.47540940e-01 7.20943347e-01 -2.46842907e-01 2.99519939e+01] [ 3.58854627e-01 -2.73599392e-03 9.33389453e-01 2.04830370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.857105681 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:91.05, Y:29.97, Z:20.49 [[ 6.69081570e-01 -6.95788091e-01 -2.61168116e-01 9.10526029e+01] [ 6.50264673e-01 7.18234967e-01 -2.47577033e-01 2.99670274e+01] [ 3.59841225e-01 -4.17916978e-03 9.33004195e-01 2.04936681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.887105681 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:91.08, Y:29.98, Z:20.50 [[ 6.63977345e-01 -7.00143515e-01 -2.62551222e-01 9.10778691e+01] [ 6.54368965e-01 7.13973292e-01 -2.49085118e-01 2.99787873e+01] [ 3.61849890e-01 -6.41849632e-03 9.32214278e-01 2.05039362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91710568099998 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:91.10, Y:29.99, Z:20.51 [[ 6.61282356e-01 -7.01744024e-01 -2.65067860e-01 9.11041790e+01] [ 6.55100925e-01 7.12392596e-01 -2.51673531e-01 2.99896083e+01] [ 3.65442778e-01 -7.21893503e-03 9.30805814e-01 2.05139995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94710568099998 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:91.13, Y:30.00, Z:20.52 [[ 6.61849193e-01 -7.01048956e-01 -2.65492010e-01 9.11261696e+01] [ 6.54117769e-01 7.13081740e-01 -2.52278371e-01 3.00036697e+01] [ 3.66176993e-01 -6.69280555e-03 9.30521153e-01 2.05239805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97710568099998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:91.15, Y:30.02, Z:20.53 [[ 6.67678834e-01 -6.96288461e-01 -2.63414796e-01 9.11507006e+01] [ 6.49675747e-01 7.17751600e-01 -2.50507614e-01 3.00157127e+01] [ 3.63491952e-01 -3.87557266e-03 9.31589277e-01 2.05340358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00710568099998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:91.17, Y:30.03, Z:20.55 [[ 6.72022137e-01 -6.92450755e-01 -2.62484663e-01 9.11705123e+01] [ 6.45816043e-01 7.21463303e-01 -2.49824622e-01 3.00310512e+01] [ 3.62364300e-01 -1.62913009e-03 9.32035117e-01 2.05454906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:91.19, Y:30.05, Z:20.56 [[ 6.81596163e-01 -6.83631080e-01 -2.60912279e-01 9.11905313e+01] [ 6.36907280e-01 7.29820986e-01 -2.48415872e-01 3.00450821e+01] [ 3.60244067e-01 3.14237534e-03 9.32852795e-01 2.05572550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:91.21, Y:30.06, Z:20.57 [[ 6.88532182e-01 -6.77532693e-01 -2.58597919e-01 9.12120073e+01] [ 6.31211505e-01 7.35465207e-01 -2.46298531e-01 3.00571316e+01] [ 3.57065079e-01 6.35448351e-03 9.34057894e-01 2.05695356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:91.23, Y:30.07, Z:20.58 [[ 6.89847721e-01 -6.76803735e-01 -2.56995770e-01 9.12332423e+01] [ 6.30993921e-01 7.36132537e-01 -2.44858242e-01 3.00721466e+01] [ 3.54903921e-01 6.75213114e-03 9.34878396e-01 2.05810250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.26, Y:30.08, Z:20.59 [[ 6.89588275e-01 -6.77749927e-01 -2.55192178e-01 9.12566594e+01] [ 6.32592787e-01 7.35264907e-01 -2.43334917e-01 3.00828303e+01] [ 3.52554075e-01 6.36817484e-03 9.35769774e-01 2.05925621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.28, Y:30.10, Z:20.60 [[ 6.87499021e-01 -6.79963115e-01 -2.54941676e-01 9.12785438e+01] [ 6.35012730e-01 7.33227198e-01 -2.43180404e-01 3.00976220e+01] [ 3.52283876e-01 5.29508050e-03 9.35878215e-01 2.06019679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.18710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.31, Y:30.10, Z:20.61 [[ 6.78663411e-01 -6.88547416e-01 -2.55574706e-01 9.13082805e+01] [ 6.43869882e-01 7.25190594e-01 -2.43988070e-01 3.01037322e+01] [ 3.53337727e-01 1.02892006e-03 9.35495265e-01 2.06104406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.21710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.33, Y:30.12, Z:20.62 [[ 6.75852737e-01 -6.91333521e-01 -2.55501549e-01 9.13311842e+01] [ 6.46841266e-01 7.22535698e-01 -2.44005208e-01 3.01169012e+01] [ 3.53297970e-01 -3.57358319e-04 9.35510779e-01 2.06204450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.36, Y:30.13, Z:20.63 [[ 6.71537953e-01 -6.95874334e-01 -2.54549971e-01 9.13568449e+01] [ 6.51961471e-01 7.18158959e-01 -2.43298066e-01 3.01271418e+01] [ 3.52112222e-01 -2.57288810e-03 9.35954253e-01 2.06305196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:91.38, Y:30.14, Z:20.64 [[ 6.67448181e-01 -6.99164383e-01 -2.56285176e-01 9.13798022e+01] [ 6.54786457e-01 7.14948729e-01 -2.45159155e-01 3.01416533e+01] [ 3.54637310e-01 -4.18103028e-03 9.34994598e-01 2.06398300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.40, Y:30.16, Z:20.65 [[ 6.65404172e-01 -7.00391945e-01 -2.58240996e-01 9.14006953e+01] [ 6.55322364e-01 7.13742831e-01 -2.47232219e-01 3.01578213e+01] [ 3.57477115e-01 -4.72175022e-03 9.33909962e-01 2.06494109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.43, Y:30.17, Z:20.66 [[ 6.64495479e-01 -7.00539848e-01 -2.60172405e-01 9.14261216e+01] [ 6.54703238e-01 7.13597883e-01 -2.49282434e-01 3.01694495e+01] [ 3.60290756e-01 -4.68866503e-03 9.32828273e-01 2.06567948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:91.45, Y:30.18, Z:20.67 [[ 6.65445972e-01 -6.99570730e-01 -2.60350632e-01 9.14481502e+01] [ 6.53553297e-01 7.14551715e-01 -2.49567496e-01 3.01842773e+01] [ 3.60624106e-01 -4.07932946e-03 9.32702318e-01 2.06665763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.47, Y:30.20, Z:20.68 [[ 6.69310431e-01 -6.96174437e-01 -2.59547106e-01 9.14701784e+01] [ 6.50127505e-01 7.17869629e-01 -2.48992815e-01 3.01964177e+01] [ 3.59663418e-01 -2.08522362e-03 9.33079781e-01 2.06778568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.49, Y:30.21, Z:20.69 [[ 6.77698836e-01 -6.88312007e-01 -2.58748660e-01 9.14902869e+01] [ 6.41955844e-01 7.25411453e-01 -2.48336300e-01 3.02102181e+01] [ 3.58632099e-01 2.19200704e-03 9.33476413e-01 2.06900632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.51, Y:30.23, Z:20.70 [[ 6.82453054e-01 -6.83648493e-01 -2.58616641e-01 9.15103577e+01] [ 6.36973019e-01 7.29796078e-01 -2.48320475e-01 3.02275442e+01] [ 3.58501329e-01 4.73524408e-03 9.33517206e-01 2.07005484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.53, Y:30.25, Z:20.71 [[ 6.88503416e-01 -6.80745291e-01 -2.50097771e-01 9.15300720e+01] [ 6.28954368e-01 7.32168539e-01 -2.61429978e-01 3.02470054e+01] [ 3.61080946e-01 2.26953476e-02 9.32258264e-01 2.07128224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.55, Y:30.26, Z:20.72 [[ 6.94177248e-01 -6.72641933e-01 -2.56263105e-01 9.15518269e+01] [ 6.19458414e-01 7.39579174e-01 -2.63237379e-01 3.02582320e+01] [ 3.66591355e-01 2.39890629e-02 9.30072741e-01 2.07230985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.57, Y:30.27, Z:20.73 [[ 6.94934476e-01 -6.68582544e-01 -2.64695023e-01 9.15748687e+01] [ 6.16469502e-01 7.43442456e-01 -2.59342762e-01 3.02738028e+01] [ 3.70177562e-01 1.70498169e-02 9.28804542e-01 2.07338606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.60, Y:30.28, Z:20.74 [[ 6.97517907e-01 -6.57340309e-01 -2.85258633e-01 9.16034692e+01] [ 6.16645129e-01 7.53409747e-01 -2.28303609e-01 3.02844765e+01] [ 3.64989799e-01 -1.66574910e-02 9.30862490e-01 2.07380854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.62, Y:30.30, Z:20.75 [[ 6.97845470e-01 -6.65878754e-01 -2.63850687e-01 9.16212343e+01] [ 6.15740119e-01 7.45914469e-01 -2.53920676e-01 3.03044165e+01] [ 3.65890429e-01 1.47339403e-02 9.30541297e-01 2.07477953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.637105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:30.32, Z:20.76 [[ 6.96396542e-01 -6.66619598e-01 -2.65800992e-01 9.16462332e+01] [ 6.15675140e-01 7.45254387e-01 -2.56007852e-01 3.03156411e+01] [ 3.68749207e-01 1.46359201e-02 9.29413693e-01 2.07586244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.67, Y:30.32, Z:20.77 [[ 6.93725689e-01 -6.69618702e-01 -2.65246041e-01 9.16706873e+01] [ 6.19024766e-01 7.42588160e-01 -2.55677852e-01 3.03245817e+01] [ 3.68175241e-01 1.31764257e-02 9.29663043e-01 2.07711191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.69, Y:30.34, Z:20.78 [[ 6.89488852e-01 -6.77216109e-01 -2.56872467e-01 9.16944381e+01] [ 6.21595672e-01 7.35305032e-01 -2.70083931e-01 3.03356837e+01] [ 3.71784807e-01 2.65490462e-02 9.27939225e-01 2.07836351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.72, Y:30.35, Z:20.79 [[ 6.88269879e-01 -6.71136159e-01 -2.75428447e-01 9.17202925e+01] [ 6.25019078e-01 7.41324095e-01 -2.44519405e-01 3.03453911e+01] [ 3.68287559e-01 -3.85269251e-03 9.29703948e-01 2.07943901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:30.36, Z:20.81 [[ 6.84897945e-01 -6.82410501e-01 -2.55403040e-01 9.17439199e+01] [ 6.28404459e-01 7.30626597e-01 -2.67006765e-01 3.03572170e+01] [ 3.68812474e-01 2.23759754e-02 9.29234456e-01 2.08075575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:91.77, Y:30.37, Z:20.81 [[ 6.84527890e-01 -6.91108728e-01 -2.31927345e-01 9.17727364e+01] [ 6.34975607e-01 7.21549305e-01 -2.75993802e-01 3.03745887e+01] [ 3.58088741e-01 4.16572482e-02 9.32757808e-01 2.08073571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.80, Y:30.37, Z:20.84 [[ 6.80225221e-01 -6.69220562e-01 -2.99061011e-01 9.17985021e+01] [ 6.35678859e-01 7.41724156e-01 -2.13910412e-01 3.03740288e+01] [ 3.64974022e-01 -4.45995048e-02 9.29948841e-01 2.08350574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.82, Y:30.39, Z:20.84 [[ 6.76874548e-01 -6.87711352e-01 -2.62476557e-01 9.18180588e+01] [ 6.39203548e-01 7.25973366e-01 -2.53735089e-01 3.03911872e+01] [ 3.65047491e-01 3.97087685e-03 9.30980430e-01 2.08415903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.84, Y:30.41, Z:20.85 [[ 6.74171734e-01 -6.89933242e-01 -2.63599308e-01 9.18397625e+01] [ 6.41101456e-01 7.23867217e-01 -2.54961126e-01 3.04065556e+01] [ 3.66717053e-01 2.89368451e-03 9.30328022e-01 2.08514019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.86, Y:30.42, Z:20.86 [[ 6.69670467e-01 -6.93933305e-01 -2.64571416e-01 9.18624922e+01] [ 6.44945106e-01 7.20038754e-01 -2.56105452e-01 3.04198243e+01] [ 3.68221775e-01 8.72218066e-04 9.29737578e-01 2.08599345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.88, Y:30.43, Z:20.87 [[ 6.67629957e-01 -6.96048535e-01 -2.64171683e-01 9.18846543e+01] [ 6.47326577e-01 7.17994705e-01 -2.55835701e-01 3.04345583e+01] [ 3.67747934e-01 -2.01773142e-04 9.29925490e-01 2.08711651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.96710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.90, Y:30.45, Z:20.88 [[ 6.65658418e-01 -7.01293746e-01 -2.55119486e-01 9.19032102e+01] [ 6.47098105e-01 7.12711617e-01 -2.70751166e-01 3.04535087e+01] [ 3.71702721e-01 1.51404572e-02 9.28228341e-01 2.08830304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.997105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.92, Y:30.47, Z:20.89 [[ 6.63316053e-01 -7.00748157e-01 -2.62609660e-01 9.19227507e+01] [ 6.49073874e-01 7.13392853e-01 -2.64147200e-01 3.04686434e+01] [ 3.72444518e-01 4.76000894e-03 9.28042253e-01 2.08947692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:91.94, Y:30.49, Z:20.91 [[ 6.58481127e-01 -7.01558380e-01 -2.72430624e-01 9.19435889e+01] [ 6.55215258e-01 7.12490508e-01 -2.51098072e-01 3.04856308e+01] [ 3.70264191e-01 -1.31573600e-02 9.28833307e-01 2.09059063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.96, Y:30.51, Z:20.92 [[ 6.49647087e-01 -7.12791261e-01 -2.64362024e-01 9.19613910e+01] [ 6.64632157e-01 7.01327169e-01 -2.57690312e-01 3.05056789e+01] [ 3.69083673e-01 -8.29574197e-03 9.29359147e-01 2.09150944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.98, Y:30.52, Z:20.92 [[ 6.46187283e-01 -7.12570215e-01 -2.73286816e-01 9.19814459e+01] [ 6.70892778e-01 7.01073744e-01 -2.41657786e-01 3.05218686e+01] [ 3.63792351e-01 -2.71899631e-02 9.31083149e-01 2.09245560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.00, Y:30.55, Z:20.93 [[ 6.33821300e-01 -7.30750755e-01 -2.53522963e-01 9.19967361e+01] [ 6.77575711e-01 6.82642322e-01 -2.73661500e-01 3.05467418e+01] [ 3.73043853e-01 1.67148581e-03 9.27812206e-01 2.09329806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.02, Y:30.56, Z:20.94 [[ 6.29281198e-01 -7.26576405e-01 -2.75847604e-01 9.20168910e+01] [ 6.84956677e-01 6.86201262e-01 -2.44871760e-01 3.05642563e+01] [ 3.67205018e-01 -3.48504637e-02 9.29486912e-01 2.09444788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.03, Y:30.59, Z:20.95 [[ 6.27443305e-01 -7.31832671e-01 -2.65962104e-01 9.20323186e+01] [ 6.86710310e-01 6.81088351e-01 -2.54062212e-01 3.05873149e+01] [ 3.67074718e-01 -2.32292853e-02 9.29901367e-01 2.09528567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.05, Y:30.61, Z:20.96 [[ 6.22466444e-01 -7.37650509e-01 -2.61547802e-01 9.20457950e+01] [ 6.88708559e-01 6.75007372e-01 -2.64661232e-01 3.06141753e+01] [ 3.71774187e-01 -1.53874741e-02 9.28195658e-01 2.09641756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.06, Y:30.63, Z:20.97 [[ 6.23647003e-01 -7.32704070e-01 -2.72413585e-01 9.20617361e+01] [ 6.89532780e-01 6.79793701e-01 -2.49850095e-01 3.06313874e+01] [ 3.68251221e-01 -3.20198336e-02 9.29174778e-01 2.09745042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.07, Y:30.66, Z:20.98 [[ 6.21433791e-01 -7.37828974e-01 -2.63492786e-01 9.20711691e+01] [ 6.91900150e-01 6.74614064e-01 -2.57235392e-01 3.06582369e+01] [ 3.67551665e-01 -2.24559338e-02 9.29731953e-01 2.09838458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.08, Y:30.69, Z:21.00 [[ 6.17508867e-01 -7.41757222e-01 -2.61684969e-01 9.20808133e+01] [ 6.96762033e-01 6.70220752e-01 -2.55591104e-01 3.06854021e+01] [ 3.64973244e-01 -2.45023785e-02 9.30695527e-01 2.09951730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.09, Y:30.71, Z:21.01 [[ 6.13791466e-01 -7.48705692e-01 -2.50399327e-01 9.20926670e+01] [ 6.97500259e-01 6.62859444e-01 -2.72232890e-01 3.07104944e+01] [ 3.69801873e-01 -7.55937119e-03 9.29079884e-01 2.10069054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.357105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.10, Y:30.74, Z:21.02 [[ 6.10053428e-01 -7.48403139e-01 -2.60245184e-01 9.21010890e+01] [ 7.01521298e-01 6.62848589e-01 -2.61724313e-01 3.07387918e+01] [ 3.68378451e-01 -2.29017252e-02 9.29393796e-01 2.10189577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.387105681 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:92.11, Y:30.78, Z:21.02 [[ 6.12592187e-01 -7.55827629e-01 -2.31204256e-01 9.21111783e+01] [ 7.05813032e-01 6.54766059e-01 -2.70387448e-01 3.07762969e+01] [ 3.55751003e-01 2.45026076e-03 9.34577562e-01 2.10163195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41710568099998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:92.13, Y:30.80, Z:21.03 [[ 6.13208116e-01 -7.48772088e-01 -2.51627037e-01 9.21284640e+01] [ 7.06205045e-01 6.62379605e-01 -2.50055381e-01 3.07971809e+01] [ 3.53907107e-01 -2.43642935e-02 9.34963176e-01 2.10266454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:92.13, Y:30.82, Z:21.05 [[ 6.12760798e-01 -7.30038734e-01 -3.02601473e-01 9.21345935e+01] [ 7.04868867e-01 6.78026128e-01 -2.08423727e-01 3.08170586e+01] [ 3.57329099e-01 -8.55804682e-02 9.30049406e-01 2.10489133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:30.86, Z:21.06 [[ 6.16309805e-01 -7.43520570e-01 -2.59498337e-01 9.21322994e+01] [ 6.99003822e-01 6.68264685e-01 -2.54589802e-01 3.08561259e+01] [ 3.62706329e-01 -2.44841383e-02 9.31581798e-01 2.10596591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:92.14, Y:30.89, Z:21.07 [[ 6.22116576e-01 -7.37766019e-01 -2.62053939e-01 9.21374742e+01] [ 6.91767469e-01 6.74723346e-01 -2.57305605e-01 3.08890632e+01] [ 3.66645242e-01 -2.12063082e-02 9.30119110e-01 2.10685016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53710568099999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:92.15, Y:30.91, Z:21.08 [[ 6.24242623e-01 -7.35614369e-01 -2.63044956e-01 9.21484318e+01] [ 6.88988659e-01 6.77108966e-01 -2.58491927e-01 3.09137868e+01] [ 3.68260474e-01 -1.98733127e-02 9.29510234e-01 2.10783824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56710568099999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:92.15, Y:30.95, Z:21.09 [[ 6.31152882e-01 -7.43361880e-01 -2.21493013e-01 9.21502959e+01] [ 6.81761179e-01 6.67837964e-01 -2.98653895e-01 3.09505179e+01] [ 3.69929364e-01 3.74909285e-02 9.28303127e-01 2.10874009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.18, Y:30.96, Z:21.10 [[ 6.35099066e-01 -7.11316551e-01 -3.01127780e-01 9.21767803e+01] [ 6.78651266e-01 7.00024210e-01 -2.22257879e-01 3.09636361e+01] [ 3.68892444e-01 -6.32049779e-02 9.27320600e-01 2.10972241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.19, Y:30.99, Z:21.11 [[ 6.34592855e-01 -7.26155590e-01 -2.64556169e-01 9.21888391e+01] [ 6.78098829e-01 6.87381812e-01 -2.60169604e-01 3.09868731e+01] [ 3.70774711e-01 -1.42934564e-02 9.28612842e-01 2.11117318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.20, Y:31.02, Z:21.12 [[ 6.45133230e-01 -7.16171931e-01 -2.66272193e-01 9.21973483e+01] [ 6.66584196e-01 6.97872457e-01 -2.61991495e-01 3.10161701e+01] [ 3.73454985e-01 -8.47341638e-03 9.27609603e-01 2.11204341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.68710568099999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:92.21, Y:31.05, Z:21.13 [[ 6.55944241e-01 -7.05953679e-01 -2.67145194e-01 9.22065580e+01] [ 6.55112952e-01 7.08253755e-01 -2.63065844e-01 3.10455570e+01] [ 3.74918888e-01 -2.45375155e-03 9.27054371e-01 2.11286771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.71710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:92.22, Y:31.07, Z:21.14 [[ 6.60040993e-01 -7.02195602e-01 -2.66959219e-01 9.22204638e+01] [ 6.51045840e-01 7.11984069e-01 -2.63093139e-01 3.10674980e+01] [ 3.74813556e-01 -1.50432265e-04 9.27100197e-01 2.11379441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.747105681 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:92.23, Y:31.09, Z:21.15 [[ 6.64317698e-01 -6.98419882e-01 -2.66254888e-01 9.22341557e+01] [ 6.47218209e-01 7.15685299e-01 -2.62494080e-01 3.10918744e+01] [ 3.73885793e-01 2.05445066e-03 9.27472475e-01 2.11460855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77710568099998 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:92.25, Y:31.11, Z:21.16 [[ 6.64747267e-01 -6.98009071e-01 -2.66260038e-01 9.22514713e+01] [ 6.46688799e-01 7.16084732e-01 -2.62709447e-01 3.11121775e+01] [ 3.74038325e-01 2.44800331e-03 9.27410016e-01 2.11553580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80710568099998 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:92.27, Y:31.13, Z:21.16 [[ 6.65384202e-01 -6.98558130e-01 -2.63211707e-01 9.22680333e+01] [ 6.43915921e-01 7.15470690e-01 -2.71060838e-01 3.11287980e+01] [ 3.77672014e-01 1.08733904e-02 9.25875596e-01 2.11646975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83710568099998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:92.28, Y:31.14, Z:21.18 [[ 6.63091140e-01 -7.00761541e-01 -2.63141413e-01 9.22831181e+01] [ 6.44213667e-01 7.13266507e-01 -2.76115270e-01 3.11445260e+01] [ 3.81180918e-01 1.35702945e-02 9.24400863e-01 2.11765902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86710568099998 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:92.30, Y:31.17, Z:21.19 [[ 6.59092558e-01 -7.08130960e-01 -2.53273652e-01 9.22993576e+01] [ 6.48594393e-01 7.05683311e-01 -2.85195332e-01 3.11670852e+01] [ 3.80686634e-01 2.36982509e-02 9.24400389e-01 2.11924837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89710568099999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:92.32, Y:31.18, Z:21.20 [[ 6.59440450e-01 -7.01612101e-01 -2.69960648e-01 9.23210882e+01] [ 6.50016234e-01 7.12557848e-01 -2.64083714e-01 3.11805583e+01] [ 3.77646908e-01 -1.33132029e-03 9.25948724e-01 2.11987064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:92.35, Y:31.20, Z:21.21 [[ 6.55366621e-01 -7.03860332e-01 -2.73998588e-01 9.23476906e+01] [ 6.59825876e-01 7.10065799e-01 -2.45838107e-01 3.11989358e+01] [ 3.67592718e-01 -1.96772686e-02 9.29778683e-01 2.12061736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:92.36, Y:31.22, Z:21.22 [[ 6.52943289e-01 -7.11385186e-01 -2.59992650e-01 9.23648447e+01] [ 6.63193666e-01 7.02788877e-01 -2.57413980e-01 3.12159971e+01] [ 3.65840434e-01 -4.34874799e-03 9.30667430e-01 2.12182620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:92.38, Y:31.23, Z:21.23 [[ 6.49372819e-01 -7.16117051e-01 -2.55912702e-01 9.23835200e+01] [ 6.66237140e-01 6.97980206e-01 -2.62586566e-01 3.12307182e+01] [ 3.66664718e-01 1.80318908e-05 9.30353150e-01 2.12301546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:92.41, Y:31.25, Z:21.24 [[ 6.49724176e-01 -7.12285392e-01 -2.65533454e-01 9.24053082e+01] [ 6.67783228e-01 7.01708291e-01 -2.48336534e-01 3.12479624e+01] [ 3.63213512e-01 -1.59685372e-02 9.31569080e-01 2.12371980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.04710568099999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:92.42, Y:31.27, Z:21.25 [[ 6.53884461e-01 -7.13571545e-01 -2.51497043e-01 9.24229246e+01] [ 6.62057395e-01 7.00540789e-01 -2.66312992e-01 3.12692421e+01] [ 3.66217310e-01 7.63244958e-03 9.30498054e-01 2.12497896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.07710568099999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:92.44, Y:31.28, Z:21.26 [[ 6.58599516e-01 -7.06924587e-01 -2.57884289e-01 9.24427841e+01] [ 6.55759332e-01 7.07272493e-01 -2.64093391e-01 3.12838193e+01] [ 3.69088575e-01 4.82175071e-03 9.29381716e-01 2.12592697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.107105681 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:92.46, Y:31.30, Z:21.27 [[ 6.64350246e-01 -7.04140350e-01 -2.50649392e-01 9.24605981e+01] [ 6.46081167e-01 7.09627676e-01 -2.81083061e-01 3.13020080e+01] [ 3.75789670e-01 2.47977491e-02 9.26373140e-01 2.12727952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.137105681 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:92.49, Y:31.32, Z:21.27 [[ 6.68672750e-01 -6.89162513e-01 -2.79162648e-01 9.24884157e+01] [ 6.44730728e-01 7.24411807e-01 -2.44028323e-01 3.13177915e+01] [ 3.70403891e-01 -1.68096476e-02 9.28718684e-01 2.12749309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16710568099998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:92.51, Y:31.33, Z:21.29 [[ 6.76059280e-01 -6.89097895e-01 -2.60936662e-01 9.25070864e+01] [ 6.37924657e-01 7.24601410e-01 -2.60777547e-01 3.13331099e+01] [ 3.68776332e-01 9.84314991e-03 9.29466045e-01 2.12861248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:92.52, Y:31.35, Z:21.31 [[ 6.75170443e-01 -6.98103296e-01 -2.38320498e-01 9.25247048e+01] [ 6.31487258e-01 7.13981628e-01 -3.02413752e-01 3.13452025e+01] [ 3.81272494e-01 5.36844689e-02 9.22902629e-01 2.13061004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22710568099998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:92.56, Y:31.36, Z:21.30 [[ 6.76022101e-01 -6.76806167e-01 -2.91423285e-01 9.25614422e+01] [ 6.35918145e-01 7.35643893e-01 -2.33315615e-01 3.13564634e+01] [ 3.72293207e-01 -2.75948425e-02 9.27704852e-01 2.13041061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:92.58, Y:31.38, Z:21.31 [[ 6.78920382e-01 -6.95596161e-01 -2.34974669e-01 9.25776251e+01] [ 6.35874455e-01 7.17060247e-01 -2.85461522e-01 3.13771025e+01] [ 3.67056933e-01 4.43912562e-02 9.29138646e-01 2.13140726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:92.61, Y:31.39, Z:21.32 [[ 6.82192397e-01 -6.85758818e-01 -2.53669820e-01 9.26084337e+01] [ 6.32558731e-01 7.27532792e-01 -2.65641655e-01 3.13876830e+01] [ 3.66719220e-01 2.07576580e-02 9.30100066e-01 2.13227658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:92.63, Y:31.40, Z:21.33 [[ 6.84825958e-01 -6.80938723e-01 -2.59491546e-01 9.26314560e+01] [ 6.29940113e-01 7.32209263e-01 -2.58930589e-01 3.14007788e+01] [ 3.66317978e-01 1.38582553e-02 9.30386526e-01 2.13303371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:92.66, Y:31.40, Z:21.35 [[ 6.85943539e-01 -6.63527207e-01 -2.98685634e-01 9.26611691e+01] [ 6.21063438e-01 7.47753419e-01 -2.34829792e-01 3.14031504e+01] [ 3.79159160e-01 -2.44227483e-02 9.25009114e-01 2.13465429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.68, Y:31.42, Z:21.36 [[ 6.87898111e-01 -6.80469491e-01 -2.52502397e-01 9.26769045e+01] [ 6.14885795e-01 7.31206940e-01 -2.95384274e-01 3.14208554e+01] [ 3.85631492e-01 4.79341466e-02 9.21406897e-01 2.13606191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.40710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:92.71, Y:31.43, Z:21.36 [[ 6.90564510e-01 -6.81192822e-01 -2.43098739e-01 9.27088762e+01] [ 6.21054177e-01 7.30736373e-01 -2.83400887e-01 3.14343074e+01] [ 3.70691741e-01 4.47291080e-02 9.27678253e-01 2.13581174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.43710568099999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:92.74, Y:31.44, Z:21.37 [[ 6.87840740e-01 -6.77643098e-01 -2.60144091e-01 9.27359588e+01] [ 6.23703638e-01 7.35104284e-01 -2.65735701e-01 3.14438645e+01] [ 3.71307000e-01 2.05310249e-02 9.28283141e-01 2.13688645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.46710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:92.77, Y:31.45, Z:21.38 [[ 6.82670911e-01 -6.80795516e-01 -2.65476727e-01 9.27687871e+01] [ 6.32110715e-01 7.32457704e-01 -2.52867072e-01 3.14485792e+01] [ 3.66601243e-01 4.81431094e-03 9.30365708e-01 2.13803985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.497105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:92.80, Y:31.45, Z:21.41 [[ 6.68435812e-01 -6.83661667e-01 -2.92916866e-01 9.27963802e+01] [ 6.40206152e-01 7.29327068e-01 -2.41284296e-01 3.14502568e+01] [ 3.78589023e-01 -2.62441147e-02 9.25192736e-01 2.14093030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.82, Y:31.47, Z:21.42 [[ 6.64821785e-01 -6.96389827e-01 -2.70283561e-01 9.28158478e+01] [ 6.45159527e-01 7.17663710e-01 -2.62160225e-01 3.14671680e+01] [ 3.76538417e-01 -8.61861002e-05 9.26401000e-01 2.14188274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:92.84, Y:31.48, Z:21.43 [[ 6.57790329e-01 -7.04266670e-01 -2.67058685e-01 9.28439099e+01] [ 6.51861506e-01 7.09934387e-01 -2.66589090e-01 3.14766525e+01] [ 3.77343955e-01 1.27444916e-03 9.26072306e-01 2.14279696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.87, Y:31.49, Z:21.44 [[ 6.55283710e-01 -7.07963440e-01 -2.63421769e-01 9.28660105e+01] [ 6.52633208e-01 7.06204317e-01 -2.74491088e-01 3.14908175e+01] [ 3.80359245e-01 7.95174465e-03 9.24804636e-01 2.14380965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:92.89, Y:31.51, Z:21.44 [[ 6.54395927e-01 -7.20275086e-01 -2.30151625e-01 9.28918133e+01] [ 6.54356637e-01 6.91957492e-01 -3.04979050e-01 3.15135046e+01] [ 3.78923953e-01 4.89758053e-02 9.24130948e-01 2.14372228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.92, Y:31.52, Z:21.46 [[ 6.52483673e-01 -7.08305431e-01 -2.69385363e-01 9.29159479e+01] [ 6.52661009e-01 7.05896098e-01 -2.75216837e-01 3.15204278e+01] [ 3.85095657e-01 3.75716960e-03 9.22869015e-01 2.14554953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.94, Y:31.52, Z:21.48 [[ 6.51801491e-01 -6.95841516e-01 -3.01594763e-01 9.29408810e+01] [ 6.49092522e-01 7.17522772e-01 -2.52665726e-01 3.15248085e+01] [ 3.92216412e-01 -3.10750086e-02 9.19347937e-01 2.14751205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.96, Y:31.54, Z:21.48 [[ 6.54638924e-01 -6.99246922e-01 -2.87230954e-01 9.29641317e+01] [ 6.50828761e-01 7.14625056e-01 -2.56384385e-01 3.15396091e+01] [ 3.84538429e-01 -1.90989683e-02 9.22911386e-01 2.14843868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:92.98, Y:31.56, Z:21.50 [[ 6.54109179e-01 -7.06800037e-01 -2.69397271e-01 9.29816229e+01] [ 6.53213247e-01 7.07413129e-01 -2.69961327e-01 3.15563556e+01] [ 3.81383842e-01 6.10316199e-04 9.24416569e-01 2.14955965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76710568099999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:93.00, Y:31.57, Z:21.51 [[ 6.53458564e-01 -7.08080140e-01 -2.67608707e-01 9.30001963e+01] [ 6.55284956e-01 7.06132079e-01 -2.68289235e-01 3.15723213e+01] [ 3.78937372e-01 -4.40615918e-05 9.25422318e-01 2.15069265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:93.02, Y:31.59, Z:21.52 [[ 6.50335111e-01 -7.11758434e-01 -2.65450891e-01 9.30215649e+01] [ 6.60061422e-01 7.02421418e-01 -2.66313858e-01 3.15864322e+01] [ 3.76009526e-01 -2.02064046e-03 9.26613595e-01 2.15194767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.82710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.04, Y:31.60, Z:21.53 [[ 6.44765488e-01 -7.16704426e-01 -2.65729620e-01 9.30405028e+01] [ 6.65208621e-01 6.97360962e-01 -2.66805510e-01 3.16021902e+01] [ 3.76530153e-01 -4.73864917e-03 9.26392244e-01 2.15296478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.857105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.06, Y:31.62, Z:21.54 [[ 6.43240827e-01 -7.16057479e-01 -2.71114228e-01 9.30596189e+01] [ 6.67216505e-01 6.97911273e-01 -2.60272914e-01 3.16194216e+01] [ 3.75584043e-01 -1.34737232e-02 9.26690394e-01 2.15385261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.887105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.08, Y:31.64, Z:21.55 [[ 6.39373132e-01 -7.23973077e-01 -2.58969075e-01 9.30768766e+01] [ 6.69709697e-01 6.89824048e-01 -2.75012190e-01 3.16424145e+01] [ 3.77744517e-01 2.40130465e-03 9.25906752e-01 2.15477294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.10, Y:31.66, Z:21.56 [[ 6.39561118e-01 -7.21043994e-01 -2.66565443e-01 9.30955809e+01] [ 6.69447592e-01 6.92853066e-01 -2.67945051e-01 3.16592470e+01] [ 3.77890855e-01 -7.08435751e-03 9.25823047e-01 2.15588934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.11, Y:31.68, Z:21.57 [[ 6.43957795e-01 -7.18278708e-01 -2.63427514e-01 9.31117321e+01] [ 6.62922247e-01 6.95746966e-01 -2.76532555e-01 3.16777526e+01] [ 3.81906340e-01 3.44333482e-03 9.24194618e-01 2.15710771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:93.13, Y:31.70, Z:21.58 [[ 6.51080423e-01 -7.10793325e-01 -2.66208813e-01 9.31285393e+01] [ 6.54967854e-01 7.03379760e-01 -2.76177522e-01 3.16992538e+01] [ 3.83551030e-01 5.45556230e-03 9.23503570e-01 2.15836672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.15, Y:31.72, Z:21.59 [[ 6.56554680e-01 -7.02294480e-01 -2.75169795e-01 9.31476362e+01] [ 6.52017775e-01 7.11841458e-01 -2.61064283e-01 3.17176004e+01] [ 3.79221273e-01 -8.01262123e-03 9.25271324e-01 2.15947727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.16, Y:31.74, Z:21.60 [[ 6.64929656e-01 -6.97983887e-01 -2.65870357e-01 9.31629589e+01] [ 6.44571164e-01 7.16081716e-01 -2.67871221e-01 3.17390287e+01] [ 3.77354697e-01 6.74315341e-03 9.26044255e-01 2.16033926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:93.18, Y:31.77, Z:21.60 [[ 6.72410113e-01 -7.04140406e-01 -2.28146726e-01 9.31809943e+01] [ 6.41629652e-01 7.08174750e-01 -2.94618249e-01 3.17681867e+01] [ 3.69020365e-01 5.17185856e-02 9.27981227e-01 2.15987458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:93.20, Y:31.78, Z:21.61 [[ 6.72921605e-01 -6.92775801e-01 -2.59303303e-01 9.32049320e+01] [ 6.39959818e-01 7.21039474e-01 -2.65619104e-01 3.17813250e+01] [ 3.70982404e-01 1.27971392e-02 9.28551716e-01 2.16128854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.22, Y:31.79, Z:21.64 [[ 6.67659526e-01 -6.86254518e-01 -2.88592261e-01 9.32207353e+01] [ 6.36849585e-01 7.27247580e-01 -2.55995242e-01 3.17906607e+01] [ 3.85555915e-01 -1.28721998e-02 9.22594680e-01 2.16363438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.24, Y:31.82, Z:21.65 [[ 6.62091667e-01 -7.02218358e-01 -2.61770897e-01 9.32381388e+01] [ 6.40582972e-01 7.11576349e-01 -2.88639145e-01 3.18189284e+01] [ 3.88957685e-01 2.34195935e-02 9.20957894e-01 2.16474335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.18710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.26, Y:31.82, Z:21.66 [[ 6.59287140e-01 -6.89561208e-01 -2.99742901e-01 9.32630588e+01] [ 6.46534416e-01 7.23422939e-01 -2.42182783e-01 3.18240061e+01] [ 3.83840743e-01 -3.41261076e-02 9.22768494e-01 2.16597353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.21710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:93.28, Y:31.84, Z:21.67 [[ 6.52998787e-01 -7.08278031e-01 -2.68206664e-01 9.32803429e+01] [ 6.53903642e-01 7.05929705e-01 -2.72164067e-01 3.18434265e+01] [ 3.82102881e-01 2.34149138e-03 9.24116825e-01 2.16682429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.247105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.30, Y:31.86, Z:21.68 [[ 6.46305768e-01 -7.14428224e-01 -2.68106632e-01 9.33001091e+01] [ 6.60545722e-01 6.99707743e-01 -2.72191888e-01 3.18596216e+01] [ 3.82057854e-01 -1.17750204e-03 9.24137657e-01 2.16798144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.32, Y:31.88, Z:21.69 [[ 6.42856732e-01 -7.17344143e-01 -2.68612364e-01 9.33171336e+01] [ 6.63399635e-01 6.96713614e-01 -2.72930510e-01 3.18783615e+01] [ 3.82930994e-01 -2.74212865e-03 9.23772880e-01 2.16889813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.34, Y:31.90, Z:21.70 [[ 6.38268701e-01 -7.20747277e-01 -2.70437475e-01 9.33356725e+01] [ 6.66273380e-01 6.93181888e-01 -2.74915720e-01 3.18975529e+01] [ 3.85607116e-01 -4.71519072e-03 9.22651028e-01 2.16971893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.35, Y:31.92, Z:21.71 [[ 6.37540793e-01 -7.21188079e-01 -2.70978767e-01 9.33545667e+01] [ 6.66430557e-01 6.92722516e-01 -2.75691545e-01 3.19150379e+01] [ 3.86538549e-01 -4.82392408e-03 9.22260636e-01 2.17071185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.37, Y:31.93, Z:21.72 [[ 6.37902498e-01 -7.19949466e-01 -2.73410258e-01 9.33726517e+01] [ 6.63956000e-01 6.94015294e-01 -2.78397562e-01 3.19327198e+01] [ 3.90183077e-01 -3.94188101e-03 9.20728857e-01 2.17165191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.38, Y:31.95, Z:21.73 [[ 6.39981257e-01 -7.21559714e-01 -2.64150658e-01 9.33839983e+01] [ 6.56783839e-01 6.92115870e-01 -2.99350315e-01 3.19536420e+01] [ 3.98821990e-01 1.80887071e-02 9.16849943e-01 2.17253547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.41, Y:31.97, Z:21.74 [[ 6.41279561e-01 -7.11411644e-01 -2.87496082e-01 9.34062319e+01] [ 6.58804688e-01 7.02572536e-01 -2.69013409e-01 3.19708373e+01] [ 3.93366123e-01 -1.68909656e-02 9.19226734e-01 2.17379780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:93.42, Y:31.99, Z:21.75 [[ 6.43766025e-01 -7.14785071e-01 -2.73217143e-01 9.34225537e+01] [ 6.58218677e-01 6.99344063e-01 -2.78686302e-01 3.19919144e+01] [ 3.90273595e-01 -4.27853600e-04 9.20698831e-01 2.17485199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.44, Y:32.01, Z:21.76 [[ 6.42634495e-01 -7.16579705e-01 -2.71172329e-01 9.34400903e+01] [ 6.60952060e-01 6.97503936e-01 -2.76822387e-01 3.20100864e+01] [ 3.87509071e-01 -1.33629486e-03 9.21864922e-01 2.17602661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.46, Y:32.03, Z:21.77 [[ 6.42386971e-01 -7.16843334e-01 -2.71062011e-01 9.34583704e+01] [ 6.61192632e-01 6.97233011e-01 -2.76930374e-01 3.20291349e+01] [ 3.87509075e-01 -1.32774028e-03 9.21864933e-01 2.17710450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.48, Y:32.05, Z:21.78 [[ 6.40250622e-01 -7.18773557e-01 -2.71005007e-01 9.34770403e+01] [ 6.63225135e-01 6.95240328e-01 -2.77079966e-01 3.20472971e+01] [ 3.87571363e-01 -2.33671140e-03 9.21836742e-01 2.17826227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.57710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.50, Y:32.07, Z:21.79 [[ 6.38956985e-01 -7.30202545e-01 -2.41946720e-01 9.34985381e+01] [ 6.68824850e-01 6.82729702e-01 -2.94199716e-01 3.20723618e+01] [ 3.80009593e-01 2.61609850e-02 9.24612520e-01 2.17856496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.52, Y:32.08, Z:21.81 [[ 6.34608162e-01 -7.14889415e-01 -2.93607911e-01 9.35159675e+01] [ 6.71040129e-01 6.98167620e-01 -2.49533803e-01 3.20805866e+01] [ 3.83376611e-01 -3.86665022e-02 9.22782355e-01 2.18097338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.637105681 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:93.53, Y:32.10, Z:21.82 [[ 6.33445965e-01 -7.25870403e-01 -2.68064109e-01 9.35300689e+01] [ 6.71922200e-01 6.87804201e-01 -2.74674241e-01 3.21039801e+01] [ 3.83753522e-01 -6.12693640e-03 9.23415234e-01 2.18161913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.55, Y:32.12, Z:21.83 [[ 6.31217478e-01 -7.32235034e-01 -2.55727103e-01 9.35453442e+01] [ 6.71595946e-01 6.80935575e-01 -2.92037032e-01 3.21233173e+01] [ 3.87973428e-01 1.25935927e-02 9.21584516e-01 2.18270969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:93.57, Y:32.14, Z:21.84 [[ 6.32031116e-01 -7.22454429e-01 -2.80350255e-01 9.35670649e+01] [ 6.74157003e-01 6.90996886e-01 -2.60836424e-01 3.21384798e+01] [ 3.82163582e-01 -2.41433515e-02 9.23779246e-01 2.18390970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.58, Y:32.16, Z:21.85 [[ 6.32478016e-01 -7.28504184e-01 -2.63160054e-01 9.35791641e+01] [ 6.69474994e-01 6.85018918e-01 -2.87319185e-01 3.21638492e+01] [ 3.89582844e-01 5.54399200e-03 9.20974740e-01 2.18465465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:93.60, Y:32.18, Z:21.86 [[ 6.35785777e-01 -7.20136116e-01 -2.77813644e-01 9.35978148e+01] [ 6.67094031e-01 6.93716998e-01 -2.71555299e-01 3.21845288e+01] [ 3.88280825e-01 -1.26768274e-02 9.21453905e-01 2.18555379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.61, Y:32.21, Z:21.87 [[ 6.38354662e-01 -7.20532120e-01 -2.70807663e-01 9.36135103e+01] [ 6.64613109e-01 6.93417695e-01 -2.78318730e-01 3.22053868e+01] [ 3.88320410e-01 -2.31626419e-03 9.21521510e-01 2.18662580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.63, Y:32.23, Z:21.88 [[ 6.42983437e-01 -7.21181093e-01 -2.57818019e-01 9.36253543e+01] [ 6.57509754e-01 6.92413274e-01 -2.97060230e-01 3.22271423e+01] [ 3.92750840e-01 2.14869452e-02 9.19393870e-01 2.18780007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.65, Y:32.25, Z:21.89 [[ 6.44524944e-01 -7.10623926e-01 -2.82136904e-01 9.36474477e+01] [ 6.59981705e-01 7.03388202e-01 -2.63949212e-01 3.22454432e+01] [ 3.86020395e-01 -1.60833437e-02 9.22350032e-01 2.18896341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.66, Y:32.28, Z:21.88 [[ 6.50047561e-01 -7.28863323e-01 -2.14933535e-01 9.36597081e+01] [ 6.59598431e-01 6.81654019e-01 -3.16666557e-01 3.22845377e+01] [ 3.77316947e-01 6.40785003e-02 9.23864637e-01 2.18815182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:93.68, Y:32.30, Z:21.90 [[ 6.48818675e-01 -7.16483309e-01 -2.56292790e-01 9.36847288e+01] [ 6.59117697e-01 6.97472697e-01 -2.81239575e-01 3.22986076e+01] [ 3.80260685e-01 1.35463747e-02 9.24780140e-01 2.18970113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.70, Y:32.30, Z:21.93 [[ 6.42833173e-01 -6.92797012e-01 -3.26799345e-01 9.37049064e+01] [ 6.58774174e-01 7.17704412e-01 -2.25647879e-01 3.22985680e+01] [ 3.90873508e-01 -7.02330266e-02 9.17760983e-01 2.19283001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.96710568099999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:93.71, Y:32.33, Z:21.93 [[ 6.40985076e-01 -7.21040912e-01 -2.63131405e-01 9.37130251e+01] [ 6.58392251e-01 6.92720261e-01 -2.94377791e-01 3.23268535e+01] [ 3.94534886e-01 1.54480928e-02 9.18751098e-01 2.19340380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.997105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.73, Y:32.34, Z:21.95 [[ 6.36911680e-01 -7.17570546e-01 -2.81843970e-01 9.37343696e+01] [ 6.64613591e-01 6.96329705e-01 -2.70949658e-01 3.23440805e+01] [ 3.90681822e-01 -1.47463314e-02 9.20407659e-01 2.19455839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.75, Y:32.38, Z:21.96 [[ 6.28200217e-01 -7.37415824e-01 -2.48157992e-01 9.37475978e+01] [ 6.66243033e-01 6.74562685e-01 -3.17939309e-01 3.23760488e+01] [ 4.01851599e-01 3.43960097e-02 9.15058581e-01 2.19589587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:93.77, Y:32.38, Z:21.97 [[ 6.28267585e-01 -7.19278794e-01 -2.96509457e-01 9.37694994e+01] [ 6.69361356e-01 6.93990868e-01 -2.65201904e-01 3.23798726e+01] [ 3.96528961e-01 -3.18542123e-02 9.17469396e-01 2.19704243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:93.78, Y:32.40, Z:21.98 [[ 6.22702022e-01 -7.33397929e-01 -2.72708030e-01 9.37828933e+01] [ 6.73235929e-01 6.79795196e-01 -2.90915581e-01 3.24020549e+01] [ 3.98742493e-01 -2.44312277e-03 9.17059679e-01 2.19813846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.81, Y:32.42, Z:21.99 [[ 6.22202092e-01 -7.25643929e-01 -2.93777884e-01 9.38054145e+01] [ 6.78355296e-01 6.87059024e-01 -2.60353584e-01 3.24168972e+01] [ 3.90766744e-01 -3.72932388e-02 9.19733965e-01 2.19929889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:93.82, Y:32.44, Z:21.99 [[ 6.17762146e-01 -7.47558469e-01 -2.43980053e-01 9.38173186e+01] [ 6.83059895e-01 6.63848932e-01 -3.04522210e-01 3.24446168e+01] [ 3.89614055e-01 2.14693048e-02 9.20727950e-01 2.19947845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:93.84, Y:32.45, Z:22.02 [[ 6.12370112e-01 -7.33127374e-01 -2.95849792e-01 9.38373868e+01] [ 6.88825526e-01 6.78439151e-01 -2.55420658e-01 3.24546026e+01] [ 3.87971958e-01 -4.73769115e-02 9.20452708e-01 2.20163890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:93.85, Y:32.48, Z:22.02 [[ 6.10006259e-01 -7.44951910e-01 -2.70072241e-01 9.38491816e+01] [ 6.90550041e-01 6.66931999e-01 -2.79897034e-01 3.24784308e+01] [ 3.88629649e-01 -1.57594542e-02 9.21259266e-01 2.20245128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.87, Y:32.50, Z:22.04 [[ 6.07373407e-01 -7.47196802e-01 -2.69804528e-01 9.38651915e+01] [ 6.93030434e-01 6.64384749e-01 -2.79824451e-01 3.24987636e+01] [ 3.88337949e-01 -1.70248190e-02 9.21359752e-01 2.20360807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:93.88, Y:32.52, Z:22.05 [[ 6.04471928e-01 -7.49445954e-01 -2.70082302e-01 9.38795704e+01] [ 6.95277771e-01 6.61811981e-01 -2.80345718e-01 3.25189320e+01] [ 3.88847668e-01 -1.83211041e-02 9.21119877e-01 2.20466003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.89, Y:32.54, Z:22.06 [[ 6.02345525e-01 -7.51116581e-01 -2.70192061e-01 9.38944573e+01] [ 6.96973830e-01 6.59888643e-01 -2.80667881e-01 3.25396821e+01] [ 3.89110971e-01 -1.92577536e-02 9.20989572e-01 2.20557924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.32710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.91, Y:32.56, Z:22.06 [[ 5.99421226e-01 -7.55115353e-01 -2.65508942e-01 9.39054798e+01] [ 6.96901196e-01 6.55505555e-01 -2.90931592e-01 3.25614657e+01] [ 3.93729498e-01 -1.06429277e-02 9.19164735e-01 2.20643825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.357105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:93.92, Y:32.58, Z:22.08 [[ 5.97597247e-01 -7.52627062e-01 -2.76459826e-01 9.39242505e+01] [ 7.00200315e-01 6.57859294e-01 -2.77381810e-01 3.25828396e+01] [ 3.90636722e-01 -2.78146513e-02 9.20124609e-01 2.20753337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.93, Y:32.61, Z:22.09 [[ 5.93933892e-01 -7.59896224e-01 -2.64197390e-01 9.39304540e+01] [ 6.98265964e-01 6.50012986e-01 -2.99846232e-01 3.26079490e+01] [ 3.99583753e-01 -6.39120542e-03 9.16674411e-01 2.20864096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.94, Y:32.63, Z:22.10 [[ 5.91504894e-01 -7.54404073e-01 -2.84598762e-01 9.39447842e+01] [ 7.02708760e-01 6.55409201e-01 -2.76837818e-01 3.26330769e+01] [ 3.95376225e-01 -3.62391192e-02 9.17804101e-01 2.20962425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:93.96, Y:32.66, Z:22.11 [[ 5.90491808e-01 -7.58809953e-01 -2.74821542e-01 9.39571432e+01] [ 7.03237072e-01 6.50857287e-01 -2.86081129e-01 3.26570950e+01] [ 3.95950812e-01 -2.43361332e-02 9.17949186e-01 2.21076244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:93.96, Y:32.69, Z:22.11 [[ 5.92071726e-01 -7.72469061e-01 -2.29657616e-01 9.39625292e+01] [ 7.01796191e-01 6.34304677e-01 -3.24252499e-01 3.26897982e+01] [ 3.96147923e-01 3.08078971e-02 9.17669710e-01 2.21114992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:32.70, Z:22.13 [[ 5.93820722e-01 -7.41954911e-01 -3.11255296e-01 9.39861475e+01] [ 7.03749562e-01 6.66472150e-01 -2.46071995e-01 3.27002789e+01] [ 3.90017312e-01 -7.29231287e-02 9.17915417e-01 2.21329115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:32.73, Z:22.15 [[ 6.02228370e-01 -7.51373247e-01 -2.69739196e-01 9.39883235e+01] [ 6.97010372e-01 6.59613820e-01 -2.81222598e-01 3.27327588e+01] [ 3.89226838e-01 -1.86507905e-02 9.20953102e-01 2.21459222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.00, Y:32.76, Z:22.16 [[ 6.14370229e-01 -7.41896998e-01 -2.68585305e-01 9.39952775e+01] [ 6.87042590e-01 6.70400003e-01 -2.80243315e-01 3.27605145e+01] [ 3.87971264e-01 -1.23563939e-02 9.21588638e-01 2.21556726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.00, Y:32.79, Z:22.16 [[ 6.27161330e-01 -7.30848308e-01 -2.69312860e-01 9.40042079e+01] [ 6.74595575e-01 6.82519325e-01 -2.81226210e-01 3.27888378e+01] [ 3.89344931e-01 -5.30305930e-03 9.21076762e-01 2.21644892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.02, Y:32.81, Z:22.18 [[ 6.33112665e-01 -7.25378749e-01 -2.70174063e-01 9.40183754e+01] [ 6.68171865e-01 6.88347710e-01 -2.82354014e-01 3.28117608e+01] [ 3.90787299e-01 -1.76080536e-03 9.20479324e-01 2.21752218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:94.03, Y:32.84, Z:22.19 [[ 6.42808960e-01 -7.16206967e-01 -2.71742932e-01 9.40291578e+01] [ 6.57409321e-01 6.97876169e-01 -2.84221458e-01 3.28364378e+01] [ 3.93204305e-01 4.05376283e-03 9.19442190e-01 2.21853020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.68710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.04, Y:32.86, Z:22.20 [[ 6.45783803e-01 -7.15496367e-01 -2.66511218e-01 9.40426297e+01] [ 6.50974149e-01 6.98367783e-01 -2.97514868e-01 3.28581140e+01] [ 3.98993655e-01 1.86383695e-02 9.16764241e-01 2.21981159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.71710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.06, Y:32.88, Z:22.21 [[ 6.51963902e-01 -7.04073467e-01 -2.81466915e-01 9.40625778e+01] [ 6.46848912e-01 7.10126695e-01 -2.78040577e-01 3.28791334e+01] [ 3.95638163e-01 -7.94148290e-04 9.18406127e-01 2.22061363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.747105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:94.08, Y:32.90, Z:22.22 [[ 6.52939972e-01 -7.11602006e-01 -2.59406973e-01 9.40753915e+01] [ 6.43443821e-01 7.01823292e-01 -3.05653588e-01 3.29008390e+01] [ 3.99561563e-01 3.26596315e-02 9.16124394e-01 2.22201382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.09, Y:32.92, Z:22.23 [[ 6.51321024e-01 -7.10107760e-01 -2.67446990e-01 9.40932800e+01] [ 6.42373048e-01 7.03610390e-01 -3.03791517e-01 3.29188131e+01] [ 4.03903194e-01 2.60650639e-02 9.14430327e-01 2.22345847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.12, Y:32.93, Z:22.24 [[ 6.53470575e-01 -6.94902764e-01 -3.00143892e-01 9.41230649e+01] [ 6.46797156e-01 7.18590284e-01 -2.55502334e-01 3.29296294e+01] [ 3.93229763e-01 -2.71689581e-02 9.19038738e-01 2.22379957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.14, Y:32.95, Z:22.25 [[ 6.52629063e-01 -7.15815151e-01 -2.48362591e-01 9.41350229e+01] [ 6.49696419e-01 6.97353276e-01 -3.02643307e-01 3.29543213e+01] [ 3.89833131e-01 3.61535319e-02 9.20175555e-01 2.22480155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.16, Y:32.96, Z:22.26 [[ 6.48708449e-01 -7.03177090e-01 -2.91065848e-01 9.41626114e+01] [ 6.52190971e-01 7.10764552e-01 -2.63553958e-01 3.29619770e+01] [ 3.92204392e-01 -1.88608381e-02 9.19684720e-01 2.22606687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.18, Y:32.98, Z:22.27 [[ 6.46333923e-01 -7.14020871e-01 -2.69122009e-01 9.41842518e+01] [ 6.55736513e-01 7.00097020e-01 -2.82619511e-01 3.29770361e+01] [ 3.90207746e-01 6.19344968e-03 9.20706010e-01 2.22717114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.20, Y:33.00, Z:22.29 [[ 6.42494493e-01 -7.24070579e-01 -2.50843824e-01 9.42023355e+01] [ 6.55155844e-01 6.88836635e-01 -3.10281984e-01 3.29966011e+01] [ 3.97456472e-01 3.50126685e-02 9.16952816e-01 2.22877479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.23, Y:33.01, Z:22.29 [[ 6.44302996e-01 -7.12999592e-01 -2.76595791e-01 9.42297972e+01] [ 6.58964969e-01 7.01131618e-01 -2.72359365e-01 3.30068832e+01] [ 3.88122170e-01 -6.78498182e-03 9.21582956e-01 2.22851738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.25, Y:33.03, Z:22.29 [[ 6.41537845e-01 -7.20754497e-01 -2.62568370e-01 9.42502904e+01] [ 6.60606111e-01 6.93093059e-01 -2.88481504e-01 3.30260365e+01] [ 3.89908656e-01 1.16175327e-02 9.20780252e-01 2.22941870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.27, Y:33.04, Z:22.31 [[ 6.37652683e-01 -7.12567660e-01 -2.92654036e-01 9.42737886e+01] [ 6.61172498e-01 7.01212874e-01 -2.66742260e-01 3.30352704e+01] [ 3.95284686e-01 -2.34058823e-02 9.18260411e-01 2.23126753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.29, Y:33.05, Z:22.33 [[ 6.34848092e-01 -7.27452985e-01 -2.60346030e-01 9.42893283e+01] [ 6.60585192e-01 6.85807001e-01 -3.05443877e-01 3.30534356e+01] [ 4.00743190e-01 2.19297300e-02 9.15927935e-01 2.23271021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.07710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.31, Y:33.07, Z:22.34 [[ 6.35095692e-01 -7.18331422e-01 -2.83995476e-01 9.43118949e+01] [ 6.62554963e-01 6.95601849e-01 -2.77775068e-01 3.30669176e+01] [ 3.97082338e-01 -1.17488637e-02 9.17707786e-01 2.23372880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.33, Y:33.09, Z:22.34 [[ 6.41597595e-01 -7.26197782e-01 -2.46960134e-01 9.43294152e+01] [ 6.60069431e-01 6.86724126e-01 -3.04496831e-01 3.30894774e+01] [ 3.90718406e-01 3.23535995e-02 9.19941505e-01 2.23440189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.35, Y:33.09, Z:22.36 [[ 6.48488077e-01 -6.99175456e-01 -3.01026404e-01 9.43512114e+01] [ 6.48762001e-01 7.14497254e-01 -2.61918955e-01 3.30868209e+01] [ 3.98209844e-01 -2.54431725e-02 9.16941419e-01 2.23612056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.37, Y:33.12, Z:22.38 [[ 6.48657030e-01 -7.17427374e-01 -2.54051216e-01 9.43660872e+01] [ 6.48163695e-01 6.95691911e-01 -3.09671745e-01 3.31190129e+01] [ 3.98908363e-01 3.62039798e-02 9.16275826e-01 2.23759644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.39, Y:33.14, Z:22.39 [[ 6.51634196e-01 -7.15490109e-01 -2.51886438e-01 9.43869145e+01] [ 6.42762023e-01 6.97172595e-01 -3.17501738e-01 3.31378609e+01] [ 4.02777675e-01 4.49919531e-02 9.14191374e-01 2.23921855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.42, Y:33.14, Z:22.40 [[ 6.56695896e-01 -6.91057231e-01 -3.01977490e-01 9.44189068e+01] [ 6.42152903e-01 7.22353422e-01 -2.56603163e-01 3.31414799e+01] [ 3.95461945e-01 -2.54054783e-02 9.18130934e-01 2.24004816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:94.44, Y:33.16, Z:22.41 [[ 6.56897495e-01 -7.03867917e-01 -2.70288062e-01 9.44350314e+01] [ 6.42687448e-01 7.10170464e-01 -2.87420871e-01 3.31619544e+01] [ 3.94256928e-01 1.50953051e-02 9.18876274e-01 2.24104673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28710568099999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:94.46, Y:33.17, Z:22.42 [[ 6.55874961e-01 -7.03845281e-01 -2.72818356e-01 9.44587657e+01] [ 6.41355602e-01 7.10185134e-01 -2.90344738e-01 3.31746269e+01] [ 3.98109314e-01 1.54562623e-02 9.17207761e-01 2.24192853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.48, Y:33.19, Z:22.43 [[ 6.55639913e-01 -7.03584219e-01 -2.74053919e-01 9.44798551e+01] [ 6.40419700e-01 7.10436176e-01 -2.91792817e-01 3.31907180e+01] [ 3.99998640e-01 1.58014887e-02 9.16379507e-01 2.24297641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.51, Y:33.20, Z:22.44 [[ 6.56901317e-01 -7.01893792e-01 -2.75364784e-01 9.45056208e+01] [ 6.37847716e-01 7.12076083e-01 -2.93424510e-01 3.32016412e+01] [ 4.02033519e-01 1.71101490e-02 9.15465069e-01 2.24409661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.53, Y:33.21, Z:22.45 [[ 6.60752778e-01 -6.99502483e-01 -2.72216902e-01 9.45282249e+01] [ 6.32544601e-01 7.14161275e-01 -2.99768244e-01 3.32101339e+01] [ 4.04095401e-01 2.58833686e-02 9.14350566e-01 2.24513301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.55, Y:33.23, Z:22.47 [[ 6.60998990e-01 -6.98362607e-01 -2.74535979e-01 9.45514411e+01] [ 6.34476084e-01 7.15488984e-01 -2.92430526e-01 3.32287246e+01] [ 4.00650013e-01 1.91097700e-02 9.16031868e-01 2.24652296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.43710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.57, Y:33.25, Z:22.48 [[ 6.60847419e-01 -6.98607765e-01 -2.74277012e-01 9.45692012e+01] [ 6.34641159e-01 7.15243292e-01 -2.92673251e-01 3.32480195e+01] [ 4.00638599e-01 1.93448817e-02 9.16031926e-01 2.24764033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.46710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.59, Y:33.26, Z:22.49 [[ 6.64838769e-01 -6.95212610e-01 -2.73255994e-01 9.45930274e+01] [ 6.31405824e-01 7.18485016e-01 -2.91729270e-01 3.32593620e+01] [ 3.99144204e-01 2.14175028e-02 9.16637985e-01 2.24896545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.497105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.61, Y:33.27, Z:22.50 [[ 6.66448146e-01 -6.93518789e-01 -2.73639467e-01 9.46143761e+01] [ 6.29281697e-01 7.20082085e-01 -2.92380467e-01 3.32736611e+01] [ 3.99814225e-01 2.26601124e-02 9.16316051e-01 2.25010392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:33.28, Z:22.51 [[ 6.69055405e-01 -6.91351743e-01 -2.72759293e-01 9.46422270e+01] [ 6.27315615e-01 7.22120465e-01 -2.91577011e-01 3.32833058e+01] [ 3.98547342e-01 2.39750118e-02 9.16834344e-01 2.25121818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.67, Y:33.29, Z:22.52 [[ 6.68871958e-01 -6.91945228e-01 -2.71702237e-01 9.46675918e+01] [ 6.28372831e-01 7.21560871e-01 -2.90684528e-01 3.32931374e+01] [ 3.97187475e-01 2.37004256e-02 9.17431414e-01 2.25232358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:94.69, Y:33.31, Z:22.53 [[ 6.68117390e-01 -6.92479559e-01 -2.72197012e-01 9.46895405e+01] [ 6.28647429e-01 7.21053358e-01 -2.91349386e-01 3.33078357e+01] [ 3.98022064e-01 2.35396392e-02 9.17073782e-01 2.25343316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.72, Y:33.32, Z:22.54 [[ 6.67241236e-01 -6.92766155e-01 -2.73613208e-01 9.47161262e+01] [ 6.28155602e-01 7.20772886e-01 -2.93098937e-01 3.33191617e+01] [ 4.00262005e-01 2.36960273e-02 9.16094332e-01 2.25446444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.74, Y:33.33, Z:22.55 [[ 6.66644608e-01 -6.92717810e-01 -2.75185396e-01 9.47419912e+01] [ 6.27218106e-01 7.20806960e-01 -2.95016567e-01 3.33291829e+01] [ 4.02718779e-01 2.40699410e-02 9.15007226e-01 2.25538795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67710568099999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:94.76, Y:33.34, Z:22.57 [[ 6.66146469e-01 -6.93226658e-01 -2.75110309e-01 9.47632574e+01] [ 6.27746897e-01 7.20324573e-01 -2.95070065e-01 3.33438401e+01] [ 4.02719150e-01 2.38602390e-02 9.15012554e-01 2.25651999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70710568099999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:94.79, Y:33.36, Z:22.58 [[ 6.64542106e-01 -6.95051515e-01 -2.74385095e-01 9.47875294e+01] [ 6.29980102e-01 7.18596206e-01 -2.94524300e-01 3.33553003e+01] [ 4.01881650e-01 2.28666484e-02 9.15406061e-01 2.25767203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73710568099999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:94.81, Y:33.37, Z:22.59 [[ 6.60247953e-01 -6.99366172e-01 -2.73787505e-01 9.48110099e+01] [ 6.34885108e-01 7.14475223e-01 -2.94017101e-01 3.33685325e+01] [ 4.01240003e-01 2.03005796e-02 9.15747971e-01 2.25871302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.76710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:94.83, Y:33.38, Z:22.60 [[ 6.56838803e-01 -7.02408811e-01 -2.74198192e-01 9.48319969e+01] [ 6.37872357e-01 7.11529003e-01 -2.94695325e-01 3.33848579e+01] [ 4.02096559e-01 1.86638778e-02 9.15407023e-01 2.25978152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79710568099999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:94.86, Y:33.40, Z:22.61 [[ 6.46622903e-01 -7.11612155e-01 -2.74748908e-01 9.48566342e+01] [ 6.47479541e-01 7.02448497e-01 -2.95527247e-01 3.33964070e+01] [ 4.03297738e-01 1.32003897e-02 9.14973597e-01 2.26086694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.82710568099999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:94.88, Y:33.41, Z:22.62 [[ 6.40618455e-01 -7.17256451e-01 -2.74137154e-01 9.48772058e+01] [ 6.53818001e-01 6.96740359e-01 -2.95084553e-01 3.34119199e+01] [ 4.02653718e-01 9.80080386e-03 9.15299911e-01 2.26203198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.857105681 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:94.90, Y:33.43, Z:22.63 [[ 6.27920047e-01 -7.28719515e-01 -2.73284253e-01 9.48999829e+01] [ 6.66609644e-01 6.84807022e-01 -2.94399260e-01 3.34262023e+01] [ 4.01681462e-01 2.68527840e-03 9.15775514e-01 2.26318384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88710568099998 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:94.92, Y:33.44, Z:22.64 [[ 6.21427599e-01 -7.34153231e-01 -2.73581381e-01 9.49195830e+01] [ 6.72296394e-01 6.78983528e-01 -2.94955807e-01 3.34436245e+01] [ 4.02300010e-01 -6.34097286e-04 9.15507673e-01 2.26421540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91710568099998 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:94.94, Y:33.46, Z:22.65 [[ 6.11899997e-01 -7.41785308e-01 -2.74468487e-01 9.49406196e+01] [ 6.80123868e-01 6.70615228e-01 -2.96153238e-01 3.34592749e+01] [ 4.03744868e-01 -5.45640324e-03 9.14855349e-01 2.26521312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94710568099998 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:94.96, Y:33.48, Z:22.66 [[ 6.07392054e-01 -7.45184895e-01 -2.75271439e-01 9.49603812e+01] [ 6.83369465e-01 6.66815074e-01 -2.97260545e-01 3.34750937e+01] [ 4.05069213e-01 -7.55840317e-03 9.14254780e-01 2.26644754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97710568099998 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:94.98, Y:33.49, Z:22.68 [[ 6.08545717e-01 -7.43338850e-01 -2.77703915e-01 9.49778917e+01] [ 6.80080742e-01 6.68886187e-01 -3.00135724e-01 3.34941295e+01] [ 4.08854857e-01 -6.21477479e-03 9.12578261e-01 2.26752207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00710568099998 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:94.99, Y:33.51, Z:22.69 [[ 6.11956813e-01 -7.40239817e-01 -2.78484958e-01 9.49933472e+01] [ 6.76191137e-01 6.72331192e-01 -3.01224692e-01 3.35133132e+01] [ 4.10212634e-01 -3.97255757e-03 9.11981257e-01 2.26855513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:95.01, Y:33.53, Z:22.70 [[ 6.23094489e-01 -7.31306269e-01 -2.77388535e-01 9.50083674e+01] [ 6.66827317e-01 6.82045932e-01 -3.00257683e-01 3.35330014e+01] [ 4.08772048e-01 2.11865498e-03 9.12634058e-01 2.26985627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:95.02, Y:33.55, Z:22.71 [[ 6.28477842e-01 -7.27050866e-01 -2.76428363e-01 9.50248840e+01] [ 6.62543740e-01 6.86565060e-01 -2.99439830e-01 3.35521804e+01] [ 4.07494043e-01 5.04541709e-03 9.13193927e-01 2.27101827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09710568099999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:95.04, Y:33.57, Z:22.72 [[ 6.36613051e-01 -7.20589520e-01 -2.74726348e-01 9.50397087e+01] [ 6.56232632e-01 6.93299414e-01 -2.97816480e-01 3.35735870e+01] [ 4.05071051e-01 9.30946345e-03 9.14237812e-01 2.27213294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12710568099999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:95.06, Y:33.59, Z:22.73 [[ 6.39108638e-01 -7.18638063e-01 -2.74042849e-01 9.50556842e+01] [ 6.54342293e-01 6.95302083e-01 -2.97306536e-01 3.35939076e+01] [ 4.04198357e-01 1.06933489e-02 9.14608846e-01 2.27316694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15710568099999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:95.07, Y:33.61, Z:22.74 [[ 6.41929258e-01 -7.16439035e-01 -2.73206766e-01 9.50730915e+01] [ 6.52262598e-01 6.97542832e-01 -2.96626872e-01 3.36110217e+01] [ 4.03088491e-01 1.22109126e-02 9.15079539e-01 2.27423668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18710568099999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:95.09, Y:33.63, Z:22.75 [[ 6.42493959e-01 -7.16521347e-01 -2.71659111e-01 9.50916118e+01] [ 6.53022847e-01 6.97457901e-01 -2.95150196e-01 3.36277486e+01] [ 4.00952210e-01 1.22326117e-02 9.16017297e-01 2.27540854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.21710568099999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:95.11, Y:33.65, Z:22.76 [[ 6.42016616e-01 -7.17019065e-01 -2.71474356e-01 9.51087740e+01] [ 6.53565542e-01 6.96949128e-01 -2.95150802e-01 3.36470883e+01] [ 4.00832568e-01 1.20654343e-02 9.16071874e-01 2.27648158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.247105681 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:95.13, Y:33.67, Z:22.77 [[ 6.41568456e-01 -7.16699992e-01 -2.73369782e-01 9.51258307e+01] [ 6.52187248e-01 6.97268920e-01 -2.97435450e-01 3.36669748e+01] [ 4.03784237e-01 1.25369165e-02 9.14768340e-01 2.27735648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27710568099998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:95.14, Y:33.68, Z:22.78 [[ 6.42060147e-01 -7.15670510e-01 -2.74908147e-01 9.51441236e+01] [ 6.50213277e-01 6.98308986e-01 -2.99311301e-01 3.36836970e+01] [ 4.06179101e-01 1.34269310e-02 9.13694837e-01 2.27833665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30710568099998 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:95.16, Y:33.70, Z:22.79 [[ 6.42666500e-01 -7.14996569e-01 -2.75244756e-01 9.51621922e+01] [ 6.49222932e-01 6.98987253e-01 -2.99877315e-01 3.37015344e+01] [ 4.06803827e-01 1.40258968e-02 9.13407861e-01 2.27948338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33710568099998 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:95.18, Y:33.73, Z:22.79 [[ 6.46206183e-01 -7.23116433e-01 -2.43967607e-01 9.51782037e+01] [ 6.50154052e-01 6.89035315e-01 -3.20203128e-01 3.37291466e+01] [ 3.99646441e-01 4.83007126e-02 9.15395960e-01 2.27881716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36710568099998 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:95.20, Y:33.73, Z:22.82 [[ 6.45098298e-01 -7.02061310e-01 -3.01592612e-01 9.52009095e+01] [ 6.44927949e-01 7.11952647e-01 -2.77833348e-01 3.37332442e+01] [ 4.09775702e-01 -1.52756845e-02 9.12058401e-01 2.28220742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39710568099999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:95.22, Y:33.76, Z:22.83 [[ 6.44824661e-01 -7.12258544e-01 -2.77288519e-01 9.52182990e+01] [ 6.45019081e-01 7.01729684e-01 -3.02532372e-01 3.37570610e+01] [ 4.10062852e-01 1.62239487e-02 9.11912957e-01 2.28259479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42710568099999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:95.24, Y:33.77, Z:22.84 [[ 6.39736365e-01 -7.16282119e-01 -2.78706493e-01 9.52385107e+01] [ 6.48581824e-01 6.97672273e-01 -3.04294295e-01 3.37728760e+01] [ 4.12406354e-01 1.39041607e-02 9.10893887e-01 2.28369356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45710568099999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:95.26, Y:33.79, Z:22.85 [[ 6.36138529e-01 -7.19714601e-01 -2.78098300e-01 9.52565002e+01] [ 6.52530246e-01 6.94169212e-01 -3.03864088e-01 3.37898232e+01] [ 4.11742699e-01 1.18321020e-02 9.11223327e-01 2.28478235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48710568099999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:95.28, Y:33.81, Z:22.86 [[ 6.28360363e-01 -7.26910359e-01 -2.77064223e-01 9.52774634e+01] [ 6.60814196e-01 6.86693862e-01 -3.02945767e-01 3.38053225e+01] [ 4.10472718e-01 7.27114044e-03 9.11843889e-01 2.28600937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:95.30, Y:33.82, Z:22.87 [[ 6.17460068e-01 -7.38654661e-01 -2.70429948e-01 9.52979629e+01] [ 6.67607881e-01 6.73920569e-01 -3.16434487e-01 3.38245901e+01] [ 4.15984114e-01 1.48444952e-02 9.09250713e-01 2.28692964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.54710568099999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:95.32, Y:33.83, Z:22.89 [[ 6.15157055e-01 -7.28644064e-01 -3.01097370e-01 9.53177429e+01] [ 6.71683276e-01 6.84333221e-01 -2.83777412e-01 3.38318961e+01] [ 4.12823659e-01 -2.76743911e-02 9.10390441e-01 2.28850509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.57710568099999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:95.33, Y:33.86, Z:22.89 [[ 6.08230092e-01 -7.49244678e-01 -2.62085040e-01 9.53343898e+01] [ 6.77887836e-01 6.62082770e-01 -3.19553575e-01 3.38603091e+01] [ 4.12945805e-01 1.66978395e-02 9.10602517e-01 2.28897808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.607105681 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:95.35, Y:33.89, Z:22.89 [[ 6.04723055e-01 -7.64854608e-01 -2.22052821e-01 9.53462992e+01] [ 6.82322182e-01 6.41339008e-01 -3.50885617e-01 3.38912731e+01] [ 4.10787617e-01 6.06770572e-02 9.09709750e-01 2.28886485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63710568099998 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:95.37, Y:33.90, Z:22.91 [[ 6.03934163e-01 -7.44692891e-01 -2.84070458e-01 9.53681010e+01] [ 6.82681403e-01 6.67259361e-01 -2.97843996e-01 3.39005189e+01] [ 4.11350979e-01 -1.40514545e-02 9.11368712e-01 2.29134045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:95.38, Y:33.91, Z:22.95 [[ 6.01338414e-01 -7.31726505e-01 -3.20886947e-01 9.53791125e+01] [ 6.80759776e-01 6.79465336e-01 -2.73665827e-01 3.39101088e+01] [ 4.18280097e-01 -5.38811512e-02 9.06718579e-01 2.29491887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69710568099998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:95.39, Y:33.94, Z:22.95 [[ 6.01234102e-01 -7.47569884e-01 -2.82235404e-01 9.53889465e+01] [ 6.80476783e-01 6.64156798e-01 -3.09591822e-01 3.39428392e+01] [ 4.18890084e-01 -5.91747914e-03 9.08017665e-01 2.29499911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72710568099998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:95.40, Y:33.97, Z:22.96 [[ 5.99426792e-01 -7.49109750e-01 -2.81996638e-01 9.54026212e+01] [ 6.82181401e-01 6.62410988e-01 -3.09580713e-01 3.39654132e+01] [ 4.18707602e-01 -6.80188813e-03 9.08095633e-01 2.29607389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75710568099998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:95.41, Y:33.99, Z:22.97 [[ 5.95151810e-01 -7.51413308e-01 -2.84907640e-01 9.54141912e+01] [ 6.88038843e-01 6.59637353e-01 -3.02458448e-01 3.39875423e+01] [ 4.15207025e-01 -1.60188301e-02 9.09585908e-01 2.29712025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78710568099999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:95.43, Y:34.01, Z:22.98 [[ 5.90029586e-01 -7.59624700e-01 -2.73560603e-01 9.54288710e+01] [ 6.91274282e-01 6.50353370e-01 -3.14929137e-01 3.40124665e+01] [ 4.17139011e-01 -3.28790103e-03 9.08836748e-01 2.29816736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81710568099999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:95.44, Y:34.04, Z:22.98 [[ 5.84093492e-01 -7.73547399e-01 -2.45884556e-01 9.54420970e+01] [ 7.00359842e-01 6.33423231e-01 -3.29045745e-01 3.40444261e+01] [ 4.10281470e-01 1.99858091e-02 9.11739920e-01 2.29775862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84710568099999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:95.46, Y:34.05, Z:23.01 [[ 5.78007636e-01 -7.55527293e-01 -3.08359663e-01 9.54556636e+01] [ 7.02248392e-01 6.53000977e-01 -2.83614033e-01 3.40528057e+01] [ 4.15637304e-01 -5.26140005e-02 9.08007378e-01 2.30126699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87710568099999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:95.47, Y:34.09, Z:23.02 [[ 5.78462509e-01 -7.67647511e-01 -2.75859429e-01 9.54658292e+01] [ 7.05338513e-01 6.40591065e-01 -3.03546815e-01 3.40898364e+01] [ 4.09730042e-01 -1.89838273e-02 9.12009269e-01 2.30151804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.90710568099999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:95.48, Y:34.11, Z:23.03 [[ 5.79736339e-01 -7.62736968e-01 -2.86597444e-01 9.54768824e+01] [ 6.98642978e-01 6.46323200e-01 -3.06862038e-01 3.41068668e+01] [ 4.19289597e-01 -2.23302175e-02 9.07577873e-01 2.30300941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:95.48, Y:34.14, Z:23.04 [[ 5.84772239e-01 -7.60073113e-01 -2.83425991e-01 9.54826575e+01] [ 6.93059041e-01 6.49691650e-01 -3.12361852e-01 3.41351989e+01] [ 4.21557345e-01 -1.37704061e-02 9.06697183e-01 2.30400246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.96710568099999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:95.49, Y:34.16, Z:23.05 [[ 5.87781018e-01 -7.57430090e-01 -2.84276510e-01 9.54939909e+01] [ 6.89591299e-01 6.52810598e-01 -3.13531759e-01 3.41595281e+01] [ 4.23057107e-01 -1.17465918e-02 9.06026877e-01 2.30504889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.997105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:34.19, Z:23.06 [[ 5.94924846e-01 -7.51256870e-01 -2.85792833e-01 9.55010558e+01] [ 6.81853809e-01 6.59970718e-01 -3.15458451e-01 3.41885095e+01] [ 4.25605229e-01 -7.19486154e-03 9.04880336e-01 2.30614869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:34.22, Z:23.07 [[ 6.00286922e-01 -7.50558613e-01 -2.76256004e-01 9.55051709e+01] [ 6.74110867e-01 6.60694727e-01 -3.30237817e-01 3.42197190e+01] [ 4.30383723e-01 1.20102683e-02 9.02566122e-01 2.30726868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.52, Y:34.24, Z:23.08 [[ 6.03749160e-01 -7.40007069e-01 -2.96439689e-01 9.55197477e+01] [ 6.75173648e-01 6.72384652e-01 -3.03380001e-01 3.42397506e+01] [ 4.23824843e-01 -1.69828452e-02 9.05584941e-01 2.30846459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.53, Y:34.27, Z:23.09 [[ 6.05688137e-01 -7.44110182e-01 -2.81854427e-01 9.55281628e+01] [ 6.75715317e-01 6.68054738e-01 -3.11627465e-01 3.42671851e+01] [ 4.20179355e-01 -1.70429486e-03 9.07439477e-01 2.30942658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:34.29, Z:23.11 [[ 6.04485525e-01 -7.45128184e-01 -2.81746764e-01 9.55411810e+01] [ 6.76773635e-01 6.66917580e-01 -3.11766561e-01 3.42901434e+01] [ 4.20207921e-01 -2.22040831e-03 9.07425133e-01 2.31050549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.56, Y:34.33, Z:23.10 [[ 6.07741107e-01 -7.61650068e-01 -2.24810855e-01 9.55561013e+01] [ 6.79923263e-01 6.45316544e-01 -3.48239737e-01 3.43277473e+01] [ 4.10310984e-01 5.87854728e-02 9.10048990e-01 2.30969203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:34.33, Z:23.13 [[ 6.02890147e-01 -7.24253711e-01 -3.34634177e-01 9.55742029e+01] [ 6.76406604e-01 6.86427524e-01 -2.67004421e-01 3.43271620e+01] [ 4.23081052e-01 -6.53744322e-02 9.03730384e-01 2.31318599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:34.36, Z:23.14 [[ 6.05066768e-01 -7.44322173e-01 -2.82628217e-01 9.55831785e+01] [ 6.75148367e-01 6.67819606e-01 -3.13355479e-01 3.43558364e+01] [ 4.21982095e-01 -1.21499259e-03 9.06603350e-01 2.31383416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.60, Y:34.38, Z:23.15 [[ 6.05308088e-01 -7.44724563e-01 -2.81047049e-01 9.55983550e+01] [ 6.76294540e-01 6.67370662e-01 -3.11836648e-01 3.43756199e+01] [ 4.19794967e-01 -1.31333933e-03 9.07618015e-01 2.31512359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.26710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.61, Y:34.40, Z:23.16 [[ 6.01860217e-01 -7.47544333e-01 -2.80965745e-01 9.56132197e+01] [ 6.79327375e-01 6.64204752e-01 -3.12003791e-01 3.43957380e+01] [ 4.19855448e-01 -3.08505269e-03 9.07585745e-01 2.31610842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:34.42, Z:23.17 [[ 5.99555740e-01 -7.49193327e-01 -2.81500042e-01 9.56298753e+01] [ 6.80792101e-01 6.62338600e-01 -3.12777387e-01 3.44158248e+01] [ 4.20779075e-01 -4.11552720e-03 9.07153809e-01 2.31719807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:34.44, Z:23.18 [[ 5.99294527e-01 -7.49450349e-01 -2.81372074e-01 9.56471134e+01] [ 6.81022014e-01 6.62047820e-01 -3.12892473e-01 3.44353928e+01] [ 4.20779141e-01 -4.10583004e-03 9.07153822e-01 2.31835015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.357105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:34.46, Z:23.19 [[ 5.95073802e-01 -7.52798922e-01 -2.81391104e-01 9.56636845e+01] [ 6.84601379e-01 6.58220496e-01 -3.13156080e-01 3.44557170e+01] [ 4.20960952e-01 -6.28975812e-03 9.07056953e-01 2.31929707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.68, Y:34.47, Z:23.20 [[ 5.88632833e-01 -7.58213191e-01 -2.80399974e-01 9.56819140e+01] [ 6.90975932e-01 6.51931346e-01 -3.12310393e-01 3.44728618e+01] [ 4.19599392e-01 -9.91348156e-03 9.07655261e-01 2.32047240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.70, Y:34.49, Z:23.22 [[ 5.76808538e-01 -7.68923369e-01 -2.75769400e-01 9.56984945e+01] [ 6.99814441e-01 6.39275568e-01 -3.18726366e-01 3.44946237e+01] [ 4.21368791e-01 -9.14331939e-03 9.06843284e-01 2.32170859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.72, Y:34.51, Z:23.23 [[ 5.73689146e-01 -7.66487802e-01 -2.88751127e-01 9.57154527e+01] [ 7.03580718e-01 6.41649801e-01 -3.05384522e-01 3.45115732e+01] [ 4.19350614e-01 -2.79639400e-02 9.07393564e-01 2.32272607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:34.53, Z:23.24 [[ 5.67833048e-01 -7.74483466e-01 -2.78820714e-01 9.57281887e+01] [ 7.09510032e-01 6.32242218e-01 -3.11231895e-01 3.45344194e+01] [ 4.17326184e-01 -2.10983383e-02 9.08511814e-01 2.32376850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:34.55, Z:23.25 [[ 5.66561369e-01 -7.75695733e-01 -2.78036590e-01 9.57433633e+01] [ 7.11122256e-01 6.30732659e-01 -3.10614634e-01 3.45536980e+01] [ 4.16309203e-01 -2.17357550e-02 9.08963258e-01 2.32502607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:34.58, Z:23.26 [[ 5.68679073e-01 -7.75077168e-01 -2.75426025e-01 9.57559092e+01] [ 7.11591089e-01 6.31521523e-01 -3.07926432e-01 3.45753407e+01] [ 4.12604210e-01 -2.08793865e-02 9.10671081e-01 2.32636021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.76, Y:34.60, Z:23.27 [[ 5.74707583e-01 -7.71388271e-01 -2.73260553e-01 9.57637090e+01] [ 7.08432424e-01 6.36113822e-01 -3.05749418e-01 3.46013495e+01] [ 4.09676330e-01 -1.78701264e-02 9.12055899e-01 2.32748935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:34.63, Z:23.29 [[ 5.78170338e-01 -7.68752520e-01 -2.73383656e-01 9.57760818e+01] [ 7.05356933e-01 6.39349950e-01 -3.06109848e-01 3.46253997e+01] [ 4.10110544e-01 -1.58494231e-02 9.11898096e-01 2.32850520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:34.65, Z:23.29 [[ 5.84055807e-01 -7.63695493e-01 -2.75041830e-01 9.57854604e+01] [ 6.98843060e-01 6.45461444e-01 -3.08217295e-01 3.46522499e+01] [ 4.12913056e-01 -1.21949728e-02 9.10688800e-01 2.32924439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:34.68, Z:23.30 [[ 5.85822688e-01 -7.62150043e-01 -2.75570482e-01 9.57983827e+01] [ 6.96770899e-01 6.47307493e-01 -3.09036120e-01 3.46753152e+01] [ 4.13910729e-01 -1.09691220e-02 9.10251386e-01 2.33022199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.68710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.81, Y:34.72, Z:23.30 [[ 5.89955918e-01 -7.76127497e-01 -2.22661455e-01 9.58058759e+01] [ 6.97088496e-01 6.28739718e-01 -3.44607018e-01 3.47176763e+01] [ 4.07455083e-01 4.80882106e-02 9.11958266e-01 2.33003667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.71710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.82, Y:34.72, Z:23.32 [[ 5.86687118e-01 -7.40898310e-01 -3.26906592e-01 9.58216919e+01] [ 6.95672636e-01 6.67744253e-01 -2.64872037e-01 3.47239383e+01] [ 4.14533243e-01 -7.20229585e-02 9.07179632e-01 2.33246498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.82, Y:34.76, Z:23.34 [[ 5.86054354e-01 -7.61985739e-01 -2.75532262e-01 9.58230402e+01] [ 6.96290613e-01 6.47511018e-01 -3.09691562e-01 3.47564646e+01] [ 4.14390729e-01 -1.03544399e-02 9.10040169e-01 2.33373546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:34.78, Z:23.35 [[ 5.85501337e-01 -7.64375992e-01 -2.70032454e-01 9.58348944e+01] [ 6.96398189e-01 6.44761073e-01 -3.15139210e-01 3.47782110e+01] [ 4.14991261e-01 -3.53568310e-03 9.09818527e-01 2.33509099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:34.80, Z:23.36 [[ 5.88436502e-01 -7.59144506e-01 -2.78284212e-01 9.58488640e+01] [ 6.96793085e-01 6.50716717e-01 -3.01740205e-01 3.47999501e+01] [ 4.10148607e-01 -1.63515638e-02 9.11872111e-01 2.33616484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:34.82, Z:23.37 [[ 5.89696425e-01 -7.59800228e-01 -2.73791417e-01 9.58631046e+01] [ 6.96399283e-01 6.50057285e-01 -3.04061778e-01 3.48222655e+01] [ 4.09006313e-01 -1.13640032e-02 9.12460791e-01 2.33728982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.87, Y:34.85, Z:23.38 [[ 5.95575025e-01 -7.56570768e-01 -2.69983449e-01 9.58747068e+01] [ 6.92086124e-01 6.53894224e-01 -3.05678163e-01 3.48454358e+01] [ 4.07807781e-01 -4.79751881e-03 9.13055200e-01 2.33837932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:34.87, Z:23.39 [[ 5.98264370e-01 -7.54206804e-01 -2.70650771e-01 9.58888620e+01] [ 6.89753774e-01 6.56623826e-01 -3.05098152e-01 3.48662049e+01] [ 4.07822847e-01 -4.15303651e-03 9.13051629e-01 2.33940486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.90, Y:34.89, Z:23.40 [[ 6.02837621e-01 -7.49989032e-01 -2.72219131e-01 9.59048944e+01] [ 6.84799371e-01 6.61447106e-01 -3.05839088e-01 3.48887805e+01] [ 4.09434518e-01 -2.04418126e-03 9.12337217e-01 2.34031870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:34.91, Z:23.41 [[ 6.07413475e-01 -7.45659399e-01 -2.73935998e-01 9.59214423e+01] [ 6.79049861e-01 6.66326379e-01 -3.08059154e-01 3.49068208e+01] [ 4.12237986e-01 1.10307961e-03 9.11075533e-01 2.34129702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:34.93, Z:23.43 [[ 6.06868695e-01 -7.49512736e-01 -2.64463692e-01 9.59354932e+01] [ 6.75785440e-01 6.61736403e-01 -3.24682881e-01 3.49291681e+01] [ 4.18359207e-01 1.83191635e-02 9.08096901e-01 2.34270023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:34.95, Z:23.44 [[ 6.12041877e-01 -7.35502309e-01 -2.90587500e-01 9.59556916e+01] [ 6.74758115e-01 6.77317588e-01 -2.93159294e-01 3.49472867e+01] [ 4.12439362e-01 -1.66505092e-02 9.10832879e-01 2.34363150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.04710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.97, Y:34.97, Z:23.45 [[ 6.14443665e-01 -7.41457319e-01 -2.69629424e-01 9.59684997e+01] [ 6.73387138e-01 6.70936917e-01 -3.10472892e-01 3.49689828e+01] [ 4.11106733e-01 9.20311509e-03 9.11540760e-01 2.34500461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.07710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:34.99, Z:23.46 [[ 6.17952127e-01 -7.47293450e-01 -2.44310598e-01 9.59866919e+01] [ 6.75735245e-01 6.63665974e-01 -3.20826048e-01 3.49930959e+01] [ 4.01891836e-01 3.31658573e-02 9.15086323e-01 2.34555825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:35.00, Z:23.47 [[ 6.19063080e-01 -7.28285818e-01 -2.93871860e-01 9.60109706e+01] [ 6.70373622e-01 6.84970809e-01 -2.85331733e-01 3.50009618e+01] [ 4.09096701e-01 -2.03656019e-02 9.12263740e-01 2.34728524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:35.03, Z:23.48 [[ 6.22494343e-01 -7.46407374e-01 -2.35322810e-01 9.60225657e+01] [ 6.71890606e-01 6.63876683e-01 -3.28375947e-01 3.50302165e+01] [ 4.01327555e-01 4.63009837e-02 9.14763583e-01 2.34778014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:35.04, Z:23.49 [[ 6.25692168e-01 -7.35589328e-01 -2.59649093e-01 9.60477732e+01] [ 6.68837093e-01 6.77181755e-01 -3.06727589e-01 3.50449448e+01] [ 4.01455170e-01 1.82541052e-02 9.15696748e-01 2.34869636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.07, Y:35.05, Z:23.51 [[ 6.26595166e-01 -7.16797206e-01 -3.05908914e-01 9.60708761e+01] [ 6.62206500e-01 6.96650905e-01 -2.75971135e-01 3.50526925e+01] [ 4.10927061e-01 -2.96526922e-02 9.11185859e-01 2.35064768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.08, Y:35.08, Z:23.52 [[ 6.28634592e-01 -7.28802372e-01 -2.71414171e-01 9.60835681e+01] [ 6.60856335e-01 6.84580920e-01 -3.07600175e-01 3.50757446e+01] [ 4.09984701e-01 1.40023359e-02 9.11984912e-01 2.35186902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.11, Y:35.09, Z:23.53 [[ 6.30702680e-01 -7.26547388e-01 -2.72659169e-01 9.61053596e+01] [ 6.57629741e-01 6.86935996e-01 -3.09260508e-01 3.50905388e+01] [ 4.11991812e-01 1.57426528e-02 9.11051544e-01 2.35286053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:96.12, Y:35.12, Z:23.53 [[ 6.34985383e-01 -7.41532856e-01 -2.16616219e-01 9.61205849e+01] [ 6.60988735e-01 6.66647327e-01 -3.44492719e-01 3.51206566e+01] [ 3.99859293e-01 7.55669602e-02 9.13456173e-01 2.35265708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:35.12, Z:23.55 [[ 6.32652843e-01 -7.01742892e-01 -3.27577920e-01 9.61549213e+01] [ 6.53036124e-01 7.10775452e-01 -2.61423177e-01 3.51168762e+01] [ 4.16286200e-01 -4.85300984e-02 9.07937569e-01 2.35471991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.17, Y:35.14, Z:23.56 [[ 6.34586362e-01 -7.25063824e-01 -2.67549249e-01 9.61667724e+01] [ 6.51132892e-01 6.88069011e-01 -3.20292044e-01 3.51409752e+01] [ 4.16324521e-01 2.90428470e-02 9.08752115e-01 2.35580311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.19, Y:35.16, Z:23.57 [[ 6.33380774e-01 -7.23011287e-01 -2.75832329e-01 9.61874459e+01] [ 6.51651848e-01 6.90575065e-01 -3.13776909e-01 3.51556012e+01] [ 4.17347175e-01 1.89936144e-02 9.08548611e-01 2.35689392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.21, Y:35.17, Z:23.58 [[ 6.30058248e-01 -7.26701698e-01 -2.73735724e-01 9.62105151e+01] [ 6.56744785e-01 6.86754711e-01 -3.11535319e-01 3.51684187e+01] [ 4.14382543e-01 1.65108880e-02 9.09953020e-01 2.35818631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:35.18, Z:23.60 [[ 6.27988299e-01 -7.29042375e-01 -2.72264416e-01 9.62301548e+01] [ 6.59966233e-01 6.84302726e-01 -3.10119895e-01 3.51842473e+01] [ 4.12401827e-01 1.50663443e-02 9.10877455e-01 2.35951386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.46710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.25, Y:35.20, Z:23.61 [[ 6.22968972e-01 -7.33690227e-01 -2.71308515e-01 9.62536485e+01] [ 6.65424271e-01 6.79375616e-01 -3.09288396e-01 3.51956044e+01] [ 4.11242263e-01 1.21418038e-02 9.11445214e-01 2.36085869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.28, Y:35.21, Z:23.62 [[ 6.16634920e-01 -7.38800510e-01 -2.71910247e-01 9.62776079e+01] [ 6.70567892e-01 6.73864526e-01 -3.10234270e-01 3.52087818e+01] [ 4.12431907e-01 8.96700334e-03 9.10944299e-01 2.36207975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.30, Y:35.23, Z:23.63 [[ 6.13213681e-01 -7.41243351e-01 -2.72996843e-01 9.62973547e+01] [ 6.72540873e-01 6.71193733e-01 -3.11749493e-01 3.52251517e+01] [ 4.14316010e-01 7.56751875e-03 9.10101630e-01 2.36315051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.32, Y:35.24, Z:23.64 [[ 6.07368215e-01 -7.45686378e-01 -2.73962913e-01 9.63198009e+01] [ 6.76828494e-01 6.66280632e-01 -3.13006883e-01 3.52379753e+01] [ 4.15941152e-01 4.68452618e-03 9.09379466e-01 2.36418422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:35.25, Z:23.65 [[ 6.04001523e-01 -7.48015151e-01 -2.75055437e-01 9.63411112e+01] [ 6.78698750e-01 6.63673575e-01 -3.14492277e-01 3.52534496e+01] [ 4.17792013e-01 3.27403321e-03 9.08536799e-01 2.36530738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.36, Y:35.27, Z:23.66 [[ 6.02506656e-01 -7.53015732e-01 -2.64486366e-01 9.63557621e+01] [ 6.77388617e-01 6.57717968e-01 -3.29471906e-01 3.52722788e+01] [ 4.22054963e-01 1.93489628e-02 9.06363738e-01 2.36644690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.38, Y:35.29, Z:23.68 [[ 6.02908899e-01 -7.44317045e-01 -2.87215939e-01 9.63789684e+01] [ 6.79112287e-01 6.67731699e-01 -3.04862066e-01 3.52873937e+01] [ 4.18697219e-01 -1.12478210e-02 9.08056235e-01 2.36761482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.39, Y:35.31, Z:23.68 [[ 6.03801509e-01 -7.54766181e-01 -2.56421040e-01 9.63933426e+01] [ 6.80399467e-01 6.55580350e-01 -3.27522473e-01 3.53123982e+01] [ 4.15307481e-01 2.32898240e-02 9.09382912e-01 2.36810638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.41, Y:35.33, Z:23.70 [[ 5.96751302e-01 -7.50812243e-01 -2.83141058e-01 9.64109656e+01] [ 6.82213263e-01 6.60488203e-01 -3.13592726e-01 3.53262464e+01] [ 4.22460587e-01 -6.02571791e-03 9.06361265e-01 2.37016517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.43, Y:35.35, Z:23.71 [[ 5.90958073e-01 -7.58112000e-01 -2.75743996e-01 9.64259118e+01] [ 6.88625571e-01 6.52119549e-01 -3.17072416e-01 3.53454946e+01] [ 4.20194454e-01 -2.50786299e-03 9.07430621e-01 2.37144451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.76710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.44, Y:35.37, Z:23.72 [[ 5.89420843e-01 -7.61526892e-01 -2.69554936e-01 9.64426303e+01] [ 6.94500987e-01 6.48126070e-01 -3.12411549e-01 3.53650873e+01] [ 4.12615377e-01 -3.06429028e-03 9.10900192e-01 2.37222711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.46, Y:35.38, Z:23.74 [[ 5.80998890e-01 -7.67959291e-01 -2.69590093e-01 9.64579230e+01] [ 7.04027487e-01 6.40396431e-01 -3.06981610e-01 3.53826965e+01] [ 4.08393912e-01 -1.14428611e-02 9.12734065e-01 2.37357952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.82710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.47, Y:35.40, Z:23.75 [[ 5.71920389e-01 -7.71295953e-01 -2.79302027e-01 9.64729738e+01] [ 7.08754073e-01 6.36045017e-01 -3.05146522e-01 3.54035065e+01] [ 4.13006940e-01 -2.34369320e-02 9.10426261e-01 2.37526025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.857105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.49, Y:35.43, Z:23.76 [[ 5.68804561e-01 -7.76084360e-01 -2.72313124e-01 9.64856282e+01] [ 7.10439294e-01 6.30437185e-01 -3.12769827e-01 3.54271393e+01] [ 4.14412091e-01 -1.55570400e-02 9.09956371e-01 2.37623393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.50, Y:35.45, Z:23.77 [[ 5.64743334e-01 -7.77941611e-01 -2.75448394e-01 9.64979362e+01] [ 7.10795370e-01 6.28107217e-01 -3.16624803e-01 3.54510537e+01] [ 4.19326733e-01 -1.69756962e-02 9.07676659e-01 2.37690784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.51, Y:35.47, Z:23.77 [[ 5.64188753e-01 -7.82469968e-01 -2.63499148e-01 9.65104413e+01] [ 7.10919858e-01 6.22681590e-01 -3.26895386e-01 3.54746286e+01] [ 4.19861891e-01 -2.89607693e-03 9.07583388e-01 2.37748453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.53, Y:35.49, Z:23.79 [[ 5.62791496e-01 -7.75274994e-01 -2.86730563e-01 9.65264134e+01] [ 7.09622787e-01 6.31042614e-01 -3.13401850e-01 3.54946344e+01] [ 4.23911821e-01 -2.70906450e-02 9.05298219e-01 2.37921091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.53, Y:35.52, Z:23.80 [[ 5.66259477e-01 -7.75594065e-01 -2.78933775e-01 9.65318035e+01] [ 7.06209095e-01 6.31048692e-01 -3.21008196e-01 3.55218402e+01] [ 4.24992846e-01 -1.52116357e-02 9.05068885e-01 2.38037010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.54, Y:35.55, Z:23.81 [[ 5.70338086e-01 -7.78608876e-01 -2.61691968e-01 9.65386562e+01] [ 7.00304871e-01 6.27414470e-01 -3.40476386e-01 3.55456888e+01] [ 4.29287264e-01 1.09224901e-02 9.03101957e-01 2.38147708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.56, Y:35.57, Z:23.83 [[ 5.76028828e-01 -7.63614792e-01 -2.91690312e-01 9.65557574e+01] [ 6.99709314e-01 6.45096801e-01 -3.07013019e-01 3.55682750e+01] [ 4.22608170e-01 -2.72500787e-02 9.05902736e-01 2.38259277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.57, Y:35.59, Z:23.84 [[ 5.79048062e-01 -7.67042010e-01 -2.76314852e-01 9.65679543e+01] [ 6.97796761e-01 6.41542801e-01 -3.18594594e-01 3.55916178e+01] [ 4.21643242e-01 -8.33002636e-03 9.06723545e-01 2.38382194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.58, Y:35.62, Z:23.85 [[ 5.84162677e-01 -7.63639685e-01 -2.74969814e-01 9.65785695e+01] [ 6.94630262e-01 6.45617846e-01 -3.17279681e-01 3.56154322e+01] [ 4.19812774e-01 -5.65940638e-03 9.07593084e-01 2.38500674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.59, Y:35.64, Z:23.86 [[ 5.88969021e-01 -7.60121979e-01 -2.74463237e-01 9.65868593e+01] [ 6.90898321e-01 6.49773683e-01 -3.16944270e-01 3.56405130e+01] [ 4.19255295e-01 -2.95583324e-03 9.07863570e-01 2.38607001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:35.66, Z:23.87 [[ 5.91923294e-01 -7.57814828e-01 -2.74487706e-01 9.66006363e+01] [ 6.88236961e-01 6.52468659e-01 -3.17197942e-01 3.56625523e+01] [ 4.19471929e-01 -1.15573458e-03 9.07767572e-01 2.38725337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.18710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.61, Y:35.68, Z:23.88 [[ 5.98772179e-01 -7.52132624e-01 -2.75260593e-01 9.66131743e+01] [ 6.81449672e-01 6.59004781e-01 -3.18337939e-01 3.56849635e+01] [ 4.20830396e-01 3.03566042e-03 9.07134258e-01 2.38822577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.63, Y:35.70, Z:23.89 [[ 6.01529407e-01 -7.50012688e-01 -2.75033345e-01 9.66285917e+01] [ 6.79137869e-01 6.61406890e-01 -3.18296530e-01 3.57048382e+01] [ 4.20635386e-01 4.67916283e-03 9.07217713e-01 2.38931915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:35.72, Z:23.90 [[ 6.01289824e-01 -7.50244871e-01 -2.74923955e-01 9.66453525e+01] [ 6.79349986e-01 6.61143533e-01 -3.18390993e-01 3.57246731e+01] [ 4.20635404e-01 4.67567903e-03 9.07217722e-01 2.39048833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.66, Y:35.74, Z:23.92 [[ 6.05739140e-01 -7.46818324e-01 -2.74485855e-01 9.66600296e+01] [ 6.75718480e-01 6.64988954e-01 -3.18110401e-01 3.57441282e+01] [ 4.20100739e-01 7.21675628e-03 9.07448780e-01 2.39180512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:35.76, Z:23.93 [[ 6.07414063e-01 -7.45781971e-01 -2.73600818e-01 9.66751188e+01] [ 6.74953087e-01 6.66141110e-01 -3.17323733e-01 3.57643619e+01] [ 4.18911072e-01 8.07918148e-03 9.07991322e-01 2.39303819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:35.78, Z:23.94 [[ 6.10009032e-01 -7.44108464e-01 -2.72381303e-01 9.66891904e+01] [ 6.73674359e-01 6.67993319e-01 -3.16145193e-01 3.57843869e+01] [ 4.17195204e-01 9.35512314e-03 9.08768751e-01 2.39418518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:35.80, Z:23.95 [[ 6.12325023e-01 -7.42073658e-01 -2.72735680e-01 9.67072029e+01] [ 6.71178334e-01 6.70230026e-01 -3.16719681e-01 3.58031633e+01] [ 4.17824975e-01 1.08811069e-02 9.08462378e-01 2.39524863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.73, Y:35.82, Z:23.96 [[ 6.13835740e-01 -7.40734488e-01 -2.72980039e-01 9.67256755e+01] [ 6.69470277e-01 6.71691061e-01 -3.17239133e-01 3.58216694e+01] [ 4.18348219e-01 1.19806953e-02 9.08207703e-01 2.39639226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.74, Y:35.84, Z:23.97 [[ 6.16404247e-01 -7.38350015e-01 -2.73651348e-01 9.67437767e+01] [ 6.66362523e-01 6.74275505e-01 -3.18297864e-01 3.58385003e+01] [ 4.19531634e-01 1.38491526e-02 9.07635064e-01 2.39748207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.76, Y:35.86, Z:23.98 [[ 6.16237255e-01 -7.38471368e-01 -2.73699989e-01 9.67635992e+01] [ 6.66394100e-01 6.74141782e-01 -3.18514931e-01 3.58559607e+01] [ 4.19726755e-01 1.38887095e-02 9.07544244e-01 2.39849899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:96.78, Y:35.88, Z:23.99 [[ 6.16331441e-01 -7.46709435e-01 -2.50121121e-01 9.67820261e+01] [ 6.68088821e-01 6.63951367e-01 -3.35895683e-01 3.58798496e+01] [ 4.16884735e-01 3.99199457e-02 9.08082329e-01 2.39911734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:35.89, Z:24.01 [[ 6.10311704e-01 -7.33932817e-01 -2.98097707e-01 9.68074175e+01] [ 6.70638647e-01 6.78993337e-01 -2.98683535e-01 3.58855731e+01] [ 4.21620006e-01 -1.76257858e-02 9.06601292e-01 2.40083158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.82, Y:35.91, Z:24.02 [[ 6.07680623e-01 -7.45325809e-01 -2.74251160e-01 9.68228329e+01] [ 6.73272131e-01 6.66629457e-01 -3.19859038e-01 3.59053227e+01] [ 4.21223099e-01 9.72647658e-03 9.06904900e-01 2.40207694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.85, Y:35.92, Z:24.03 [[ 6.00017027e-01 -7.51767687e-01 -2.73541427e-01 9.68463426e+01] [ 6.80610013e-01 6.59405837e-01 -3.19302291e-01 3.59184455e+01] [ 4.20415958e-01 5.41177706e-03 9.07315345e-01 2.40329542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.87, Y:35.93, Z:24.04 [[ 5.90092651e-01 -7.59639096e-01 -2.73384542e-01 9.68702203e+01] [ 6.89233837e-01 6.50344864e-01 -3.19387345e-01 3.59320899e+01] [ 4.20413347e-01 4.22483330e-05 9.07332693e-01 2.40440218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:35.95, Z:24.06 [[ 5.84566021e-01 -7.63919595e-01 -2.73330239e-01 9.68891755e+01] [ 6.93859016e-01 6.45305240e-01 -3.19594764e-01 3.59496711e+01] [ 4.20526138e-01 -2.82841122e-03 9.07276015e-01 2.40552988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.91, Y:35.97, Z:24.07 [[ 5.74482624e-01 -7.71426463e-01 -2.73625523e-01 9.69096974e+01] [ 7.01875631e-01 6.36266983e-01 -3.20210752e-01 3.59665330e+01] [ 4.21117934e-01 -8.09557323e-03 9.06969761e-01 2.40665830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:35.98, Z:24.08 [[ 5.70595567e-01 -7.74155479e-01 -2.74051076e-01 9.69278168e+01] [ 7.04548649e-01 6.32917539e-01 -3.20977555e-01 3.59844243e+01] [ 4.21938266e-01 -9.93394486e-03 9.06570139e-01 2.40784906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.94, Y:36.00, Z:24.09 [[ 5.67776816e-01 -7.76379442e-01 -2.73613685e-01 9.69446459e+01] [ 7.07125125e-01 6.30163124e-01 -3.20731189e-01 3.60019260e+01] [ 4.21430356e-01 -1.13753784e-02 9.06789422e-01 2.40917011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:96.96, Y:36.02, Z:24.10 [[ 5.68327168e-01 -7.76308171e-01 -2.72671698e-01 9.69597192e+01] [ 7.07423180e-01 6.30255975e-01 -3.19890371e-01 3.60206306e+01] [ 4.20186476e-01 -1.10918910e-02 9.07369988e-01 2.41037149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.97, Y:36.04, Z:24.12 [[ 5.69289571e-01 -7.75848835e-01 -2.71970530e-01 9.69749371e+01] [ 7.07175598e-01 6.30830560e-01 -3.19304678e-01 3.60410900e+01] [ 4.19299485e-01 -1.05540994e-02 9.07786623e-01 2.41163148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.99, Y:36.06, Z:24.13 [[ 5.66624808e-01 -7.78269531e-01 -2.70615711e-01 9.69901393e+01] [ 7.10452233e-01 6.27814002e-01 -3.17973589e-01 3.60599726e+01] [ 4.17365489e-01 -1.20878122e-02 9.08658315e-01 2.41284361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.01, Y:36.08, Z:24.14 [[ 5.63982279e-01 -7.80687487e-01 -2.69167303e-01 9.70050215e+01] [ 7.13806447e-01 6.24772283e-01 -3.16448970e-01 3.60796088e+01] [ 4.15216022e-01 -1.36617451e-02 9.09620257e-01 2.41403526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:36.10, Z:24.15 [[ 5.56722613e-01 -7.86003087e-01 -2.68810491e-01 9.70184417e+01] [ 7.19780374e-01 6.17977224e-01 -3.16259963e-01 3.61015376e+01] [ 4.14700068e-01 -1.74154430e-02 9.09791490e-01 2.41520838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.03, Y:36.12, Z:24.16 [[ 5.51802730e-01 -7.89400141e-01 -2.69000305e-01 9.70305263e+01] [ 7.23341995e-01 6.13559469e-01 -3.16735119e-01 3.61248645e+01] [ 4.15078432e-01 -1.98039136e-02 9.09570063e-01 2.41625271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:97.04, Y:36.15, Z:24.17 [[ 5.51195957e-01 -7.90011890e-01 -2.68447818e-01 9.70442660e+01] [ 7.24183730e-01 6.12764107e-01 -3.16351188e-01 3.61470283e+01] [ 4.14416387e-01 -2.00340461e-02 9.09866856e-01 2.41734562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.05, Y:36.17, Z:24.18 [[ 5.52218775e-01 -7.89246693e-01 -2.68596505e-01 9.70548125e+01] [ 7.23135350e-01 6.13773129e-01 -3.16793012e-01 3.61710621e+01] [ 4.14885154e-01 -1.92925784e-02 9.09669228e-01 2.41834159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.07, Y:36.19, Z:24.19 [[ 5.52145275e-01 -7.89276236e-01 -2.68660787e-01 9.70685752e+01] [ 7.23025499e-01 6.13739343e-01 -3.17109045e-01 3.61934938e+01] [ 4.15174328e-01 -1.91583387e-02 9.09540123e-01 2.41947753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.08, Y:36.22, Z:24.21 [[ 5.52309421e-01 -7.89002763e-01 -2.69126259e-01 9.70781463e+01] [ 7.22360012e-01 6.14101520e-01 -3.17923475e-01 3.62179499e+01] [ 4.16113345e-01 -1.88139169e-02 9.09118100e-01 2.42055444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.09, Y:36.24, Z:24.22 [[ 5.53184929e-01 -7.87787914e-01 -2.70881222e-01 9.70870219e+01] [ 7.20010251e-01 6.15685923e-01 -3.20181326e-01 3.62435773e+01] [ 4.19012735e-01 -1.79177723e-02 9.07803548e-01 2.42166104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.10, Y:36.27, Z:24.23 [[ 5.53859485e-01 -7.87330599e-01 -2.70832418e-01 9.71004309e+01] [ 7.19406519e-01 6.16285723e-01 -3.20384406e-01 3.62659747e+01] [ 4.19158599e-01 -1.73906642e-02 9.07746459e-01 2.42276271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.11, Y:36.29, Z:24.24 [[ 5.56176118e-01 -7.86332183e-01 -2.68979226e-01 9.71093055e+01] [ 7.19146288e-01 6.17588373e-01 -3.18454421e-01 3.62905583e+01] [ 4.16529402e-01 -1.63186682e-02 9.08975774e-01 2.42419571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.12, Y:36.32, Z:24.26 [[ 5.60535576e-01 -7.83589502e-01 -2.67931634e-01 9.71172993e+01] [ 7.16533871e-01 6.21120532e-01 -3.17472041e-01 3.63154242e+01] [ 4.15185598e-01 -1.40277174e-02 9.09628574e-01 2.42557939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.13, Y:36.34, Z:24.27 [[ 5.63779804e-01 -7.81403808e-01 -2.67507797e-01 9.71286612e+01] [ 7.14216515e-01 6.23906250e-01 -3.17231400e-01 3.63371758e+01] [ 4.14785611e-01 -1.22098298e-02 9.09837248e-01 2.42683719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.14, Y:36.36, Z:24.28 [[ 5.73756448e-01 -7.73119494e-01 -2.70351229e-01 9.71366830e+01] [ 7.06534304e-01 6.34168221e-01 -3.14069968e-01 3.63607757e+01] [ 4.14261773e-01 -1.08127482e-02 9.10093549e-01 2.42794753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.15, Y:36.39, Z:24.29 [[ 5.79204717e-01 -7.72420879e-01 -2.60553030e-01 9.71462650e+01] [ 7.01807414e-01 6.35098188e-01 -3.22671110e-01 3.63884405e+01] [ 4.14714660e-01 4.03458048e-03 9.09942566e-01 2.42933720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.16, Y:36.41, Z:24.30 [[ 5.82021394e-01 -7.68093244e-01 -2.66990384e-01 9.71620782e+01] [ 6.99625235e-01 6.40333934e-01 -3.17012592e-01 3.64087532e+01] [ 4.14458233e-01 -2.28509971e-03 9.10065465e-01 2.43041800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.18, Y:36.43, Z:24.32 [[ 5.87726979e-01 -7.63868383e-01 -2.66612252e-01 9.71760227e+01] [ 6.95066009e-01 6.45371439e-01 -3.16826370e-01 3.64305264e+01] [ 4.14077580e-01 8.94291931e-04 9.10241154e-01 2.43154870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.19, Y:36.45, Z:24.33 [[ 5.90198811e-01 -7.61965272e-01 -2.66597614e-01 9.71897301e+01] [ 6.92866351e-01 6.47613372e-01 -3.17069615e-01 3.64505570e+01] [ 4.14248216e-01 2.41759348e-03 9.10160739e-01 2.43263641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.357105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.20, Y:36.47, Z:24.34 [[ 5.95299196e-01 -7.61197322e-01 -2.57288755e-01 9.71990286e+01] [ 6.84232489e-01 6.48113074e-01 -3.34328198e-01 3.64720750e+01] [ 4.21241935e-01 2.29799822e-02 9.06657131e-01 2.43396356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:36.49, Z:24.35 [[ 5.96722391e-01 -7.55080534e-01 -2.71616964e-01 9.72187387e+01] [ 6.81646842e-01 6.55573697e-01 -3.24931855e-01 3.64906980e+01] [ 4.23414656e-01 8.74726754e-03 9.05893765e-01 2.43473002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.24, Y:36.51, Z:24.36 [[ 5.98211315e-01 -7.52928619e-01 -2.74302237e-01 9.72370926e+01] [ 6.81059650e-01 6.58081232e-01 -3.21071403e-01 3.65078890e+01] [ 4.22257002e-01 5.25236097e-03 9.06460941e-01 2.43564717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.26, Y:36.53, Z:24.37 [[ 5.97249971e-01 -7.54305384e-01 -2.72609354e-01 9.72570378e+01] [ 6.82565909e-01 6.56498880e-01 -3.21112130e-01 3.65298701e+01] [ 4.21184344e-01 5.71035857e-03 9.06957077e-01 2.43680648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.27, Y:36.55, Z:24.38 [[ 5.96217944e-01 -7.55539402e-01 -2.71448662e-01 9.72744047e+01] [ 6.82932757e-01 6.55061953e-01 -3.23259474e-01 3.65488057e+01] [ 4.22050960e-01 7.35191593e-03 9.06542297e-01 2.43795368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.29, Y:36.56, Z:24.39 [[ 5.93166665e-01 -7.58127248e-01 -2.70917670e-01 9.72945972e+01] [ 6.85946193e-01 6.52081722e-01 -3.22904393e-01 3.65638364e+01] [ 4.21463080e-01 5.70117732e-03 9.06827640e-01 2.43923223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:36.58, Z:24.41 [[ 5.89011697e-01 -7.61731508e-01 -2.69870951e-01 9.73149808e+01] [ 6.90365787e-01 6.47884354e-01 -3.21933137e-01 3.65789484e+01] [ 4.20071780e-01 3.31271181e-03 9.07484835e-01 2.44051309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.33, Y:36.59, Z:24.42 [[ 5.85211763e-01 -7.70541066e-01 -2.52574065e-01 9.73313073e+01] [ 6.89838916e-01 6.36805321e-01 -3.44385327e-01 3.65947322e+01] [ 4.26203545e-01 2.73029248e-02 9.04215178e-01 2.44195264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.36, Y:36.61, Z:24.43 [[ 5.86146517e-01 -7.56708263e-01 -2.89525240e-01 9.73583135e+01] [ 6.93188824e-01 6.53371096e-01 -3.04295032e-01 3.66094115e+01] [ 4.19429988e-01 -2.23341873e-02 9.07512903e-01 2.44266164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.62710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.38, Y:36.63, Z:24.44 [[ 5.87014108e-01 -7.63406164e-01 -2.69491122e-01 9.73758280e+01] [ 6.92071403e-01 6.45913322e-01 -3.22231522e-01 3.66270991e+01] [ 4.20061436e-01 2.64735106e-03 9.07491808e-01 2.44385560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.39, Y:36.65, Z:24.45 [[ 5.86187328e-01 -7.63773335e-01 -2.70249346e-01 9.73938269e+01] [ 6.91926983e-01 6.45479363e-01 -3.23409093e-01 3.66455743e+01] [ 4.21451618e-01 2.58549739e-03 9.06847203e-01 2.44489286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.68710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:36.66, Z:24.46 [[ 5.84276347e-01 -7.64729376e-01 -2.71680200e-01 9.74145513e+01] [ 6.92045649e-01 6.44348138e-01 -3.25404820e-01 3.66625657e+01] [ 4.23903256e-01 2.11123913e-03 9.05705014e-01 2.44596902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.43, Y:36.68, Z:24.47 [[ 5.82776182e-01 -7.71798812e-01 -2.54359029e-01 9.74278755e+01] [ 6.88930645e-01 6.35241718e-01 -3.49059488e-01 3.66810643e+01] [ 4.30983165e-01 2.81878254e-02 9.01919596e-01 2.44745333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.45, Y:36.70, Z:24.49 [[ 5.84229162e-01 -7.57537030e-01 -2.91228319e-01 9.74539274e+01] [ 6.91941654e-01 6.52455896e-01 -3.09059947e-01 3.66954034e+01] [ 4.24137989e-01 -2.09511711e-02 9.05355187e-01 2.44856224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:36.71, Z:24.50 [[ 5.83225778e-01 -7.68982898e-01 -2.61749868e-01 9.74674536e+01] [ 6.92148518e-01 6.39106539e-01 -3.35370334e-01 3.67149321e+01] [ 4.25180104e-01 1.44268405e-02 9.04993782e-01 2.45019612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:36.73, Z:24.51 [[ 5.84144422e-01 -7.61468447e-01 -2.80964584e-01 9.74884709e+01] [ 6.93980827e-01 6.48094945e-01 -3.13629643e-01 3.67296778e+01] [ 4.20910804e-01 -1.17790274e-02 9.07025551e-01 2.45119455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:36.75, Z:24.53 [[ 5.81825905e-01 -7.68158927e-01 -2.67227393e-01 9.75050248e+01] [ 6.97942638e-01 6.40259193e-01 -3.20849247e-01 3.67481358e+01] [ 4.17558009e-01 1.69011820e-04 9.08650252e-01 2.45250296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:97.52, Y:36.77, Z:24.54 [[ 5.76906407e-01 -7.73380003e-01 -2.62797202e-01 9.75230865e+01] [ 7.05977031e-01 6.33933886e-01 -3.15791482e-01 3.67663402e+01] [ 4.10822869e-01 -3.34665872e-03 9.11709038e-01 2.45355539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:36.78, Z:24.55 [[ 5.73942414e-01 -7.75412766e-01 -2.63296693e-01 9.75396563e+01] [ 7.07828886e-01 6.31437711e-01 -3.16645994e-01 3.67832275e+01] [ 4.11786807e-01 -4.63243877e-03 9.11268438e-01 2.45480453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.56, Y:36.80, Z:24.56 [[ 5.67061472e-01 -7.80528136e-01 -2.63091459e-01 9.75575015e+01] [ 7.13461090e-01 6.25067541e-01 -3.16644663e-01 3.68008608e+01] [ 4.11600000e-01 -8.14853049e-03 9.11328175e-01 2.45596670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:97.57, Y:36.82, Z:24.57 [[ 5.61000918e-01 -7.84340989e-01 -2.64739839e-01 9.75736938e+01] [ 7.16669746e-01 6.20235345e-01 -3.18892760e-01 3.68218460e+01] [ 4.14321668e-01 -1.08319021e-02 9.10066056e-01 2.45689019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.59, Y:36.84, Z:24.58 [[ 5.59299061e-01 -7.85186292e-01 -2.65832744e-01 9.75893655e+01] [ 7.16898112e-01 6.19155888e-01 -3.20473219e-01 3.68414307e+01] [ 4.16223087e-01 -1.13346220e-02 9.09191876e-01 2.45779219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.61, Y:36.86, Z:24.59 [[ 5.59165999e-01 -7.84640798e-01 -2.67716648e-01 9.76063054e+01] [ 7.15191042e-01 6.19854849e-01 -3.22926834e-01 3.68612736e+01] [ 4.19327031e-01 -1.08988429e-02 9.07769826e-01 2.45873496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.04710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:97.62, Y:36.88, Z:24.60 [[ 5.58920151e-01 -7.89297256e-01 -2.54200917e-01 9.76194057e+01] [ 7.11150489e-01 6.13917913e-01 -3.42592730e-01 3.68832091e+01] [ 4.26465998e-01 1.07068733e-02 9.04440222e-01 2.46023269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.07710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:36.90, Z:24.62 [[ 5.63232042e-01 -7.80242794e-01 -2.72012592e-01 9.76345707e+01] [ 7.07324022e-01 6.25439142e-01 -3.29421626e-01 3.69027100e+01] [ 4.27156172e-01 -6.86022539e-03 9.04151836e-01 2.46165643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.65, Y:36.92, Z:24.62 [[ 5.71672277e-01 -7.69164166e-01 -2.85617389e-01 9.76512123e+01] [ 7.04433658e-01 6.38596564e-01 -3.09786459e-01 3.69238043e+01] [ 4.20670927e-01 -2.41021718e-02 9.06893079e-01 2.46246722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.66, Y:36.95, Z:24.64 [[ 5.71535128e-01 -7.75513294e-01 -2.68191588e-01 9.76648962e+01] [ 7.04443893e-01 6.31321211e-01 -3.24333670e-01 3.69459991e+01] [ 4.20840111e-01 -3.55784100e-03 9.07127853e-01 2.46366831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.68, Y:36.97, Z:24.65 [[ 5.74086076e-01 -7.79121824e-01 -2.51782368e-01 9.76754994e+01] [ 6.98356691e-01 6.26453609e-01 -3.46199088e-01 3.69670420e+01] [ 4.27461238e-01 2.29141749e-02 9.03743233e-01 2.46504942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:36.99, Z:24.66 [[ 5.80832185e-01 -7.61810706e-01 -2.86842154e-01 9.76962523e+01] [ 6.96310558e-01 6.47495219e-01 -3.09679751e-01 3.69864560e+01] [ 4.21646273e-01 -1.98592540e-02 9.06542901e-01 2.46574956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.71, Y:37.01, Z:24.67 [[ 5.86942728e-01 -7.63884205e-01 -2.68289313e-01 9.77096913e+01] [ 6.91279658e-01 6.45331211e-01 -3.25084701e-01 3.70093965e+01] [ 4.21462536e-01 5.34315631e-03 9.06830073e-01 2.46678813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:97.73, Y:37.03, Z:24.68 [[ 5.88817013e-01 -7.62358344e-01 -2.68522401e-01 9.77255104e+01] [ 6.89345856e-01 6.47121129e-01 -3.25632515e-01 3.70300744e+01] [ 4.22015185e-01 6.63316068e-03 9.06564496e-01 2.46790663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:97.74, Y:37.05, Z:24.69 [[ 5.95189259e-01 -7.54591594e-01 -2.76299244e-01 9.77406306e+01] [ 6.84485959e-01 6.56194728e-01 -3.17627849e-01 3.70455137e+01] [ 4.20985412e-01 -7.42689509e-05 9.07067405e-01 2.46879594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:37.07, Z:24.71 [[ 5.95263472e-01 -7.62496748e-01 -2.53495774e-01 9.77556535e+01] [ 6.84605411e-01 6.46430603e-01 -3.36812866e-01 3.70702877e+01] [ 4.20686141e-01 2.69478173e-02 9.06805925e-01 2.47051027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:37.09, Z:24.72 [[ 5.96293770e-01 -7.57046096e-01 -2.67048589e-01 9.77736337e+01] [ 6.84197873e-01 6.53275423e-01 -3.24198230e-01 3.70865494e+01] [ 4.19889284e-01 1.06033082e-02 9.07513393e-01 2.47167624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:37.10, Z:24.73 [[ 5.99584696e-01 -7.57950440e-01 -2.56922795e-01 9.77894440e+01] [ 6.82562580e-01 6.51917413e-01 -3.30321074e-01 3.71042722e+01] [ 4.17859447e-01 2.26895751e-02 9.08228311e-01 2.47319547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.40710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.81, Y:37.13, Z:24.73 [[ 6.02950801e-01 -7.64786519e-01 -2.27050460e-01 9.78101795e+01] [ 6.86327673e-01 6.42354456e-01 -3.41079283e-01 3.71295432e+01] [ 4.06699712e-01 4.98230126e-02 9.12202286e-01 2.47346262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.84, Y:37.13, Z:24.76 [[ 6.00999380e-01 -7.39530395e-01 -3.03141123e-01 9.78356259e+01] [ 6.81554838e-01 6.72315414e-01 -2.88920382e-01 3.71335021e+01] [ 4.17471854e-01 -3.29663287e-02 9.08091665e-01 2.47588601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.85, Y:37.15, Z:24.77 [[ 6.03829708e-01 -7.51804486e-01 -2.64914511e-01 9.78509372e+01] [ 6.79360545e-01 6.59223157e-01 -3.22326045e-01 3.71526577e+01] [ 4.16963947e-01 1.46575746e-02 9.08804832e-01 2.47705122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:37.17, Z:24.78 [[ 6.04778528e-01 -7.50980508e-01 -2.65087173e-01 9.78695698e+01] [ 6.78290155e-01 6.60145913e-01 -3.22691554e-01 3.71707294e+01] [ 4.17331281e-01 1.53509036e-02 9.08624758e-01 2.47812687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.89, Y:37.18, Z:24.79 [[ 6.07514798e-01 -7.51594305e-01 -2.56966477e-01 9.78881117e+01] [ 6.71703824e-01 6.58787320e-01 -3.38841024e-01 3.71821671e+01] [ 4.23957241e-01 3.32455712e-02 9.05071815e-01 2.47894664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:37.20, Z:24.80 [[ 6.05488660e-01 -7.46386831e-01 -2.76206774e-01 9.79158216e+01] [ 6.72559050e-01 6.65432522e-01 -3.23826935e-01 3.72013537e+01] [ 4.25497130e-01 1.03081713e-02 9.04901063e-01 2.47989808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.93, Y:37.22, Z:24.81 [[ 6.04142127e-01 -7.49305243e-01 -2.71208303e-01 9.79344605e+01] [ 6.72516521e-01 6.61993216e-01 -3.30887459e-01 3.72203728e+01] [ 4.27473765e-01 1.75109887e-02 9.03858145e-01 2.48091236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:37.23, Z:24.82 [[ 6.03625951e-01 -7.52663369e-01 -2.62932624e-01 9.79538650e+01] [ 6.70714956e-01 6.57692592e-01 -3.42902175e-01 3.72329655e+01] [ 4.31018745e-01 3.06318079e-02 9.01822895e-01 2.48213805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.98, Y:37.25, Z:24.84 [[ 6.00709954e-01 -7.49959891e-01 -2.76961574e-01 9.79797067e+01] [ 6.74638594e-01 6.61407439e-01 -3.27723920e-01 3.72470436e+01] [ 4.28964241e-01 1.00180539e-02 9.03265918e-01 2.48354186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.00, Y:37.26, Z:24.85 [[ 5.95537466e-01 -7.59576360e-01 -2.61493557e-01 9.80015688e+01] [ 6.78576361e-01 6.49881081e-01 -3.42328356e-01 3.72609802e+01] [ 4.29964242e-01 2.64260151e-02 9.02459094e-01 2.48501619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:37.28, Z:24.86 [[ 5.92534364e-01 -7.61172311e-01 -2.63665963e-01 9.80212258e+01] [ 6.80416763e-01 6.48133273e-01 -3.41988727e-01 3.72754721e+01] [ 4.31203033e-01 2.32373316e-02 9.01955637e-01 2.48642661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:37.29, Z:24.88 [[ 5.88443976e-01 -7.56109224e-01 -2.86413213e-01 9.80472539e+01] [ 6.88316432e-01 6.54319293e-01 -3.13188047e-01 3.72892727e+01] [ 4.24210062e-01 -1.28493010e-02 9.05472649e-01 2.48767808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.76710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.06, Y:37.31, Z:24.89 [[ 5.84684335e-01 -7.67437457e-01 -2.63028475e-01 9.80627720e+01] [ 6.89262120e-01 6.40918121e-01 -3.37848625e-01 3.73117285e+01] [ 4.27857405e-01 1.62392343e-02 9.03700353e-01 2.48874687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.09, Y:37.33, Z:24.90 [[ 5.80540402e-01 -7.69613659e-01 -2.65833893e-01 9.80866316e+01] [ 6.91729216e-01 6.38395268e-01 -3.37582840e-01 3.73258492e+01] [ 4.29515464e-01 1.20954074e-02 9.02978498e-01 2.49005564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.82710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:37.34, Z:24.91 [[ 5.80704428e-01 -7.75021475e-01 -2.49247026e-01 9.81087200e+01] [ 6.93400824e-01 6.31273218e-01 -3.47403831e-01 3.73435709e+01] [ 4.26588401e-01 2.89108498e-02 9.03983683e-01 2.49097712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:37.35, Z:24.93 [[ 5.78517775e-01 -7.57011733e-01 -3.03727543e-01 9.81282942e+01] [ 6.94257053e-01 6.52457817e-01 -3.03818930e-01 3.73518239e+01] [ 4.28163904e-01 -3.51003382e-02 9.03019179e-01 2.49323340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:37.37, Z:24.94 [[ 5.78625036e-01 -7.67831801e-01 -2.75004350e-01 9.81434134e+01] [ 6.95761979e-01 6.40642450e-01 -3.24796120e-01 3.73732989e+01] [ 4.25568250e-01 -3.40240440e-03 9.04919935e-01 2.49402983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:37.39, Z:24.95 [[ 5.77555391e-01 -7.70934843e-01 -2.68494390e-01 9.81624129e+01] [ 6.96899236e-01 6.36905524e-01 -3.29670758e-01 3.73906983e+01] [ 4.25160234e-01 3.28958867e-03 9.05112122e-01 2.49525368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.18, Y:37.41, Z:24.97 [[ 5.74530606e-01 -7.75410671e-01 -2.62016933e-01 9.81778658e+01] [ 6.97160951e-01 6.31333737e-01 -3.39682676e-01 3.74111407e+01] [ 4.28813702e-01 1.24901196e-02 9.03306596e-01 2.49658994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:37.43, Z:24.98 [[ 5.74915946e-01 -7.74130362e-01 -2.64941196e-01 9.81961255e+01] [ 6.97254138e-01 6.32966535e-01 -3.36437264e-01 3.74261748e+01] [ 4.28145212e-01 8.69180222e-03 9.03668153e-01 2.49810754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:37.44, Z:24.99 [[ 5.77642619e-01 -7.65519655e-01 -2.83387831e-01 9.82160092e+01] [ 6.98934192e-01 6.43176921e-01 -3.12753007e-01 3.74405337e+01] [ 4.21687087e-01 -1.74099787e-02 9.06574262e-01 2.49946183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:37.46, Z:25.00 [[ 5.78869282e-01 -7.71440715e-01 -2.64177171e-01 9.82303717e+01] [ 6.99440494e-01 6.36290930e-01 -3.25448687e-01 3.74614238e+01] [ 4.19157906e-01 3.61603646e-03 9.07906148e-01 2.50049674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.25, Y:37.48, Z:25.01 [[ 5.76758652e-01 -7.72672004e-01 -2.65193198e-01 9.82473986e+01] [ 7.00096998e-01 6.34798798e-01 -3.26947519e-01 3.74798703e+01] [ 4.20967517e-01 2.90884864e-03 9.07071049e-01 2.50142527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:37.50, Z:25.03 [[ 5.74847775e-01 -7.73820242e-01 -2.65992986e-01 9.82683037e+01] [ 7.00774570e-01 6.33401213e-01 -3.28204059e-01 3.74959334e+01] [ 4.22451225e-01 2.26625262e-03 9.06382826e-01 2.50259636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:37.52, Z:25.04 [[ 5.74659750e-01 -7.73830643e-01 -2.66368745e-01 9.82843691e+01] [ 7.00439647e-01 6.33387801e-01 -3.28944061e-01 3.75157481e+01] [ 4.23261708e-01 2.45568179e-03 9.06004137e-01 2.50378811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:37.54, Z:25.05 [[ 5.77446146e-01 -7.71358720e-01 -2.67510137e-01 9.82971006e+01] [ 6.96917410e-01 6.36384745e-01 -3.30636629e-01 3.75397964e+01] [ 4.25278817e-01 4.49237500e-03 9.05051240e-01 2.50469209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.18710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.31, Y:37.56, Z:25.06 [[ 5.84832474e-01 -7.65526231e-01 -2.68217388e-01 9.83096317e+01] [ 6.89943875e-01 6.43341873e-01 -3.31796149e-01 3.75605713e+01] [ 4.26554132e-01 8.99021897e-03 9.04417353e-01 2.50584358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.32, Y:37.58, Z:25.07 [[ 5.89070928e-01 -7.62342120e-01 -2.68011069e-01 9.83249299e+01] [ 6.86446065e-01 6.47072468e-01 -3.31796656e-01 3.75806994e+01] [ 4.26365150e-01 1.14766201e-02 9.04478328e-01 2.50712030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.34, Y:37.60, Z:25.08 [[ 5.95290263e-01 -7.57254503e-01 -2.68691496e-01 9.83383797e+01] [ 6.80324114e-01 6.52938758e-01 -3.32911517e-01 3.76012999e+01] [ 4.27537837e-01 1.53816809e-02 9.03866584e-01 2.50829431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:37.62, Z:25.09 [[ 6.00226653e-01 -7.53030004e-01 -2.69580745e-01 9.83523924e+01] [ 6.75035151e-01 6.57721669e-01 -3.34260006e-01 3.76234483e+01] [ 4.29016911e-01 1.86552858e-02 9.03103798e-01 2.50941097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:37.64, Z:25.11 [[ 6.04860568e-01 -7.49420112e-01 -2.69282732e-01 9.83670379e+01] [ 6.71133518e-01 6.61748834e-01 -3.34168045e-01 3.76444213e+01] [ 4.28629787e-01 2.14004066e-02 9.03226731e-01 2.51056706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.38, Y:37.66, Z:25.12 [[ 6.06054060e-01 -7.48472536e-01 -2.69234729e-01 9.83829654e+01] [ 6.69990873e-01 6.62791544e-01 -3.34394377e-01 3.76632407e+01] [ 4.28731509e-01 2.22762588e-02 9.03157274e-01 2.51157931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:37.68, Z:25.13 [[ 6.06065736e-01 -7.48501554e-01 -2.69127752e-01 9.84015306e+01] [ 6.69967098e-01 6.62753493e-01 -3.34517405e-01 3.76795792e+01] [ 4.28752156e-01 2.24327985e-02 9.03143598e-01 2.51272798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:37.70, Z:25.14 [[ 6.05106004e-01 -7.49498816e-01 -2.68511172e-01 9.84191338e+01] [ 6.71319678e-01 6.61645053e-01 -3.33999571e-01 3.76978888e+01] [ 4.27991372e-01 2.18483120e-02 9.03518698e-01 2.51401599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.44, Y:37.71, Z:25.15 [[ 5.99743165e-01 -7.54091563e-01 -2.67682745e-01 9.84380949e+01] [ 6.76720612e-01 6.56502566e-01 -3.33247047e-01 3.77139816e+01] [ 4.27033195e-01 1.87162075e-02 9.04042230e-01 2.51517664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:37.73, Z:25.16 [[ 5.95979592e-01 -7.56955899e-01 -2.68003904e-01 9.84558624e+01] [ 6.79542763e-01 6.53247987e-01 -3.33899237e-01 3.77310783e+01] [ 4.27820008e-01 1.68770177e-02 9.03706372e-01 2.51623698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:37.75, Z:25.17 [[ 5.88548891e-01 -7.62185700e-01 -2.69598149e-01 9.84778641e+01] [ 6.84190080e-01 6.47220194e-01 -3.36139785e-01 3.77469584e+01] [ 4.30690304e-01 1.33783187e-02 9.02400622e-01 2.51724570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:98.50, Y:37.76, Z:25.18 [[ 5.83931471e-01 -7.65984254e-01 -2.68872012e-01 9.84972855e+01] [ 6.88675727e-01 6.42769366e-01 -3.35519425e-01 3.77619250e+01] [ 4.29825290e-01 1.07547228e-02 9.02848025e-01 2.51844591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54710568099999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:98.52, Y:37.78, Z:25.20 [[ 5.82415732e-01 -7.67377355e-01 -2.68186333e-01 9.85151957e+01] [ 6.90502350e-01 6.41119630e-01 -3.34921072e-01 3.77796212e+01] [ 4.28950369e-01 9.88000796e-03 9.03274026e-01 2.51966396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.57710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:98.54, Y:37.80, Z:25.21 [[ 5.80714268e-01 -7.68793629e-01 -2.67819520e-01 9.85350459e+01] [ 6.92154143e-01 6.39433438e-01 -3.34735000e-01 3.77950800e+01] [ 4.28594892e-01 9.01300005e-03 9.03451816e-01 2.52090640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60710568099998 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:98.55, Y:37.81, Z:25.22 [[ 5.78078032e-01 -7.70795868e-01 -2.67767657e-01 9.85542774e+01] [ 6.94273613e-01 6.37035612e-01 -3.34917572e-01 3.78127907e+01] [ 4.28730614e-01 7.70447175e-03 9.03399525e-01 2.52206770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63710568099998 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:98.57, Y:37.83, Z:25.23 [[ 5.76080056e-01 -7.72530044e-01 -2.67075081e-01 9.85720922e+01] [ 6.96464805e-01 6.34943932e-01 -3.34339616e-01 3.78294287e+01] [ 4.27865101e-01 6.59799060e-03 9.03818523e-01 2.52323792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:98.59, Y:37.85, Z:25.24 [[ 5.75239425e-01 -7.73210323e-01 -2.66918342e-01 9.85882504e+01] [ 6.97186103e-01 6.34118670e-01 -3.34402528e-01 3.78474455e+01] [ 4.27821391e-01 6.26975924e-03 9.03841550e-01 2.52444879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:98.61, Y:37.87, Z:25.26 [[ 5.76139937e-01 -7.72235488e-01 -2.67796794e-01 9.86051642e+01] [ 6.95461957e-01 6.35295609e-01 -3.35756096e-01 3.78653707e+01] [ 4.29412901e-01 7.20001367e-03 9.03079576e-01 2.52562255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:98.62, Y:37.89, Z:25.27 [[ 5.77592235e-01 -7.71119791e-01 -2.67883327e-01 9.86213466e+01] [ 6.94060541e-01 6.36637152e-01 -3.36114716e-01 3.78853838e+01] [ 4.29729188e-01 8.21000365e-03 9.02920495e-01 2.52674540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75710568099998 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:98.64, Y:37.91, Z:25.28 [[ 5.83303357e-01 -7.66937724e-01 -2.67513963e-01 9.86360022e+01] [ 6.89546127e-01 6.41618695e-01 -3.35933906e-01 3.79057270e+01] [ 4.29282345e-01 1.14881574e-02 9.03097276e-01 2.52804424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:98.65, Y:37.92, Z:25.29 [[ 5.90919609e-01 -7.61331650e-01 -2.66811047e-01 9.86510135e+01] [ 6.83681833e-01 6.48171435e-01 -3.35340039e-01 3.79242660e+01] [ 4.28244284e-01 1.57451394e-02 9.03525829e-01 2.52934816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81710568099999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:98.67, Y:37.94, Z:25.31 [[ 5.93823198e-01 -7.59152660e-01 -2.66573158e-01 9.86675588e+01] [ 6.81316292e-01 6.50677631e-01 -3.35300957e-01 3.79439747e+01] [ 4.27997804e-01 1.74888514e-02 9.03610547e-01 2.53055823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84710568099999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:98.68, Y:37.96, Z:25.32 [[ 5.98383349e-01 -7.55265446e-01 -2.67416293e-01 9.86847334e+01] [ 6.76401054e-01 6.55096397e-01 -3.36645696e-01 3.79637946e+01] [ 4.29440312e-01 2.05625167e-02 9.02861120e-01 2.53161183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87710568099999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:98.70, Y:37.98, Z:25.33 [[ 6.00327023e-01 -7.53604013e-01 -2.67747001e-01 9.87028770e+01] [ 6.74239627e-01 6.56960637e-01 -3.37347961e-01 3.79822253e+01] [ 4.30126017e-01 2.19934595e-02 9.02500912e-01 2.53253186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.90710568099999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:98.72, Y:38.00, Z:25.34 [[ 6.01254926e-01 -7.53181612e-01 -2.66851970e-01 9.87215639e+01] [ 6.74216109e-01 6.57431396e-01 -3.36476742e-01 3.80011959e+01] [ 4.28864958e-01 2.23924022e-02 9.03091041e-01 2.53355201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93710568099999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:98.74, Y:38.02, Z:25.35 [[ 5.99147108e-01 -7.54526866e-01 -2.67790872e-01 9.87418741e+01] [ 6.74958847e-01 6.55909066e-01 -3.37955399e-01 3.80175409e+01] [ 4.30642889e-01 2.17371813e-02 9.02260604e-01 2.53451369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96710568099999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:98.76, Y:38.04, Z:25.35 [[ 5.97676545e-01 -7.56755468e-01 -2.64771430e-01 9.87644246e+01] [ 6.75992268e-01 6.53224853e-01 -3.41074397e-01 3.80358107e+01] [ 4.31065193e-01 2.48687276e-02 9.01978018e-01 2.53532247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99710568099998 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:98.79, Y:38.05, Z:25.37 [[ 5.97369001e-01 -7.56592010e-01 -2.65930079e-01 9.87869118e+01] [ 6.77327068e-01 6.53527468e-01 -3.37831159e-01 3.80523632e+01] [ 4.29392966e-01 2.16882215e-02 9.02857299e-01 2.53675006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02710568099998 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:98.80, Y:38.07, Z:25.38 [[ 5.94680965e-01 -7.59983971e-01 -2.62257342e-01 9.88028729e+01] [ 6.79596320e-01 6.49476119e-01 -3.41071271e-01 3.80728116e+01] [ 4.29538579e-01 2.45994682e-02 9.02713396e-01 2.53797232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05710568099998 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:98.82, Y:38.09, Z:25.39 [[ 5.93897495e-01 -7.57351372e-01 -2.71486030e-01 9.88193741e+01] [ 6.79822505e-01 6.52860659e-01 -3.34087296e-01 3.80917270e+01] [ 4.30264021e-01 1.38512952e-02 9.02596817e-01 2.53937382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08710568099998 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:98.84, Y:38.11, Z:25.40 [[ 5.93923622e-01 -7.57311843e-01 -2.71539138e-01 9.88391811e+01] [ 6.81081862e-01 6.52945847e-01 -3.31344560e-01 3.81056304e+01] [ 4.28231512e-01 1.18529798e-02 9.03591323e-01 2.54029190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11710568099998 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:98.86, Y:38.12, Z:25.42 [[ 5.90194817e-01 -7.58534663e-01 -2.76215934e-01 9.88574455e+01] [ 6.82734138e-01 6.51599951e-01 -3.30592803e-01 3.81209989e+01] [ 4.30748389e-01 6.53211156e-03 9.02448423e-01 2.54188772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14710568099999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:98.88, Y:38.14, Z:25.43 [[ 5.83629229e-01 -7.67356932e-01 -2.65594167e-01 9.88778498e+01] [ 6.89561014e-01 6.41078043e-01 -3.36934045e-01 3.81380621e+01] [ 4.28815264e-01 1.35011736e-02 9.03291308e-01 2.54290867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17710568099999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:98.90, Y:38.16, Z:25.44 [[ 5.80140407e-01 -7.70030792e-01 -2.65498939e-01 9.88952458e+01] [ 6.92425438e-01 6.37899009e-01 -3.37093262e-01 3.81556837e+01] [ 4.28933702e-01 1.17232028e-02 9.03259899e-01 2.54414556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20710568099999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:98.91, Y:38.17, Z:25.45 [[ 5.74641809e-01 -7.74146092e-01 -2.65489397e-01 9.89145838e+01] [ 6.96839423e-01 6.32945195e-01 -3.37335440e-01 3.81721536e+01] [ 4.29187150e-01 8.84356974e-03 9.03172288e-01 2.54536873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23710568099999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:98.93, Y:38.19, Z:25.46 [[ 5.72526504e-01 -7.75560077e-01 -2.65932266e-01 9.89313383e+01] [ 6.97993462e-01 6.31223132e-01 -3.38175226e-01 3.81919018e+01] [ 4.30137802e-01 7.99529639e-03 9.02727836e-01 2.54646985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.26710568099999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:98.95, Y:38.21, Z:25.47 [[ 5.69623167e-01 -7.77069113e-01 -2.67755562e-01 9.89491583e+01] [ 6.98393059e-01 6.29375003e-01 -3.40784742e-01 3.82118417e+01] [ 4.33331955e-01 7.12025768e-03 9.01206258e-01 2.54749121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29710568099999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:98.96, Y:38.23, Z:25.49 [[ 5.67985814e-01 -7.77593365e-01 -2.69704790e-01 9.89649619e+01] [ 6.97615382e-01 6.28728674e-01 -3.43559360e-01 3.82314723e+01] [ 4.36720614e-01 6.98663236e-03 8.99570060e-01 2.54866812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.32710568099999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:98.98, Y:38.25, Z:25.50 [[ 5.67535848e-01 -7.77685325e-01 -2.70386015e-01 9.89804220e+01] [ 6.97145649e-01 6.28613157e-01 -3.44722269e-01 3.82524592e+01] [ 4.38053656e-01 7.14381146e-03 8.98920442e-01 2.54973578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35710568099998 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:99.00, Y:38.27, Z:25.51 [[ 5.67174344e-01 -7.77543622e-01 -2.71549589e-01 9.89961027e+01] [ 6.96111224e-01 6.28784337e-01 -3.46495918e-01 3.82724669e+01] [ 4.40161819e-01 7.49487817e-03 8.97887187e-01 2.55079295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38710568099998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:99.01, Y:38.29, Z:25.52 [[ 5.68253993e-01 -7.77022667e-01 -2.70782521e-01 9.90121941e+01] [ 6.95921529e-01 6.29421614e-01 -3.45719044e-01 3.82908775e+01] [ 4.39067905e-01 8.01284131e-03 8.98418148e-01 2.55217430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41710568099998 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:99.03, Y:38.31, Z:25.53 [[ 5.67668937e-01 -7.77980608e-01 -2.69254809e-01 9.90269571e+01] [ 6.97803274e-01 6.28244388e-01 -3.44063338e-01 3.83103030e+01] [ 4.36832427e-01 7.42718191e-03 8.99512239e-01 2.55349582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44710568099998 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:99.04, Y:38.33, Z:25.55 [[ 5.63632876e-01 -7.83861055e-01 -2.60537573e-01 9.90414006e+01] [ 7.02338632e-01 6.20792802e-01 -3.48334242e-01 3.83304758e+01] [ 4.34785496e-01 1.33470278e-02 9.00435133e-01 2.55482400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47710568099998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:99.06, Y:38.35, Z:25.57 [[ 5.60644029e-01 -7.82564246e-01 -2.70687038e-01 9.90578033e+01] [ 7.08189994e-01 6.22549795e-01 -3.33014542e-01 3.83483950e+01] [ 4.29121434e-01 -4.99523761e-03 9.03232994e-01 2.55663121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50710568099998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:99.07, Y:38.37, Z:25.58 [[ 5.60856276e-01 -7.84123570e-01 -2.65688661e-01 9.90716546e+01] [ 7.09881840e-01 6.20602071e-01 -3.33047808e-01 3.83680561e+01] [ 4.26037570e-01 -1.81560229e-03 9.04703649e-01 2.55779894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53710568099999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:99.09, Y:38.39, Z:25.59 [[ 5.58321396e-01 -7.87827346e-01 -2.60010176e-01 9.90852801e+01] [ 7.13811666e-01 6.15895920e-01 -3.33384344e-01 3.83893797e+01] [ 4.22788510e-01 5.37315438e-04 9.06228220e-01 2.55911209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:99.10, Y:38.41, Z:25.60 [[ 5.54987316e-01 -7.90195421e-01 -2.59962067e-01 9.90977392e+01] [ 7.16321331e-01 6.12854024e-01 -3.33607097e-01 3.84124596e+01] [ 4.22933600e-01 -1.06866634e-03 9.06160046e-01 2.56026212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59710568099999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:99.11, Y:38.43, Z:25.61 [[ 5.53770612e-01 -7.90844629e-01 -2.60581815e-01 9.91104130e+01] [ 7.16533154e-01 6.12015428e-01 -3.34689937e-01 3.84344489e+01] [ 4.24167830e-01 -1.37405820e-03 9.05582555e-01 2.56124197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.62710568099999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:99.12, Y:38.46, Z:25.62 [[ 5.52916102e-01 -7.91048813e-01 -2.61773870e-01 9.91202913e+01] [ 7.15918749e-01 6.11751518e-01 -3.36482430e-01 3.84587448e+01] [ 4.26314589e-01 -1.36226798e-03 9.04573941e-01 2.56224426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65710568099999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:99.13, Y:38.48, Z:25.63 [[ 5.54281909e-01 -7.89814476e-01 -2.62611232e-01 9.91297780e+01] [ 7.13901951e-01 6.13345784e-01 -3.37862329e-01 3.84841437e+01] [ 4.27920050e-01 -2.07694582e-04 9.03816568e-01 2.56332016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.68710568099999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:99.14, Y:38.51, Z:25.64 [[ 5.54890586e-01 -7.89241842e-01 -2.63047053e-01 9.91417284e+01] [ 7.12868297e-01 6.14082350e-01 -3.38705858e-01 3.85063912e+01] [ 4.28853388e-01 4.26787405e-04 9.03374003e-01 2.56427739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71710568099999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:99.15, Y:38.53, Z:25.65 [[ 5.55461940e-01 -7.88326641e-01 -2.64581068e-01 9.91535773e+01] [ 7.10769328e-01 6.15255473e-01 -3.40980447e-01 3.85305069e+01] [ 4.31588921e-01 1.34555316e-03 9.02069395e-01 2.56522878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74710568099998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:99.17, Y:38.55, Z:25.66 [[ 5.55485353e-01 -7.88511473e-01 -2.63980454e-01 9.91657515e+01] [ 7.11210922e-01 6.15018476e-01 -3.40486854e-01 3.85542916e+01] [ 4.30830647e-01 1.38967840e-03 9.02431727e-01 2.56631940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77710568099998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:99.18, Y:38.58, Z:25.67 [[ 5.53950146e-01 -7.89733133e-01 -2.63554197e-01 9.91793213e+01] [ 7.12686233e-01 6.13450218e-01 -3.40231044e-01 3.85766020e+01] [ 4.30369108e-01 6.39588560e-04 9.02652769e-01 2.56745403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80710568099998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:99.19, Y:38.60, Z:25.69 [[ 5.49477098e-01 -7.93223200e-01 -2.62434515e-01 9.91919344e+01] [ 7.17097053e-01 6.08928117e-01 -3.39084599e-01 3.85981526e+01] [ 4.28773526e-01 -1.87179637e-03 9.03410073e-01 2.56862380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83710568099998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:99.21, Y:38.62, Z:25.70 [[ 5.46531536e-01 -7.96029985e-01 -2.60076035e-01 9.92054432e+01] [ 7.21511196e-01 6.05244960e-01 -3.36303630e-01 3.86177190e+01] [ 4.25117483e-01 -3.84723146e-03 9.05130004e-01 2.56988549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86710568099998 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:99.22, Y:38.64, Z:25.71 [[ 5.45317770e-01 -7.97062365e-01 -2.59461203e-01 9.92193400e+01] [ 7.22900815e-01 6.03880513e-01 -3.35771855e-01 3.86385726e+01] [ 4.24314673e-01 -4.46235620e-03 9.05503807e-01 2.57113131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89710568099999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:99.23, Y:38.66, Z:25.72 [[ 5.43704459e-01 -7.97648596e-01 -2.61040568e-01 9.92310370e+01] [ 7.22470289e-01 6.03103573e-01 -3.38086916e-01 3.86631757e+01] [ 4.27109053e-01 -4.77469075e-03 9.04187513e-01 2.57208320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92710568099999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:99.24, Y:38.68, Z:25.73 [[ 5.44367591e-01 -7.97082053e-01 -2.61388841e-01 9.92434374e+01] [ 7.21491914e-01 6.03856812e-01 -3.38830886e-01 3.86847765e+01] [ 4.27917450e-01 -4.14138160e-03 9.03808334e-01 2.57312511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95710568099999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:99.25, Y:38.71, Z:25.75 [[ 5.48144019e-01 -7.94329005e-01 -2.61877005e-01 9.92537812e+01] [ 7.17994502e-01 6.07485190e-01 -3.39772923e-01 3.87082496e+01] [ 4.28977890e-01 -1.78175380e-03 9.03313232e-01 2.57452293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98710568099999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:99.26, Y:38.73, Z:25.76 [[ 5.52047792e-01 -7.91456146e-01 -2.62374550e-01 9.92612882e+01] [ 7.14363374e-01 6.11225598e-01 -3.40717241e-01 3.87335632e+01] [ 4.30032796e-01 6.61431823e-04 9.02813025e-01 2.57567376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:99.27, Y:38.76, Z:25.77 [[ 5.52936343e-01 -7.90961157e-01 -2.61995895e-01 9.92726776e+01] [ 7.13922358e-01 6.11865135e-01 -3.40493645e-01 3.87565189e+01] [ 4.29623401e-01 1.22658344e-03 9.03007325e-01 2.57685667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:38.78, Z:25.78 [[ 5.54469812e-01 -7.89936453e-01 -2.61846571e-01 9.92817500e+01] [ 7.12747147e-01 6.13184725e-01 -3.40581852e-01 3.87806281e+01] [ 4.29598338e-01 2.21195886e-03 9.03017373e-01 2.57812773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:99.29, Y:38.80, Z:25.79 [[ 5.57365237e-01 -7.88218066e-01 -2.60875973e-01 9.92939790e+01] [ 7.11317963e-01 6.15384819e-01 -3.39600176e-01 3.88028566e+01] [ 4.28218107e-01 3.71556662e-03 9.03667775e-01 2.57935414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:99.31, Y:38.82, Z:25.81 [[ 5.59049033e-01 -7.87262200e-01 -2.60158428e-01 9.93081644e+01] [ 7.10575199e-01 6.16601024e-01 -3.38948467e-01 3.88242285e+01] [ 4.27255269e-01 4.62668597e-03 9.04119201e-01 2.58059888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:99.32, Y:38.85, Z:25.82 [[ 5.62131501e-01 -7.85230727e-01 -2.59655314e-01 9.93195400e+01] [ 7.08516111e-01 6.19170688e-01 -3.38574333e-01 3.88474643e+01] [ 4.26629929e-01 6.35332472e-03 9.04403969e-01 2.58179249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.33, Y:38.87, Z:25.83 [[ 5.62548462e-01 -7.85026528e-01 -2.59369579e-01 9.93338483e+01] [ 7.08337074e-01 6.19426005e-01 -3.38481926e-01 3.88689734e+01] [ 4.26377553e-01 6.69139828e-03 9.04520540e-01 2.58292727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:38.89, Z:25.84 [[ 5.61016930e-01 -7.86814008e-01 -2.57261968e-01 9.93495972e+01] [ 7.11476634e-01 6.17165892e-01 -3.36016757e-01 3.88883946e+01] [ 4.23156003e-01 5.47521051e-03 9.06040297e-01 2.58419792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:38.91, Z:25.85 [[ 5.58833866e-01 -7.88733411e-01 -2.56133397e-01 9.93652567e+01] [ 7.14148455e-01 6.14721075e-01 -3.34828292e-01 3.89074572e+01] [ 4.21540858e-01 4.19611923e-03 9.06799701e-01 2.58544790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:38.93, Z:25.87 [[ 5.53457185e-01 -7.93254831e-01 -2.53834431e-01 9.93814956e+01] [ 7.20389642e-01 6.08889054e-01 -3.32103725e-01 3.89258689e+01] [ 4.17999890e-01 9.45497937e-04 9.08446585e-01 2.58685185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.40, Y:38.95, Z:25.88 [[ 5.47759378e-01 -7.97672175e-01 -2.52346518e-01 9.93964047e+01] [ 7.26013474e-01 6.03087255e-01 -3.30439402e-01 3.89450870e+01] [ 4.15769285e-01 -2.20569128e-03 9.09467447e-01 2.58833387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:38.97, Z:25.90 [[ 5.46423124e-01 -7.98730912e-01 -2.51894224e-01 9.94099348e+01] [ 7.27319346e-01 6.01681805e-01 -3.30129633e-01 3.89658882e+01] [ 4.15244914e-01 -2.81707634e-03 9.09705296e-01 2.58959667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:38.99, Z:25.91 [[ 5.49384294e-01 -7.96631174e-01 -2.52102499e-01 9.94197670e+01] [ 7.24753643e-01 6.04464801e-01 -3.30687861e-01 3.89901614e+01] [ 4.15823346e-01 -1.03748768e-03 9.09444814e-01 2.59070514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:39.01, Z:25.92 [[ 5.57217227e-01 -7.90877895e-01 -2.53023946e-01 9.94298388e+01] [ 7.17737273e-01 6.11963975e-01 -3.32194673e-01 3.90139764e+01] [ 4.17566964e-01 3.49987778e-03 9.08639412e-01 2.59162309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:39.04, Z:25.93 [[ 5.61147283e-01 -7.87667256e-01 -2.54350194e-01 9.94436189e+01] [ 7.13276932e-01 6.16070520e-01 -3.34205226e-01 3.90361082e+01] [ 4.19940169e-01 6.11622837e-03 9.07531182e-01 2.59272812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:39.06, Z:25.94 [[ 5.68985571e-01 -7.81483889e-01 -2.56004593e-01 9.94570270e+01] [ 7.05328429e-01 6.23828523e-01 -3.36674592e-01 3.90578729e+01] [ 4.22808736e-01 1.09956679e-02 9.06152232e-01 2.59368977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.47, Y:39.08, Z:25.95 [[ 5.72747775e-01 -7.82036104e-01 -2.45722440e-01 9.94699274e+01] [ 6.97861719e-01 6.22438107e-01 -3.54344217e-01 3.90804639e+01] [ 4.30056981e-01 3.14695779e-02 9.02253101e-01 2.59460717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:39.10, Z:25.96 [[ 5.73021723e-01 -7.76175520e-01 -2.63054494e-01 9.94868226e+01] [ 6.96349828e-01 6.30373799e-01 -3.43111921e-01 3.90986069e+01] [ 4.32137734e-01 1.34326326e-02 9.01707571e-01 2.59579186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.50, Y:39.12, Z:25.97 [[ 5.70774067e-01 -7.77999791e-01 -2.62551499e-01 9.95043470e+01] [ 6.96725720e-01 6.28088781e-01 -3.46522372e-01 3.91193467e+01] [ 4.34499984e-01 1.48596019e-02 9.00549253e-01 2.59681864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.52, Y:39.14, Z:25.98 [[ 5.66440819e-01 -7.81696518e-01 -2.60950862e-01 9.95238294e+01] [ 6.99499160e-01 6.23471257e-01 -3.49262821e-01 3.91363518e+01] [ 4.35712893e-01 1.53018096e-02 8.99955627e-01 2.59799221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.54, Y:39.15, Z:25.99 [[ 5.64097851e-01 -7.78833396e-01 -2.74248347e-01 9.95435743e+01] [ 7.02666027e-01 6.27222664e-01 -3.35934792e-01 3.91532848e+01] [ 4.33652014e-01 -3.20490263e-03 9.01074725e-01 2.59930034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.56, Y:39.17, Z:26.00 [[ 5.58759830e-01 -7.86681807e-01 -2.62524641e-01 9.95609034e+01] [ 7.06142153e-01 6.17301197e-01 -3.46846496e-01 3.91736588e+01] [ 4.34914603e-01 8.42417382e-03 9.00432297e-01 2.60027285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.58, Y:39.19, Z:26.02 [[ 5.56831351e-01 -7.88153816e-01 -2.62206805e-01 9.95762657e+01] [ 7.07830187e-01 6.15432989e-01 -3.46725629e-01 3.91930130e+01] [ 4.34643846e-01 7.46980915e-03 9.00571446e-01 2.60150500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:99.59, Y:39.21, Z:26.03 [[ 5.57865536e-01 -7.88057913e-01 -2.60289782e-01 9.95909600e+01] [ 7.08819730e-01 6.15553241e-01 -3.44483378e-01 3.92114003e+01] [ 4.31695070e-01 7.67687153e-03 9.01986935e-01 2.60295386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:39.23, Z:26.04 [[ 5.59147974e-01 -7.87755684e-01 -2.58446370e-01 9.96054414e+01] [ 7.09541793e-01 6.15935579e-01 -3.42306598e-01 3.92311559e+01] [ 4.28840282e-01 8.02153990e-03 9.03344711e-01 2.60436820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.62, Y:39.25, Z:26.06 [[ 5.55955947e-01 -7.91719529e-01 -2.53166295e-01 9.96204532e+01] [ 7.11384002e-01 6.10741406e-01 -3.47746655e-01 3.92530603e+01] [ 4.29936956e-01 1.32333689e-02 9.02761924e-01 2.60555459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:99.64, Y:39.27, Z:26.07 [[ 5.54668395e-01 -7.88906652e-01 -2.64517041e-01 9.96371531e+01] [ 7.13559188e-01 6.14509398e-01 -3.36469144e-01 3.92711224e+01] [ 4.27990954e-01 -2.11976515e-03 9.03780532e-01 2.60674589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.65, Y:39.29, Z:26.08 [[ 5.52285061e-01 -7.92880918e-01 -2.57528759e-01 9.96521652e+01] [ 7.15464174e-01 6.09360071e-01 -3.41747452e-01 3.92921986e+01] [ 4.27892776e-01 4.48941152e-03 9.03818354e-01 2.60772774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:39.31, Z:26.09 [[ 5.46061449e-01 -7.96916146e-01 -2.58343860e-01 9.96672836e+01] [ 7.19270964e-01 6.04087973e-01 -3.43113686e-01 3.93129553e+01] [ 4.29495254e-01 1.54191949e-03 9.03067799e-01 2.60881670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.68, Y:39.33, Z:26.10 [[ 5.42091484e-01 -7.99456400e-01 -2.58855728e-01 9.96819808e+01] [ 7.21621160e-01 6.00724056e-01 -3.44083580e-01 3.93342788e+01] [ 4.30580683e-01 -2.70992639e-04 9.02552049e-01 2.60988193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.70, Y:39.35, Z:26.11 [[ 5.33942763e-01 -8.04763091e-01 -2.59348207e-01 9.96962907e+01] [ 7.27061211e-01 5.93580289e-01 -3.45028167e-01 3.93534827e+01] [ 4.31609918e-01 -4.33672851e-03 9.02049927e-01 2.61107153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.71, Y:39.37, Z:26.12 [[ 5.26154261e-01 -8.09906181e-01 -2.59255995e-01 9.97116965e+01] [ 7.32741365e-01 5.86499564e-01 -3.45120780e-01 3.93733635e+01] [ 4.31568981e-01 -8.38082239e-03 9.02041006e-01 2.61237042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.73, Y:39.39, Z:26.14 [[ 5.25875076e-01 -8.10132364e-01 -2.59115722e-01 9.97270362e+01] [ 7.32941660e-01 5.86187241e-01 -3.45226073e-01 3.93942401e+01] [ 4.31569145e-01 -8.37091962e-03 9.02041020e-01 2.61356459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.74, Y:39.41, Z:26.15 [[ 5.22157497e-01 -8.12778285e-01 -2.58346681e-01 9.97411006e+01] [ 7.36242025e-01 5.82481448e-01 -3.44475026e-01 3.94140719e+01] [ 4.30463970e-01 -1.03354660e-02 9.02548585e-01 2.61475622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:39.44, Z:26.16 [[ 5.14844331e-01 -8.20626222e-01 -2.48007899e-01 9.97538527e+01] [ 7.40449389e-01 5.71463363e-01 -3.53785708e-01 3.94372027e+01] [ 4.32053257e-01 -1.49273101e-03 9.01846858e-01 2.61606344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.77, Y:39.46, Z:26.17 [[ 5.11757780e-01 -8.15897424e-01 -2.69101037e-01 9.97677175e+01] [ 7.43838469e-01 5.77518154e-01 -3.36418065e-01 3.94580235e+01] [ 4.29893366e-01 -2.80031418e-02 9.02445299e-01 2.61729779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.78, Y:39.48, Z:26.18 [[ 5.10336668e-01 -8.20128741e-01 -2.58737964e-01 9.97788013e+01] [ 7.43754337e-01 5.71958681e-01 -3.45966405e-01 3.94827879e+01] [ 4.31724417e-01 -1.58781407e-02 9.01865795e-01 2.61825722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.79, Y:39.51, Z:26.19 [[ 5.08979648e-01 -8.20786560e-01 -2.59324393e-01 9.97871199e+01] [ 7.43980813e-01 5.71002749e-01 -3.47056783e-01 3.95085092e+01] [ 4.32934484e-01 -1.62875339e-02 9.01278230e-01 2.61925000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.80, Y:39.53, Z:26.20 [[ 5.09337468e-01 -8.20758307e-01 -2.58710542e-01 9.97963194e+01] [ 7.44222705e-01 5.71049443e-01 -3.46460820e-01 3.95334202e+01] [ 4.32097107e-01 -1.60727828e-02 9.01683845e-01 2.62040920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.81, Y:39.56, Z:26.22 [[ 5.09195559e-01 -8.21097445e-01 -2.57912521e-01 9.98075059e+01] [ 7.44955172e-01 5.70560679e-01 -3.45691051e-01 3.95556694e+01] [ 4.31000782e-01 -1.61089181e-02 9.02207753e-01 2.62156532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.18710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.81, Y:39.58, Z:26.23 [[ 5.08879415e-01 -8.21309623e-01 -2.57860903e-01 9.98142167e+01] [ 7.45074286e-01 5.70255881e-01 -3.45937190e-01 3.95823077e+01] [ 4.31168239e-01 -1.60852133e-02 9.02128159e-01 2.62269546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.83, Y:39.61, Z:26.24 [[ 5.08746712e-01 -8.21266475e-01 -2.58259869e-01 9.98251047e+01] [ 7.44631453e-01 5.70323596e-01 -3.46778020e-01 3.96063978e+01] [ 4.32088860e-01 -1.58862442e-02 9.01691103e-01 2.62373019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.83, Y:39.63, Z:26.25 [[ 5.08733703e-01 -8.20992075e-01 -2.59156385e-01 9.98329555e+01] [ 7.43616674e-01 5.70728388e-01 -3.48286304e-01 3.96330800e+01] [ 4.33848202e-01 -1.55280282e-02 9.00852162e-01 2.62461282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.84, Y:39.66, Z:26.26 [[ 5.11929819e-01 -8.19306636e-01 -2.58194689e-01 9.98398762e+01] [ 7.42200137e-01 5.73188147e-01 -3.47266906e-01 3.96593307e+01] [ 4.32512216e-01 -1.38558496e-02 9.01521602e-01 2.62579680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.85, Y:39.68, Z:26.27 [[ 5.14886219e-01 -8.17874662e-01 -2.56852524e-01 9.98505913e+01] [ 7.41295442e-01 5.75263345e-01 -3.45764589e-01 3.96819778e+01] [ 4.30549938e-01 -1.23741837e-02 9.02481928e-01 2.62710767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.86, Y:39.71, Z:26.28 [[ 5.20945477e-01 -8.14740322e-01 -2.54585971e-01 9.98564319e+01] [ 7.39078203e-01 5.79748672e-01 -3.43008582e-01 3.97066835e+01] [ 4.27058801e-01 -9.47017220e-03 9.04174262e-01 2.62845141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.86, Y:39.73, Z:26.30 [[ 5.26942896e-01 -8.10937822e-01 -2.54383634e-01 9.98633293e+01] [ 7.34851508e-01 5.85099585e-01 -3.43003991e-01 3.97336429e+01] [ 4.26994668e-01 -6.19068042e-03 9.04232951e-01 2.62958582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:39.76, Z:26.31 [[ 5.30954786e-01 -8.08395683e-01 -2.54132711e-01 9.98735065e+01] [ 7.32055605e-01 5.88626218e-01 -3.42948637e-01 3.97574883e+01] [ 4.26827374e-01 -3.94905585e-03 9.04324498e-01 2.63074118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:39.78, Z:26.32 [[ 5.41019321e-01 -8.02040904e-01 -2.53038501e-01 9.98802900e+01] [ 7.25582971e-01 5.97267696e-01 -3.41761103e-01 3.97836279e+01] [ 4.25238107e-01 1.29893299e-03 9.05080585e-01 2.63190986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:39.81, Z:26.33 [[ 5.44836830e-01 -7.99544971e-01 -2.52746251e-01 9.98921415e+01] [ 7.22880141e-01 6.00596369e-01 -3.41655240e-01 3.98061329e+01] [ 4.24967210e-01 3.44111231e-03 9.05202203e-01 2.63309134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.90, Y:39.83, Z:26.34 [[ 5.49546910e-01 -7.96019796e-01 -2.53674354e-01 9.99017883e+01] [ 7.18263581e-01 6.05236759e-01 -3.43199496e-01 3.98307600e+01] [ 4.26726636e-01 6.39917281e-03 9.04358020e-01 2.63421878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:39.86, Z:26.35 [[ 5.55635461e-01 -8.01368615e-01 -2.21534596e-01 9.99135088e+01] [ 7.19295707e-01 5.96957367e-01 -3.55324622e-01 3.98641374e+01] [ 4.16992710e-01 3.80820762e-02 9.08111687e-01 2.63479622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.54710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.93, Y:39.87, Z:26.36 [[ 5.55963093e-01 -7.79820824e-01 -2.87722995e-01 9.99310632e+01] [ 7.10275455e-01 6.25509084e-01 -3.22873293e-01 3.98737081e+01] [ 4.31756664e-01 -2.48569463e-02 9.01647556e-01 2.63640278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:99.94, Y:39.91, Z:26.36 [[ 5.63687709e-01 -8.00540002e-01 -2.03449926e-01 9.99414030e+01] [ 7.10678324e-01 5.95579124e-01 -3.74462050e-01 3.99120095e+01] [ 4.20942378e-01 6.64922026e-02 9.04647059e-01 2.63618920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:39.93, Z:26.37 [[ 5.62761880e-01 -7.86774992e-01 -2.53543247e-01 9.99634780e+01] [ 7.08726132e-01 6.17109129e-01 -3.41882426e-01 3.99289013e+01] [ 4.25448395e-01 1.27056719e-02 9.04893490e-01 2.63739453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.98, Y:39.94, Z:26.40 [[ 5.58075224e-01 -7.68853874e-01 -3.12114986e-01 9.99791204e+01] [ 7.04344947e-01 6.37775066e-01 -3.11674769e-01 3.99368085e+01] [ 4.38691509e-01 -4.58986467e-02 8.97464804e-01 2.63963482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.99, Y:39.96, Z:26.41 [[ 5.58974940e-01 -7.87956309e-01 -2.58208971e-01 9.99870045e+01] [ 7.05622704e-01 6.15572541e-01 -3.50951629e-01 3.99610089e+01] [ 4.35480902e-01 1.39750532e-02 9.00089485e-01 2.64076513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:100.00, Y:39.99, Z:26.41 [[ 5.57338498e-01 -8.05178833e-01 -2.02634761e-01 1.00002764e+02] [ 7.14477399e-01 5.89423926e-01 -3.76963502e-01 3.99901719e+01] [ 4.22960809e-01 6.53183149e-02 9.03790724e-01 2.64081684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:100.03, Y:40.00, Z:26.42 [[ 5.49204410e-01 -7.96277173e-01 -2.53608320e-01 1.00027037e+02] [ 7.16497101e-01 6.04862713e-01 -3.47524104e-01 3.99997016e+01] [ 4.30123727e-01 9.15214452e-03 9.02723555e-01 2.64246417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:40.01, Z:26.45 [[ 5.43956399e-01 -7.80102018e-01 -3.09115314e-01 1.00049836e+02] [ 7.16656731e-01 6.23523112e-01 -3.12445289e-01 4.00060815e+01] [ 4.36479743e-01 -5.15729558e-02 8.98234749e-01 2.64510828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.06, Y:40.04, Z:26.45 [[ 5.44489891e-01 -8.13814328e-01 -2.03068950e-01 1.00055481e+02] [ 7.26379249e-01 5.78563947e-01 -3.70994537e-01 4.00434910e+01] [ 4.19409043e-01 5.44977040e-02 9.06160060e-01 2.64527947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81710568099999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:100.09, Y:40.05, Z:26.47 [[ 5.43701323e-01 -7.94326659e-01 -2.70987141e-01 1.00085037e+02] [ 7.26074179e-01 6.07119747e-01 -3.22834168e-01 4.00533930e+01] [ 4.20957430e-01 -2.12314017e-02 9.06831886e-01 2.64660395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:100.10, Y:40.08, Z:26.48 [[ 5.41541030e-01 -8.05935387e-01 -2.39168279e-01 1.00096675e+02] [ 7.27921969e-01 5.91852407e-01 -3.46179629e-01 4.00763912e+01] [ 4.20550735e-01 1.33746284e-02 9.07170435e-01 2.64775567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.12, Y:40.09, Z:26.49 [[ 5.38876000e-01 -8.00438795e-01 -2.62507890e-01 1.00119192e+02] [ 7.28189552e-01 5.99295249e-01 -3.32543503e-01 4.00917800e+01] [ 4.23500452e-01 -1.19557902e-02 9.05816994e-01 2.64911523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.13, Y:40.10, Z:26.51 [[ 5.34958674e-01 -7.94071382e-01 -2.88565171e-01 1.00133557e+02] [ 7.22187157e-01 6.07033098e-01 -3.31596938e-01 4.01015960e+01] [ 4.38480248e-01 -3.10074027e-02 8.98205774e-01 2.65145345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:100.14, Y:40.13, Z:26.52 [[ 5.33683172e-01 -8.18489969e-01 -2.12735616e-01 1.00144631e+02] [ 7.32771171e-01 5.73134780e-01 -3.66828209e-01 4.01347972e+01] [ 4.22171390e-01 3.98835155e-02 9.05638241e-01 2.65153859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.17, Y:40.15, Z:26.53 [[ 5.31873605e-01 -8.07989231e-01 -2.53503198e-01 1.00167722e+02] [ 7.33711074e-01 5.89166866e-01 -3.38453045e-01 4.01495599e+01] [ 4.22822100e-01 -5.98386250e-03 9.06192951e-01 2.65299021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:100.18, Y:40.17, Z:26.54 [[ 5.31330463e-01 -8.09933449e-01 -2.48386286e-01 1.00182631e+02] [ 7.32538063e-01 5.86519518e-01 -3.45518223e-01 4.01696081e+01] [ 4.25530170e-01 1.63194886e-03 9.04942767e-01 2.65441097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.20, Y:40.19, Z:26.56 [[ 5.34658464e-01 -8.05805896e-01 -2.54592193e-01 1.00197534e+02] [ 7.30239598e-01 5.92167899e-01 -3.40715878e-01 4.01887270e+01] [ 4.25312188e-01 -3.74667250e-03 9.05038953e-01 2.65577780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:100.21, Y:40.21, Z:26.57 [[ 5.36408418e-01 -8.05992526e-01 -2.50283952e-01 1.00211066e+02] [ 7.28107436e-01 5.91917109e-01 -3.45678604e-01 4.02108811e+01] [ 4.26761725e-01 3.19130688e-03 9.04358472e-01 2.65709283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:100.23, Y:40.23, Z:26.58 [[ 5.43866021e-01 -7.99418358e-01 -2.55225469e-01 1.00225560e+02] [ 7.23603639e-01 6.00774728e-01 -3.39805091e-01 4.02316393e+01] [ 4.24979439e-01 1.26364373e-04 9.05202994e-01 2.65826478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11710568099998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:100.24, Y:40.25, Z:26.59 [[ 5.46938837e-01 -7.98223465e-01 -2.52383059e-01 1.00239771e+02] [ 7.20941259e-01 6.02336550e-01 -3.42687004e-01 4.02523652e+01] [ 4.25560348e-01 5.47547097e-03 9.04913482e-01 2.65939941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.26, Y:40.27, Z:26.61 [[ 5.50561152e-01 -7.96074046e-01 -2.51293717e-01 1.00256268e+02] [ 7.17858668e-01 6.05130397e-01 -3.44232677e-01 4.02721713e+01] [ 4.26100166e-01 9.12776627e-03 9.04629942e-01 2.66069614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:100.27, Y:40.29, Z:26.62 [[ 5.51770988e-01 -7.95405572e-01 -2.50756360e-01 1.00271109e+02] [ 7.16280004e-01 6.05971789e-01 -3.46036338e-01 4.02923114e+01] [ 4.27190511e-01 1.13210460e-02 9.04090759e-01 2.66206932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:100.29, Y:40.31, Z:26.63 [[ 5.51212980e-01 -7.94739609e-01 -2.54073226e-01 1.00285366e+02] [ 7.15518375e-01 6.06884807e-01 -3.46011974e-01 4.03130151e+01] [ 4.29182602e-01 8.93222958e-03 9.03173577e-01 2.66333203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:40.33, Z:26.65 [[ 5.47882485e-01 -8.00253963e-01 -2.43758850e-01 1.00298759e+02] [ 7.15853475e-01 5.99262813e-01 -3.58382314e-01 4.03338425e+01] [ 4.32872481e-01 2.18557724e-02 9.01190180e-01 2.66458051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:40.34, Z:26.67 [[ 5.39061541e-01 -7.87434905e-01 -2.98929633e-01 1.00322352e+02] [ 7.14735437e-01 6.15429098e-01 -3.32265376e-01 4.03370310e+01] [ 4.45607349e-01 -3.45441168e-02 8.94561789e-01 2.66748151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.33, Y:40.36, Z:26.69 [[ 5.36586216e-01 -8.02815197e-01 -2.59928821e-01 1.00334540e+02] [ 7.17978415e-01 5.96196300e-01 -3.59244996e-01 4.03599506e+01] [ 4.43375944e-01 6.14263022e-03 8.96314700e-01 2.66851034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:100.35, Y:40.39, Z:26.68 [[ 5.34557310e-01 -8.19606039e-01 -2.06141753e-01 1.00348199e+02] [ 7.25135601e-01 5.70086467e-01 -3.86237983e-01 4.03897961e+01] [ 4.34081608e-01 5.69856132e-02 8.99069407e-01 2.66841486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:40.39, Z:26.72 [[ 5.32032769e-01 -7.90140192e-01 -3.04334700e-01 1.00372313e+02] [ 7.21940286e-01 6.11118619e-01 -3.24555476e-01 4.03922033e+01] [ 4.42428928e-01 -4.70373313e-02 8.95569167e-01 2.67161973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:100.38, Y:40.43, Z:26.71 [[ 5.36834749e-01 -8.18614669e-01 -2.04153071e-01 1.00380060e+02] [ 7.24184530e-01 5.71248917e-01 -3.86304856e-01 4.04280428e+01] [ 4.32857042e-01 5.95373744e-02 8.99494348e-01 2.67115687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41710568099998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:100.40, Y:40.44, Z:26.73 [[ 5.39502015e-01 -8.03175822e-01 -2.52678005e-01 1.00402409e+02] [ 7.21716031e-01 5.95690600e-01 -3.52531813e-01 4.04422339e+01] [ 4.33662941e-01 7.82985674e-03 9.01041146e-01 2.67279992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.42, Y:40.45, Z:26.76 [[ 5.43932391e-01 -7.81743417e-01 -3.04983251e-01 1.00424367e+02] [ 7.11607689e-01 6.22336708e-01 -3.26054473e-01 4.04483236e+01] [ 4.44693210e-01 -3.96768376e-02 8.94803720e-01 2.67556944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.44, Y:40.47, Z:26.76 [[ 5.51330008e-01 -7.92500523e-01 -2.60726186e-01 1.00439035e+02] [ 7.05605496e-01 6.09683633e-01 -3.61118750e-01 4.04712561e+01] [ 4.45147286e-01 1.51257737e-02 8.95329607e-01 2.67641327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.45, Y:40.49, Z:26.78 [[ 5.53854793e-01 -7.90522320e-01 -2.61379667e-01 1.00454774e+02] [ 7.02795083e-01 6.12197527e-01 -3.62344117e-01 4.04922648e+01] [ 4.46457097e-01 1.69896810e-02 8.94643734e-01 2.67751460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.47, Y:40.51, Z:26.78 [[ 5.57185070e-01 -7.86727895e-01 -2.65714166e-01 1.00472630e+02] [ 6.97385653e-01 6.17042443e-01 -3.64570808e-01 4.05115197e+01] [ 4.50774943e-01 1.78281637e-02 8.92459583e-01 2.67842216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:40.53, Z:26.79 [[ 5.55975659e-01 -7.88078674e-01 -2.64240554e-01 1.00493774e+02] [ 6.94564078e-01 6.15109800e-01 -3.73122869e-01 4.05286829e+01] [ 4.56587130e-01 2.39152363e-02 8.89357214e-01 2.67947035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:40.55, Z:26.81 [[ 5.54255807e-01 -7.88223576e-01 -2.67402495e-01 1.00512515e+02] [ 6.95499720e-01 6.15067202e-01 -3.71446465e-01 4.05461265e+01] [ 4.57253365e-01 1.98979997e-02 8.89113845e-01 2.68076914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.53, Y:40.56, Z:26.82 [[ 5.52034158e-01 -7.90298675e-01 -2.65868937e-01 1.00533779e+02] [ 6.98768240e-01 6.12449372e-01 -3.69633215e-01 4.05607082e+01] [ 4.54951903e-01 1.82693913e-02 8.90328588e-01 2.68227642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:40.58, Z:26.84 [[ 5.51781288e-01 -7.93678678e-01 -2.56147549e-01 1.00549770e+02] [ 6.98040902e-01 6.07583123e-01 -3.78921689e-01 4.05784432e+01] [ 4.56372993e-01 3.02804316e-02 8.89273179e-01 2.68361295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.68710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.57, Y:40.59, Z:26.85 [[ 5.50984365e-01 -7.88878727e-01 -2.72188506e-01 1.00572573e+02] [ 7.01409424e-01 6.14495981e-01 -3.61136414e-01 4.05940848e+01] [ 4.52151578e-01 8.06493472e-03 8.91904651e-01 2.68505160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.59, Y:40.61, Z:26.86 [[ 5.49511120e-01 -7.92689965e-01 -2.63969976e-01 1.00592369e+02] [ 7.02431626e-01 6.09397564e-01 -3.67728730e-01 4.06112799e+01] [ 4.52357535e-01 1.66501666e-02 8.91681239e-01 2.68597904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:40.63, Z:26.87 [[ 5.49187755e-01 -7.91749289e-01 -2.67443216e-01 1.00610526e+02] [ 7.03391919e-01 6.10736137e-01 -3.63649803e-01 4.06290410e+01] [ 4.51256709e-01 1.15946220e-02 8.92318860e-01 2.68712313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:40.65, Z:26.88 [[ 5.47553406e-01 -7.95199138e-01 -2.60468037e-01 1.00629155e+02] [ 7.05443211e-01 6.06097635e-01 -3.67417382e-01 4.06458306e+01] [ 4.50039046e-01 1.74352304e-02 8.92838658e-01 2.68816094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:40.66, Z:26.90 [[ 5.43432757e-01 -7.99351753e-01 -2.56354467e-01 1.00649073e+02] [ 7.08506969e-01 6.00537434e-01 -3.70638188e-01 4.06627268e+01] [ 4.50220739e-01 1.97880065e-02 8.92698001e-01 2.68958511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.67, Y:40.68, Z:26.91 [[ 5.41222258e-01 -7.99120975e-01 -2.61694737e-01 1.00667203e+02] [ 7.10771353e-01 6.01054976e-01 -3.65427148e-01 4.06794991e+01] [ 4.49313423e-01 1.17721838e-02 8.93296627e-01 2.69096331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.68, Y:40.70, Z:26.92 [[ 5.40943042e-01 -7.99359868e-01 -2.61542399e-01 1.00681919e+02] [ 7.10984055e-01 6.00737040e-01 -3.65536158e-01 4.07004836e+01] [ 4.49313141e-01 1.17817659e-02 8.93296642e-01 2.69221692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:100.70, Y:40.72, Z:26.93 [[ 5.36098872e-01 -8.03242902e-01 -2.59612865e-01 1.00700279e+02] [ 7.16522465e-01 5.95588657e-01 -3.63138691e-01 4.07163154e+01] [ 4.46311054e-01 8.65979275e-03 8.94835991e-01 2.69347918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:100.72, Y:40.74, Z:26.95 [[ 5.33680792e-01 -8.05138710e-01 -2.58720835e-01 1.00716733e+02] [ 7.19115651e-01 5.93042389e-01 -3.62178692e-01 4.07351460e+01] [ 4.45036507e-01 7.23760923e-03 8.95483180e-01 2.69478708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95710568099999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:100.74, Y:40.75, Z:26.96 [[ 5.30567345e-01 -8.07604692e-01 -2.57435338e-01 1.00735828e+02] [ 7.22604732e-01 5.89699996e-01 -3.60688669e-01 4.07523554e+01] [ 4.43103479e-01 5.34563639e-03 8.96454534e-01 2.69599512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98710568099999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:100.75, Y:40.77, Z:26.97 [[ 5.30686369e-01 -8.07184027e-01 -2.58507107e-01 1.00751779e+02] [ 7.22247698e-01 5.90282107e-01 -3.60451519e-01 4.07713807e+01] [ 4.43542828e-01 4.58054474e-03 8.96241473e-01 2.69714286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01710568099999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:100.77, Y:40.79, Z:26.98 [[ 5.31984652e-01 -8.06262555e-01 -2.58714171e-01 1.00768330e+02] [ 7.19750109e-01 5.91514988e-01 -3.63414088e-01 4.07907715e+01] [ 4.46040481e-01 7.12116398e-03 8.94984457e-01 2.69806570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.04710568099999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:100.78, Y:40.81, Z:26.99 [[ 5.33156081e-01 -8.08083980e-01 -2.50489273e-01 1.00783524e+02] [ 7.17873640e-01 5.88785099e-01 -3.71469440e-01 4.08124090e+01] [ 4.47662854e-01 1.82315444e-02 8.94016543e-01 2.69922626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07710568099999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:100.80, Y:40.83, Z:27.01 [[ 5.35686398e-01 -8.06117328e-01 -2.51425807e-01 1.00797727e+02] [ 7.14717824e-01 5.91406797e-01 -3.73385099e-01 4.08316832e+01] [ 4.49687130e-01 2.03188134e-02 8.92955000e-01 2.70070606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10710568099998 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:100.81, Y:40.85, Z:27.02 [[ 5.40809372e-01 -8.02215260e-01 -2.52934576e-01 1.00811484e+02] [ 7.09798269e-01 5.96591276e-01 -3.74520048e-01 4.08532651e+01] [ 4.51344259e-01 2.30114280e-02 8.92053157e-01 2.70212990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13710568099998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:100.83, Y:40.87, Z:27.03 [[ 5.45990542e-01 -7.91578335e-01 -2.74404934e-01 1.00828931e+02] [ 7.07461346e-01 6.11067653e-01 -3.55098249e-01 4.08719256e+01] [ 4.48768060e-01 -2.50598189e-04 8.93648234e-01 2.70343496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16710568099998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:100.84, Y:40.90, Z:27.04 [[ 5.48159465e-01 -7.94988921e-01 -2.59834210e-01 1.00842155e+02] [ 7.06251042e-01 6.06391962e-01 -3.65374128e-01 4.08955249e+01] [ 4.48029760e-01 1.67751054e-02 8.93861248e-01 2.70427521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19710568099998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:100.86, Y:40.91, Z:27.05 [[ 5.51486545e-01 -7.93589049e-01 -2.57058383e-01 1.00855930e+02] [ 7.03189027e-01 6.08038765e-01 -3.68529582e-01 4.09139810e+01] [ 4.48762502e-01 2.24784716e-02 8.93368309e-01 2.70536109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22710568099998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:100.87, Y:40.93, Z:27.07 [[ 5.53923505e-01 -7.93929709e-01 -2.50687791e-01 1.00873194e+02] [ 7.00386324e-01 6.07151445e-01 -3.75268064e-01 4.09332113e+01] [ 4.50141920e-01 3.22915007e-02 8.92372966e-01 2.70661484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25710568099998 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:100.89, Y:40.95, Z:27.08 [[ 5.53273376e-01 -7.94279802e-01 -2.51014277e-01 1.00891711e+02] [ 6.98988572e-01 6.06594356e-01 -3.78758846e-01 4.09510326e+01] [ 4.53104345e-01 3.41010744e-02 8.90805012e-01 2.70788010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:100.91, Y:40.97, Z:27.09 [[ 5.53668861e-01 -7.87984658e-01 -2.69315747e-01 1.00910006e+02] [ 7.00421571e-01 6.15590342e-01 -3.61189914e-01 4.09672163e+01] [ 4.50400284e-01 1.13450493e-02 8.92754655e-01 2.70916995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31710568099999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:100.93, Y:40.99, Z:27.10 [[ 5.51762103e-01 -7.91565268e-01 -2.62646167e-01 1.00930688e+02] [ 7.03783044e-01 6.10894639e-01 -3.62625381e-01 4.09893913e+01] [ 4.47490793e-01 1.52370240e-02 8.94158724e-01 2.71018073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34710568099999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:100.95, Y:41.01, Z:27.11 [[ 5.52355419e-01 -7.92373345e-01 -2.58936234e-01 1.00951261e+02] [ 7.03500111e-01 6.09723978e-01 -3.65135955e-01 4.10055432e+01] [ 4.47203628e-01 1.95231543e-02 8.94219079e-01 2.71129989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37710568099999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:100.97, Y:41.02, Z:27.13 [[ 5.55098397e-01 -7.93086850e-01 -2.50756891e-01 1.00966756e+02] [ 6.98441182e-01 6.08142604e-01 -3.77283035e-01 4.10194021e+01] [ 4.51714163e-01 3.42902686e-02 8.91503501e-01 2.71260796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40710568099999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:100.99, Y:41.05, Z:27.13 [[ 5.58843723e-01 -7.96889657e-01 -2.29478907e-01 1.00986241e+02] [ 7.01503650e-01 6.01856256e-01 -3.81656489e-01 4.10454408e+01] [ 4.42251425e-01 5.23060421e-02 8.95364594e-01 2.71320359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:101.01, Y:41.05, Z:27.17 [[ 5.58907312e-01 -7.75079358e-01 -2.94744984e-01 1.01006197e+02] [ 6.94585488e-01 6.31742858e-01 -3.44168506e-01 4.10488437e+01] [ 4.52960944e-01 -1.23672942e-02 8.91444577e-01 2.71683582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46710568099998 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:101.02, Y:41.07, Z:27.17 [[ 5.63445452e-01 -7.87609976e-01 -2.49398776e-01 1.01019663e+02] [ 6.88901927e-01 6.14545825e-01 -3.84379453e-01 4.10730266e+01] [ 4.56008068e-01 4.47655573e-02 8.88849080e-01 2.71692497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49710568099998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:101.04, Y:41.10, Z:27.17 [[ 5.64558898e-01 -7.93841652e-01 -2.26028055e-01 1.01038726e+02] [ 6.87305994e-01 6.03771816e-01 -4.03819346e-01 4.10992727e+01] [ 4.57037987e-01 7.26293681e-02 8.86476877e-01 2.71707277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52710568099998 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:101.07, Y:41.11, Z:27.19 [[ 5.62875128e-01 -7.81976176e-01 -2.67740265e-01 1.01067057e+02] [ 6.86556615e-01 6.22703550e-01 -3.75340250e-01 4.11078155e+01] [ 4.60229946e-01 2.74508412e-02 8.87375258e-01 2.71926914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55710568099998 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:101.08, Y:41.12, Z:27.21 [[ 5.61220752e-01 -7.82521068e-01 -2.69614623e-01 1.01084594e+02] [ 6.87594027e-01 6.22132867e-01 -3.74386365e-01 4.11242289e+01] [ 4.60701336e-01 2.47279928e-02 8.87210688e-01 2.72062754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58710568099998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:101.11, Y:41.13, Z:27.24 [[ 5.55779850e-01 -7.69164547e-01 -3.15427738e-01 1.01106286e+02] [ 6.83638277e-01 6.38755291e-01 -3.53030288e-01 4.11257805e+01] [ 4.73019518e-01 -1.94313549e-02 8.80837646e-01 2.72422982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61710568099998 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:101.12, Y:41.15, Z:27.24 [[ 5.57289721e-01 -7.92761821e-01 -2.46894436e-01 1.01116746e+02] [ 6.78854088e-01 6.06238772e-01 -4.14284537e-01 4.11502578e+01] [ 4.78105944e-01 6.32712171e-02 8.76020239e-01 2.72354001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64710568099999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:101.14, Y:41.18, Z:27.24 [[ 5.58676641e-01 -7.93336608e-01 -2.41862433e-01 1.01138291e+02] [ 6.87220995e-01 6.06056698e-01 -4.00527881e-01 4.11798667e+01] [ 4.64335777e-01 5.75526294e-02 8.83787294e-01 2.72385693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67710568099999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:101.16, Y:41.18, Z:27.27 [[ 5.53120951e-01 -7.82612107e-01 -2.85614255e-01 1.01157540e+02] [ 6.82269351e-01 6.22266010e-01 -3.83788413e-01 4.11797951e+01] [ 4.78085501e-01 1.74155597e-02 8.78140622e-01 2.72716521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70710568099999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:101.17, Y:41.21, Z:27.28 [[ 5.51836141e-01 -7.96132828e-01 -2.48292958e-01 1.01173539e+02] [ 6.85501156e-01 6.02590910e-01 -4.08622516e-01 4.12109633e+01] [ 4.74936879e-01 5.52875626e-02 8.78281417e-01 2.72753486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73710568099999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:101.19, Y:41.20, Z:27.33 [[ 5.45817392e-01 -7.65909808e-01 -3.39802209e-01 1.01194584e+02] [ 6.88700215e-01 6.41066848e-01 -3.38711249e-01 4.12005653e+01] [ 4.77258199e-01 -4.91473638e-02 8.77387684e-01 2.73261107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76710568099999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:101.21, Y:41.23, Z:27.32 [[ 5.39382981e-01 -7.99359458e-01 -2.64746023e-01 1.01208051e+02] [ 6.94772519e-01 6.00109110e-01 -3.96434360e-01 4.12333084e+01] [ 4.75770055e-01 2.98916857e-02 8.79061626e-01 2.73205004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79710568099999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:101.23, Y:41.25, Z:27.34 [[ 5.37723289e-01 -7.91544939e-01 -2.90362315e-01 1.01225266e+02] [ 6.98183026e-01 6.11107060e-01 -3.72945872e-01 4.12459775e+01] [ 4.72645878e-01 -2.18435876e-03 8.81249739e-01 2.73383503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82710568099999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:101.24, Y:41.27, Z:27.35 [[ 5.32598754e-01 -8.00429522e-01 -2.75047537e-01 1.01239637e+02] [ 7.01994164e-01 5.99310031e-01 -3.84748854e-01 4.12681383e+01] [ 4.72803089e-01 1.18349948e-02 8.81088629e-01 2.73458241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85710568099998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:101.26, Y:41.31, Z:27.33 [[ 5.27430945e-01 -8.19287492e-01 -2.24910213e-01 1.01255111e+02] [ 7.09017966e-01 5.70308023e-01 -4.14779801e-01 4.13068010e+01] [ 4.68092002e-01 5.93023210e-02 8.81687650e-01 2.73349979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88710568099998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:101.27, Y:41.30, Z:27.39 [[ 5.24315754e-01 -7.87455610e-01 -3.24047300e-01 1.01272176e+02] [ 7.06381084e-01 6.14732403e-01 -3.50898614e-01 4.12969125e+01] [ 4.75519457e-01 -4.49192114e-02 8.78557631e-01 2.73863537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91710568099998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:101.28, Y:41.33, Z:27.39 [[ 5.18709071e-01 -8.09353472e-01 -2.75477506e-01 1.01283337e+02] [ 7.11318204e-01 5.87305829e-01 -3.86132460e-01 4.13280643e+01] [ 4.74307193e-01 4.33824482e-03 8.80348719e-01 2.73856611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94710568099998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:101.30, Y:41.35, Z:27.40 [[ 5.15648931e-01 -8.11602423e-01 -2.74604602e-01 1.01296768e+02] [ 7.14353961e-01 5.84204896e-01 -3.85231175e-01 4.13477163e+01] [ 4.73079908e-01 2.47915859e-03 8.81016035e-01 2.73988765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:101.31, Y:41.37, Z:27.41 [[ 5.09067517e-01 -8.16357032e-01 -2.72784641e-01 1.01309441e+02] [ 7.20930824e-01 5.77545132e-01 -3.83014838e-01 4.13685182e+01] [ 4.70222298e-01 -1.67844349e-03 8.82546414e-01 2.74120164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00710568099998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:101.32, Y:41.40, Z:27.42 [[ 4.97628748e-01 -8.25580718e-01 -2.66049068e-01 1.01323082e+02] [ 7.26703370e-01 5.64281714e-01 -3.91775904e-01 4.13956441e+01] [ 4.73569256e-01 1.62019811e-03 8.80755093e-01 2.74240158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03710568099999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:101.34, Y:41.41, Z:27.44 [[ 4.94356050e-01 -8.20683633e-01 -2.86514346e-01 1.01338216e+02] [ 7.29854232e-01 5.70910169e-01 -3.75997844e-01 4.14125925e+01] [ 4.72149231e-01 -2.32368986e-02 8.81212319e-01 2.74418646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06710568099999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:101.35, Y:41.43, Z:27.45 [[ 4.90585982e-01 -8.25546886e-01 -2.78922450e-01 1.01348131e+02] [ 7.32798028e-01 5.64056438e-01 -3.80588209e-01 4.14343971e+01] [ 4.71521414e-01 -1.76825811e-02 8.81677312e-01 2.74516358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09710568099999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:101.36, Y:41.46, Z:27.46 [[ 4.88604139e-01 -8.28936724e-01 -2.72268073e-01 1.01358805e+02] [ 7.34742865e-01 5.59204238e-01 -3.83983780e-01 4.14580251e+01] [ 4.70551717e-01 -1.24309594e-02 8.82284848e-01 2.74635827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12710568099999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:101.36, Y:41.48, Z:27.48 [[ 4.86053344e-01 -8.30851294e-01 -2.70994969e-01 1.01364061e+02] [ 7.37681833e-01 5.56319007e-01 -3.82537157e-01 4.14824189e+01] [ 4.68591144e-01 -1.39746009e-02 8.83304619e-01 2.74778021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15710568099999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:101.37, Y:41.51, Z:27.49 [[ 4.82002332e-01 -8.33047954e-01 -2.71486385e-01 1.01370309e+02] [ 7.39643438e-01 5.52972045e-01 -3.83600706e-01 4.15085645e+01] [ 4.69682165e-01 -1.59066878e-02 8.82692269e-01 2.74905577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18710568099999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:101.38, Y:41.54, Z:27.50 [[ 4.79003138e-01 -8.34549186e-01 -2.72183119e-01 1.01376101e+02] [ 7.40671024e-01 5.50664479e-01 -3.84935145e-01 4.15356183e+01] [ 4.71128887e-01 -1.72130073e-02 8.81896414e-01 2.75014394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21710568099998 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:101.39, Y:41.56, Z:27.51 [[ 4.78366968e-01 -8.34882106e-01 -2.72280945e-01 1.01385739e+02] [ 7.40784896e-01 5.50156279e-01 -3.85442353e-01 4.15596731e+01] [ 4.71595995e-01 -1.73187218e-02 8.81644645e-01 2.75147280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24710568099998 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:101.39, Y:41.59, Z:27.53 [[ 4.80652045e-01 -8.35243101e-01 -2.67100306e-01 1.01388138e+02] [ 7.37330269e-01 5.49818326e-01 -3.92484246e-01 4.15913727e+01] [ 4.74676402e-01 -8.29278511e-03 8.80121323e-01 2.75265798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27710568099998 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:101.40, Y:41.61, Z:27.54 [[ 4.85020127e-01 -8.26007418e-01 -2.87171066e-01 1.01396709e+02] [ 7.36323580e-01 5.62895064e-01 -3.75468684e-01 4.16130457e+01] [ 4.71787094e-01 -2.93409589e-02 8.81224175e-01 2.75416579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30710568099998 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:101.40, Y:41.64, Z:27.55 [[ 4.94056126e-01 -8.26151521e-01 -2.70891509e-01 1.01395710e+02] [ 7.28506424e-01 5.63427255e-01 -3.89651278e-01 4.16446163e+01] [ 4.74538655e-01 -4.83660378e-03 8.80221377e-01 2.75489583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33710568099998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:101.40, Y:41.67, Z:27.56 [[ 4.99515598e-01 -8.21773594e-01 -2.74175724e-01 1.01398849e+02] [ 7.23769880e-01 5.69799942e-01 -3.89210981e-01 4.16728197e+01] [ 4.76068618e-01 -4.02317466e-03 8.79398934e-01 2.75628399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36710568099998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:101.41, Y:41.70, Z:27.58 [[ 5.01308429e-01 -8.20794267e-01 -2.73836868e-01 1.01408337e+02] [ 7.22732025e-01 5.71216713e-01 -3.89062832e-01 4.16970066e+01] [ 4.75760738e-01 -2.87019667e-03 8.79570055e-01 2.75753565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39710568099999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:101.42, Y:41.72, Z:27.59 [[ 5.04425610e-01 -8.19295815e-01 -2.72597087e-01 1.01415524e+02] [ 7.21795633e-01 5.73369741e-01 -3.87631533e-01 4.17224998e+01] [ 4.73883814e-01 -1.22811498e-03 8.80586522e-01 2.75886646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42710568099999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:101.43, Y:41.74, Z:27.60 [[ 5.05743904e-01 -8.18771368e-01 -2.71728819e-01 1.01425922e+02] [ 7.21677092e-01 5.74119490e-01 -3.86741498e-01 4.17439070e+01] [ 4.72657676e-01 -5.08308452e-04 8.81245972e-01 2.76025378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45710568099999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:101.43, Y:41.77, Z:27.62 [[ 5.09884439e-01 -8.16468822e-01 -2.70917926e-01 1.01432871e+02] [ 7.19492170e-01 5.77386511e-01 -3.85947968e-01 4.17683690e+01] [ 4.71538838e-01 1.86553623e-03 8.81843322e-01 2.76160697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:101.44, Y:41.79, Z:27.63 [[ 5.14722562e-01 -8.13306003e-01 -2.71282195e-01 1.01442377e+02] [ 7.15447429e-01 5.81814572e-01 -3.86816210e-01 4.17936779e+01] [ 4.72435880e-01 5.01488216e-03 8.81350776e-01 2.76266178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:101.45, Y:41.82, Z:27.64 [[ 5.15747005e-01 -8.12409993e-01 -2.72020275e-01 1.01454844e+02] [ 7.13669095e-01 5.83054743e-01 -3.88231361e-01 4.18154076e+01] [ 4.74005749e-01 6.09669817e-03 8.80500642e-01 2.76381636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.47, Y:41.85, Z:27.64 [[ 5.19005963e-01 -8.18114536e-01 -2.47631613e-01 1.01466865e+02] [ 7.12458143e-01 5.74108482e-01 -4.03488345e-01 4.18470986e+01] [ 4.72267090e-01 3.29856976e-02 8.80838089e-01 2.76400355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:101.48, Y:41.87, Z:27.66 [[ 5.22516391e-01 -8.10909983e-01 -2.63441872e-01 1.01480605e+02] [ 7.14647605e-01 5.85046476e-01 -3.83405037e-01 4.18677100e+01] [ 4.65032710e-01 1.20673135e-02 8.85211251e-01 2.76573557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.49, Y:41.89, Z:27.67 [[ 5.21183390e-01 -8.05568331e-01 -2.81828917e-01 1.01494831e+02] [ 7.08386058e-01 5.92502820e-01 -3.83574766e-01 4.18851616e+01] [ 4.75980112e-01 2.69120887e-04 8.79456003e-01 2.76743850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:41.91, Z:27.69 [[ 5.23849493e-01 -8.09251997e-01 -2.65881391e-01 1.01504726e+02] [ 7.10692986e-01 5.87296609e-01 -3.87295975e-01 4.19080514e+01] [ 4.69571281e-01 1.39247602e-02 8.82784749e-01 2.76855883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:41.92, Z:27.71 [[ 5.21442675e-01 -7.96757611e-01 -3.05409309e-01 1.01518322e+02] [ 7.05504990e-01 6.03896201e-01 -3.70907115e-01 4.19173953e+01] [ 4.79958588e-01 -2.20609934e-02 8.77013721e-01 2.77091916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:41.95, Z:27.71 [[ 5.25672510e-01 -8.16529327e-01 -2.38638368e-01 1.01530516e+02] [ 7.13874922e-01 5.75984779e-01 -3.98276449e-01 4.19498320e+01] [ 4.62656469e-01 3.90050342e-02 8.85679174e-01 2.77114774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:41.95, Z:27.74 [[ 5.22376978e-01 -7.98526564e-01 -2.99128099e-01 1.01548069e+02] [ 7.08780221e-01 6.01639942e-01 -3.68320482e-01 4.19547102e+01] [ 4.74081101e-01 -1.96139395e-02 8.80262690e-01 2.77389540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:41.98, Z:27.75 [[ 5.22442791e-01 -8.08642567e-01 -2.70463913e-01 1.01559208e+02] [ 7.09225435e-01 5.88193385e-01 -3.88622985e-01 4.19799837e+01] [ 4.73342173e-01 1.12133901e-02 8.80807270e-01 2.77487385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.58, Y:42.01, Z:27.75 [[ 5.22174150e-01 -8.20034639e-01 -2.34259145e-01 1.01575147e+02] [ 7.18497260e-01 5.70978168e-01 -3.97172027e-01 4.20090013e+01] [ 4.59451677e-01 3.90784119e-02 8.87342681e-01 2.77506134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:42.02, Z:27.77 [[ 5.16235829e-01 -8.10042579e-01 -2.78085577e-01 1.01595967e+02] [ 7.15166153e-01 5.86365749e-01 -3.80411069e-01 4.20207833e+01] [ 4.71209021e-01 -2.49556906e-03 8.82018044e-01 2.77703438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:101.61, Y:42.04, Z:27.78 [[ 5.13049162e-01 -8.13678076e-01 -2.73328641e-01 1.01610573e+02] [ 7.15423885e-01 5.81306236e-01 -3.87623173e-01 4.20421944e+01] [ 4.74288121e-01 3.32390611e-03 8.80363408e-01 2.77816855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87710568099999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:101.63, Y:42.06, Z:27.80 [[ 5.07145115e-01 -8.15944331e-01 -2.77558426e-01 1.01628710e+02] [ 7.16141782e-01 5.78130293e-01 -3.91032369e-01 4.20590208e+01] [ 4.79525579e-01 -4.61030085e-04 8.77527781e-01 2.77956484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90710568099999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:101.64, Y:42.07, Z:27.82 [[ 5.05992548e-01 -8.12785582e-01 -2.88705974e-01 1.01644529e+02] [ 7.15477346e-01 5.82452365e-01 -3.85799702e-01 4.20716092e+01] [ 4.81729913e-01 -1.13508095e-02 8.76246227e-01 2.78170526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93710568099999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:101.66, Y:42.10, Z:27.82 [[ 5.09185209e-01 -8.21828613e-01 -2.55593730e-01 1.01655376e+02] [ 7.16738554e-01 5.69315496e-01 -4.02698040e-01 4.20985898e+01] [ 4.76462243e-01 2.18540045e-02 8.78923281e-01 2.78235242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96710568099998 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:101.67, Y:42.12, Z:27.84 [[ 5.16321202e-01 -8.14206477e-01 -2.65481126e-01 1.01669649e+02] [ 7.14111562e-01 5.80441603e-01 -3.91321125e-01 4.21181541e+01] [ 4.72712485e-01 1.24642526e-02 8.81128565e-01 2.78408416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99710568099998 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:101.68, Y:42.13, Z:27.86 [[ 5.19396243e-01 -8.04163168e-01 -2.89048685e-01 1.01684213e+02] [ 7.10248666e-01 5.94334953e-01 -3.77243683e-01 4.21300606e+01] [ 4.75157211e-01 -9.35749130e-03 8.79851159e-01 2.78632157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02710568099998 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:101.70, Y:42.16, Z:27.87 [[ 5.27714226e-01 -8.12746669e-01 -2.46901900e-01 1.01698909e+02] [ 7.09105072e-01 5.81545092e-01 -3.98717071e-01 4.21559815e+01] [ 4.67640560e-01 3.53292809e-02 8.83212403e-01 2.78683774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05710568099998 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:101.72, Y:42.17, Z:27.89 [[ 5.31734597e-01 -8.01889419e-01 -2.72454911e-01 1.01719130e+02] [ 7.04805323e-01 5.97363122e-01 -3.82631359e-01 4.21707096e+01] [ 4.69582554e-01 1.14306600e-02 8.82814570e-01 2.78870158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08710568099998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:101.73, Y:42.19, Z:27.90 [[ 5.31199889e-01 -7.98672367e-01 -2.82752767e-01 1.01732078e+02] [ 7.02395708e-01 6.01756830e-01 -3.80169682e-01 4.21871846e+01] [ 4.73779429e-01 3.34176288e-03 8.80637204e-01 2.79036500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11710568099998 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:101.75, Y:42.21, Z:27.91 [[ 5.32577149e-01 -8.02173852e-01 -2.69960538e-01 1.01748317e+02] [ 7.00453166e-01 5.96776067e-01 -3.91437975e-01 4.22086383e+01] [ 4.75107296e-01 1.93762072e-02 8.79714510e-01 2.79131066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14710568099999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:101.77, Y:42.23, Z:27.92 [[ 5.31554223e-01 -8.02212862e-01 -2.71854063e-01 1.01765305e+02] [ 6.98761241e-01 5.96710941e-01 -3.94548833e-01 4.22273761e+01] [ 4.78730442e-01 1.97630160e-02 8.77739476e-01 2.79233360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17710568099999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:101.78, Y:42.25, Z:27.93 [[ 5.30891381e-01 -8.02665759e-01 -2.71812473e-01 1.01782560e+02] [ 6.98408240e-01 5.96077912e-01 -3.96127572e-01 4.22477285e+01] [ 4.79979450e-01 2.04646425e-02 8.77041006e-01 2.79340478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20710568099999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:101.80, Y:42.26, Z:27.95 [[ 5.28590388e-01 -8.03093313e-01 -2.75015149e-01 1.01802644e+02] [ 6.97730075e-01 5.95564773e-01 -3.98089617e-01 4.22628720e+01] [ 4.83492444e-01 1.85400040e-02 8.75152172e-01 2.79468460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:101.82, Y:42.28, Z:27.95 [[ 5.28380488e-01 -8.07043000e-01 -2.63620287e-01 1.01819602e+02] [ 6.99709615e-01 5.89801299e-01 -4.03163594e-01 4.22835201e+01] [ 4.80853944e-01 2.85661272e-02 8.76335245e-01 2.79534577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26710568099999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:101.84, Y:42.30, Z:27.97 [[ 5.25834765e-01 -8.02526828e-01 -2.81866085e-01 1.01837202e+02] [ 6.98639782e-01 5.96518076e-01 -3.95055237e-01 4.22980689e+01] [ 4.85180641e-01 1.08109175e-02 8.74347111e-01 2.79728572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:101.85, Y:42.32, Z:27.98 [[ 5.22627692e-01 -8.14835056e-01 -2.50806952e-01 1.01854882e+02] [ 7.00122697e-01 5.78061841e-01 -4.19133292e-01 4.23213559e+01] [ 4.86506428e-01 4.34550252e-02 8.72595643e-01 2.79773262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32710568099998 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:101.88, Y:42.33, Z:28.00 [[ 5.18101548e-01 -8.00610988e-01 -3.00986431e-01 1.01880541e+02] [ 7.01837788e-01 5.99072849e-01 -3.85402960e-01 4.23252663e+01] [ 4.88870644e-01 -1.15657804e-02 8.72279615e-01 2.80016330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35710568099998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:101.90, Y:42.35, Z:28.01 [[ 5.16434358e-01 -8.10774758e-01 -2.75571851e-01 1.01896009e+02] [ 7.04206713e-01 5.85201051e-01 -4.02035615e-01 4.23480899e+01] [ 4.87225266e-01 1.35654573e-02 8.73170956e-01 2.80098351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38710568099998 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:101.92, Y:42.36, Z:28.02 [[ 5.10993710e-01 -8.14931065e-01 -2.73446133e-01 1.01915525e+02] [ 7.10477891e-01 5.79475797e-01 -3.99285571e-01 4.23623579e+01] [ 4.83845632e-01 9.75498330e-03 8.75098992e-01 2.80244793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41710568099998 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:101.93, Y:42.38, Z:28.04 [[ 5.04855342e-01 -8.18777261e-01 -2.73358522e-01 1.01933751e+02] [ 7.14711586e-01 5.74076392e-01 -3.99529280e-01 4.23778212e+01] [ 4.84054164e-01 6.33198866e-03 8.75015127e-01 2.80385938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44710568099998 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:101.95, Y:42.40, Z:28.05 [[ 5.00734701e-01 -8.24334696e-01 -2.64077769e-01 1.01948917e+02] [ 7.15416433e-01 5.65868084e-01 -4.09844653e-01 4.23991247e+01] [ 4.87282349e-01 1.62978639e-02 8.73092373e-01 2.80509662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47710568099998 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:101.97, Y:42.41, Z:28.07 [[ 5.00636066e-01 -8.17265844e-01 -2.85377066e-01 1.01966880e+02] [ 7.17079905e-01 5.76200919e-01 -3.92159293e-01 4.24123382e+01] [ 4.84932923e-01 -8.30907388e-03 8.74511875e-01 2.80679474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50710568099998 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:101.98, Y:42.43, Z:28.08 [[ 4.98629400e-01 -8.22616257e-01 -2.73260344e-01 1.01982790e+02] [ 7.18561509e-01 5.68587184e-01 -4.00472185e-01 4.24318319e+01] [ 4.84807259e-01 3.33284072e-03 8.74614666e-01 2.80803776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53710568099999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:102.00, Y:42.45, Z:28.09 [[ 4.96676385e-01 -8.23902068e-01 -2.72943128e-01 1.01997629e+02] [ 7.20084852e-01 5.66727476e-01 -4.00372045e-01 4.24513283e+01] [ 4.84551726e-01 2.31312807e-03 8.74759553e-01 2.80946903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56710568099999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:102.01, Y:42.47, Z:28.11 [[ 4.97033940e-01 -8.23840788e-01 -2.72476823e-01 1.02011280e+02] [ 7.20188880e-01 5.66815270e-01 -4.00060530e-01 4.24705820e+01] [ 4.84030206e-01 2.60888375e-03 8.75047401e-01 2.81073633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59710568099999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:102.03, Y:42.49, Z:28.12 [[ 4.99177685e-01 -8.22678906e-01 -2.72068109e-01 1.02025358e+02] [ 7.18982496e-01 5.68492341e-01 -3.99850758e-01 4.24903121e+01] [ 4.83617421e-01 3.98436756e-03 8.75270424e-01 2.81218559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.62710568099999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:102.04, Y:42.51, Z:28.14 [[ 5.00448506e-01 -8.22124614e-01 -2.71408201e-01 1.02038720e+02] [ 7.18689623e-01 5.69287818e-01 -3.99245044e-01 4.25106713e+01] [ 4.82738561e-01 4.74332818e-03 8.75751667e-01 2.81363067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65710568099999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:102.05, Y:42.53, Z:28.15 [[ 5.02997073e-01 -8.21338434e-01 -2.69067131e-01 1.02049865e+02] [ 7.19502931e-01 5.70412994e-01 -3.96162276e-01 4.25313523e+01] [ 4.78862691e-01 5.67387625e-03 8.77871477e-01 2.81499087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.68710568099999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:102.06, Y:42.55, Z:28.16 [[ 5.04787844e-01 -8.20653415e-01 -2.67800683e-01 1.02062974e+02] [ 7.19546083e-01 5.71388926e-01 -3.94674714e-01 4.25515861e+01] [ 4.76909496e-01 6.53206598e-03 8.78928134e-01 2.81634988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71710568099998 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:102.08, Y:42.57, Z:28.18 [[ 5.04898689e-01 -8.20528129e-01 -2.67975565e-01 1.02076384e+02] [ 7.19073969e-01 5.71564717e-01 -3.95280156e-01 4.25709785e+01] [ 4.77503865e-01 6.88217920e-03 8.78602694e-01 2.81764871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74710568099998 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:102.09, Y:42.59, Z:28.19 [[ 5.04976107e-01 -8.20053153e-01 -2.69280444e-01 1.02089051e+02] [ 7.17273671e-01 5.72236675e-01 -3.97572218e-01 4.25930101e+01] [ 4.80122497e-01 7.61669807e-03 8.77168384e-01 2.81894916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:102.10, Y:42.62, Z:28.20 [[ 5.05487624e-01 -8.19646372e-01 -2.69559060e-01 1.02101917e+02] [ 7.16383479e-01 5.72810357e-01 -3.98350357e-01 4.26151415e+01] [ 4.80912646e-01 8.25351878e-03 8.76729665e-01 2.82020056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80710568099998 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:102.11, Y:42.64, Z:28.21 [[ 5.08684734e-01 -8.17614882e-01 -2.69714192e-01 1.02114195e+02] [ 7.13752675e-01 5.75671020e-01 -3.98948614e-01 4.26367056e+01] [ 4.81452968e-01 1.04298437e-02 8.76409868e-01 2.82146129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83710568099998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:102.13, Y:42.66, Z:28.23 [[ 5.12869258e-01 -8.14646194e-01 -2.70770571e-01 1.02127174e+02] [ 7.09311037e-01 5.79800141e-01 -4.00886081e-01 4.26585113e+01] [ 4.83573136e-01 1.35415929e-02 8.75199205e-01 2.82267453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86710568099998 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:102.14, Y:42.68, Z:28.24 [[ 5.14321815e-01 -8.13404308e-01 -2.71747129e-01 1.02139882e+02] [ 7.06876898e-01 5.81504483e-01 -4.02712784e-01 4.26782148e+01] [ 4.85590487e-01 1.50322026e-02 8.74057156e-01 2.82394260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89710568099999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:102.15, Y:42.70, Z:28.25 [[ 5.16914008e-01 -8.11273726e-01 -2.73193795e-01 1.02152771e+02] [ 7.03048700e-01 5.84407940e-01 -4.05203511e-01 4.26985190e+01] [ 4.88387585e-01 1.73868282e-02 8.72453589e-01 2.82508820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92710568099999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:102.17, Y:42.72, Z:28.26 [[ 5.17462086e-01 -8.10844904e-01 -2.73429208e-01 1.02166029e+02] [ 7.02144538e-01 5.84981976e-01 -4.05942281e-01 4.27197231e+01] [ 4.89107388e-01 1.80729148e-02 8.72036314e-01 2.82640220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95710568099999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:102.18, Y:42.74, Z:28.28 [[ 5.18546929e-01 -8.10246892e-01 -2.73146584e-01 1.02179012e+02] [ 7.01503135e-01 5.85785133e-01 -4.05893002e-01 4.27417068e+01] [ 4.88878752e-01 1.88613849e-02 8.72147817e-01 2.82764912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:102.20, Y:42.76, Z:28.29 [[ 5.17067794e-01 -8.11252213e-01 -2.72966560e-01 1.02195523e+02] [ 7.02586565e-01 5.84414786e-01 -4.05994430e-01 4.27601521e+01] [ 4.88889574e-01 1.81440069e-02 8.72156970e-01 2.82902802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:102.21, Y:42.78, Z:28.30 [[ 5.15254955e-01 -8.12606183e-01 -2.72366523e-01 1.02211595e+02] [ 7.04419918e-01 5.82563304e-01 -4.05478206e-01 4.27778376e+01] [ 4.88164839e-01 1.70642514e-02 8.72584610e-01 2.83049812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.04710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:102.23, Y:42.79, Z:28.32 [[ 5.11415360e-01 -8.15669829e-01 -2.70438644e-01 1.02229285e+02] [ 7.09314805e-01 5.78341821e-01 -4.02980453e-01 4.27940364e+01] [ 4.85104975e-01 1.42642593e-02 8.74339576e-01 2.83213081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:102.25, Y:42.81, Z:28.33 [[ 5.06203126e-01 -8.19144383e-01 -2.69742237e-01 1.02245886e+02] [ 7.13628086e-01 5.73478854e-01 -4.02314504e-01 4.28122704e+01] [ 4.84245135e-01 1.11572232e-02 8.74861227e-01 2.83348055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:102.26, Y:42.83, Z:28.35 [[ 5.03554495e-01 -8.20667311e-01 -2.70070427e-01 1.02260683e+02] [ 7.14873000e-01 5.71319584e-01 -4.03175554e-01 4.28332337e+01] [ 4.85169522e-01 9.95480622e-03 8.74363447e-01 2.83465743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:102.28, Y:42.85, Z:28.36 [[ 4.98983209e-01 -8.23168452e-01 -2.70941796e-01 1.02275320e+02] [ 7.16773206e-01 5.67743526e-01 -4.04849922e-01 4.28544189e+01] [ 4.87085134e-01 7.80949285e-03 8.73319577e-01 2.83566090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:102.29, Y:42.87, Z:28.37 [[ 4.94930908e-01 -8.25751518e-01 -2.70514003e-01 1.02291816e+02] [ 7.19857207e-01 5.64007077e-01 -4.04600566e-01 4.28720269e+01] [ 4.86671344e-01 5.51787111e-03 8.73567717e-01 2.83719793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:102.31, Y:42.89, Z:28.39 [[ 4.93278943e-01 -8.26951986e-01 -2.69863477e-01 1.02307188e+02] [ 7.21566496e-01 5.62254069e-01 -4.03995240e-01 4.28910357e+01] [ 4.85816504e-01 4.55790133e-03 8.74048940e-01 2.83869431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.32, Y:42.91, Z:28.40 [[ 4.90633032e-01 -8.28953087e-01 -2.68544238e-01 1.02319656e+02] [ 7.24740179e-01 5.59311109e-01 -4.02396268e-01 4.29105528e+01] [ 4.83767404e-01 2.80410209e-03 8.75192114e-01 2.84034041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:102.33, Y:42.93, Z:28.42 [[ 4.90346924e-01 -8.29337480e-01 -2.67879149e-01 1.02331126e+02] [ 7.25522591e-01 5.58741694e-01 -4.01776915e-01 4.29312799e+01] [ 4.82883904e-01 2.65770075e-03 8.75680348e-01 2.84172040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28710568099999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:102.34, Y:42.95, Z:28.43 [[ 4.94331038e-01 -8.27423473e-01 -2.66471801e-01 1.02343575e+02] [ 7.24360180e-01 5.61558965e-01 -3.99942320e-01 4.29519296e+01] [ 4.80561292e-01 4.68234042e-03 8.76948642e-01 2.84323241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31710568099999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:102.36, Y:42.97, Z:28.45 [[ 4.99720178e-01 -8.24618429e-01 -2.65111657e-01 1.02355888e+02] [ 7.22102948e-01 5.65638481e-01 -3.98271818e-01 4.29712457e+01] [ 4.78379635e-01 7.58655431e-03 8.78120361e-01 2.84470337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34710568099999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:102.37, Y:42.99, Z:28.46 [[ 5.01196183e-01 -8.23810824e-01 -2.64836011e-01 1.02368177e+02] [ 7.21206687e-01 5.66799621e-01 -3.98245030e-01 4.29927483e+01] [ 4.78187517e-01 8.59738730e-03 8.78215682e-01 2.84597995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37710568099999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:102.38, Y:43.01, Z:28.47 [[ 5.01965134e-01 -8.23375674e-01 -2.64732890e-01 1.02380697e+02] [ 7.20595599e-01 5.67421294e-01 -3.98465880e-01 4.30147364e+01] [ 4.78302192e-01 9.25062364e-03 8.78146593e-01 2.84697046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.40710568099999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:102.40, Y:43.04, Z:28.48 [[ 5.01418727e-01 -8.23832932e-01 -2.64345534e-01 1.02395332e+02] [ 7.21285003e-01 5.66761634e-01 -3.98157250e-01 4.30350982e+01] [ 4.77835961e-01 8.97503249e-03 8.78403235e-01 2.84828027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43710568099999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:102.41, Y:43.06, Z:28.50 [[ 5.02215296e-01 -8.23408970e-01 -2.64154244e-01 1.02409003e+02] [ 7.20764959e-01 5.67367046e-01 -3.98236751e-01 4.30556158e+01] [ 4.77784126e-01 9.60746510e-03 8.78424741e-01 2.84965500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46710568099998 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:102.42, Y:43.07, Z:28.51 [[ 5.05559019e-01 -8.21252553e-01 -2.64488795e-01 1.02422076e+02] [ 7.17848998e-01 5.70440493e-01 -3.99112090e-01 4.30746850e+01] [ 4.78646941e-01 1.19116999e-02 8.77926658e-01 2.85096714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49710568099998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:102.44, Y:43.09, Z:28.52 [[ 5.10044153e-01 -8.17976195e-01 -2.66026139e-01 1.02436518e+02] [ 7.12640658e-01 5.75046748e-01 -4.01826492e-01 4.30944785e+01] [ 4.81661971e-01 1.53682096e-02 8.76222325e-01 2.85218205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:102.45, Y:43.12, Z:28.53 [[ 5.11997276e-01 -8.16519341e-01 -2.66748860e-01 1.02450639e+02] [ 7.10168276e-01 5.77066108e-01 -4.03305997e-01 4.31153274e+01] [ 4.83238873e-01 1.70549935e-02 8.75322408e-01 2.85341782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:102.47, Y:43.14, Z:28.54 [[ 5.14518038e-01 -8.14595135e-01 -2.67779675e-01 1.02465583e+02] [ 7.06910642e-01 5.79712047e-01 -4.05229918e-01 4.31366135e+01] [ 4.85333424e-01 1.92018005e-02 8.74118275e-01 2.85439101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:102.48, Y:43.16, Z:28.56 [[ 5.15710203e-01 -8.13735274e-01 -2.68100523e-01 1.02480656e+02] [ 7.05451930e-01 5.80881199e-01 -4.06096795e-01 4.31565301e+01] [ 4.86189840e-01 2.02962292e-02 8.73617481e-01 2.85558425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:102.50, Y:43.17, Z:28.57 [[ 5.16950429e-01 -8.12796002e-01 -2.68560818e-01 1.02498679e+02] [ 7.03784539e-01 5.82152390e-01 -4.07168168e-01 4.31742797e+01] [ 4.87287981e-01 2.14768078e-02 8.72977188e-01 2.85689190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:102.52, Y:43.19, Z:28.58 [[ 5.16392694e-01 -8.13236544e-01 -2.68300038e-01 1.02516186e+02] [ 7.04298986e-01 5.81543873e-01 -4.07148206e-01 4.31911823e+01] [ 4.87136043e-01 2.12849142e-02 8.73066680e-01 2.85815300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:102.53, Y:43.21, Z:28.59 [[ 5.16122951e-01 -8.13467278e-01 -2.68119540e-01 1.02529849e+02] [ 7.04497476e-01 5.81220146e-01 -4.07267049e-01 4.32123564e+01] [ 4.87134896e-01 2.13103315e-02 8.73066700e-01 2.85949867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70710568099999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:102.55, Y:43.23, Z:28.61 [[ 5.14410846e-01 -8.14663575e-01 -2.67777409e-01 1.02545823e+02] [ 7.05953996e-01 5.79575915e-01 -4.07088091e-01 4.32316005e+01] [ 4.86837176e-01 2.03719975e-02 8.73255143e-01 2.86074519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73710568099999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:102.56, Y:43.25, Z:28.62 [[ 5.11545527e-01 -8.16621774e-01 -2.67301425e-01 1.02563987e+02] [ 7.08374394e-01 5.76869844e-01 -4.06727060e-01 4.32489400e+01] [ 4.86340305e-01 1.87099237e-02 8.73569143e-01 2.86208166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.76710568099999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:102.58, Y:43.27, Z:28.63 [[ 5.10288695e-01 -8.17408018e-01 -2.67300541e-01 1.02579233e+02] [ 7.09053282e-01 5.75771294e-01 -4.07100553e-01 4.32673845e+01] [ 4.86671235e-01 1.82084836e-02 8.73395421e-01 2.86338200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:102.60, Y:43.28, Z:28.65 [[ 5.06759248e-01 -8.19622702e-01 -2.67233403e-01 1.02598210e+02] [ 7.11392374e-01 5.72670541e-01 -4.07393351e-01 4.32845805e+01] [ 4.86945536e-01 1.63425436e-02 8.73279432e-01 2.86479188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.82710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:102.62, Y:43.30, Z:28.66 [[ 5.00718098e-01 -8.23820433e-01 -2.65709014e-01 1.02615754e+02] [ 7.17253960e-01 5.66714553e-01 -4.05439727e-01 4.33019239e+01] [ 4.84590696e-01 1.24301665e-02 8.74652701e-01 2.86624942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.63, Y:43.32, Z:28.68 [[ 4.96421271e-01 -8.26532769e-01 -2.65347892e-01 1.02631232e+02] [ 7.20431705e-01 5.62799519e-01 -4.05259004e-01 4.33204239e+01] [ 4.84297513e-01 1.00141558e-02 8.74846064e-01 2.86752227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88710568099998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:102.65, Y:43.34, Z:28.69 [[ 4.88918684e-01 -8.31152690e-01 -2.64846608e-01 1.02648112e+02] [ 7.25890603e-01 5.56014979e-01 -4.04882917e-01 4.33371053e+01] [ 4.83778207e-01 5.70515888e-03 8.75172039e-01 2.86896443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.66, Y:43.36, Z:28.70 [[ 4.85150723e-01 -8.33711482e-01 -2.63730811e-01 1.02661448e+02] [ 7.29538487e-01 5.52189918e-01 -4.03559031e-01 4.33575643e+01] [ 4.82081293e-01 3.38517891e-03 8.76119951e-01 2.87026551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.68, Y:43.38, Z:28.72 [[ 4.84539655e-01 -8.34277003e-01 -2.63065020e-01 1.02675479e+02] [ 7.30548607e-01 5.51337151e-01 -4.02897107e-01 4.33777461e+01] [ 4.81165309e-01 3.03784113e-03 8.76624616e-01 2.87166524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.69, Y:43.40, Z:28.73 [[ 4.83471172e-01 -8.34603297e-01 -2.63994247e-01 1.02690156e+02] [ 7.29937109e-01 5.50843565e-01 -4.04676641e-01 4.33967086e+01] [ 4.83163991e-01 2.95029238e-03 8.75524902e-01 2.87298661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.70, Y:43.42, Z:28.74 [[ 4.81987765e-01 -8.35339944e-01 -2.64376573e-01 1.02704073e+02] [ 7.30243633e-01 5.49728258e-01 -4.05639099e-01 4.34173692e+01] [ 4.84181816e-01 2.45377359e-03 8.74963970e-01 2.87429191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.71, Y:43.44, Z:28.76 [[ 4.79990576e-01 -8.36913901e-01 -2.63028839e-01 1.02714578e+02] [ 7.32985540e-01 5.47333485e-01 -4.03928526e-01 4.34387033e+01] [ 4.82017890e-01 1.08555058e-03 8.76160702e-01 2.87561050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.72, Y:43.46, Z:28.77 [[ 4.82094244e-01 -8.36197350e-01 -2.61455794e-01 1.02723455e+02] [ 7.33293174e-01 5.48424928e-01 -4.01884585e-01 4.34612580e+01] [ 4.79443700e-01 2.02249658e-03 8.77570310e-01 2.87695908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09710568099999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:102.74, Y:43.48, Z:28.78 [[ 4.84885212e-01 -8.34789148e-01 -2.60793805e-01 1.02735455e+02] [ 7.32050263e-01 5.50557755e-01 -4.01233812e-01 4.34820984e+01] [ 4.78527684e-01 3.63816825e-03 8.78064929e-01 2.87838566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.12710568099999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:102.75, Y:43.50, Z:28.80 [[ 4.91455613e-01 -8.30760454e-01 -2.61358848e-01 1.02746294e+02] [ 7.26814633e-01 5.56575080e-01 -4.02448343e-01 4.35020980e+01] [ 4.79803990e-01 7.82606234e-03 8.77340802e-01 2.87994838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:102.75, Y:43.53, Z:28.81 [[ 4.98906887e-01 -8.26303887e-01 -2.61369096e-01 1.02754424e+02] [ 7.21568964e-01 5.63088526e-01 -4.02826938e-01 4.35265077e+01] [ 4.80031404e-01 1.23773056e-02 8.77163984e-01 2.88099813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.18710568099999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:102.76, Y:43.55, Z:28.82 [[ 5.02672230e-01 -8.24099673e-01 -2.61113688e-01 1.02764945e+02] [ 7.19098906e-01 5.66253694e-01 -4.02807046e-01 4.35497799e+01] [ 4.79809745e-01 1.47133486e-02 8.77249181e-01 2.88212579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21710568099998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:102.77, Y:43.57, Z:28.83 [[ 5.07748083e-01 -8.20840638e-01 -2.61557892e-01 1.02774697e+02] [ 7.14840800e-01 5.70870709e-01 -4.03867879e-01 4.35734684e+01] [ 4.80826907e-01 1.80908885e-02 8.76628887e-01 2.88332997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:102.79, Y:43.60, Z:28.85 [[ 5.09189396e-01 -8.19949179e-01 -2.61552102e-01 1.02786498e+02] [ 7.13660505e-01 5.72115866e-01 -4.04193171e-01 4.35957352e+01] [ 4.81055966e-01 1.91514710e-02 8.76480678e-01 2.88466524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:102.79, Y:43.64, Z:28.83 [[ 5.11735543e-01 -8.33516970e-01 -2.08269524e-01 1.02793877e+02] [ 7.18810310e-01 5.48154438e-01 -4.27596130e-01 4.36359501e+01] [ 4.70572495e-01 6.91098564e-02 8.79650701e-01 2.88346765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30710568099998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:102.81, Y:43.63, Z:28.89 [[ 5.09488804e-01 -8.04030071e-01 -3.06523740e-01 1.02811349e+02] [ 7.10723997e-01 5.94025987e-01 -3.76834880e-01 4.36305145e+01] [ 4.85069642e-01 -2.58606251e-02 8.74093056e-01 2.88864584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33710568099998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:102.82, Y:43.66, Z:28.89 [[ 5.10645817e-01 -8.18797758e-01 -2.62318664e-01 1.02821250e+02] [ 7.11277851e-01 5.73704769e-01 -4.06136254e-01 4.36601676e+01] [ 4.83036922e-01 2.08103237e-02 8.75352650e-01 2.88866328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:102.83, Y:43.68, Z:28.90 [[ 5.11073615e-01 -8.18760206e-01 -2.61601769e-01 1.02833398e+02] [ 7.11654547e-01 5.73750541e-01 -4.05411054e-01 4.36823287e+01] [ 4.82028595e-01 2.10248046e-02 8.75903186e-01 2.89000212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39710568099999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:102.85, Y:43.70, Z:28.91 [[ 5.11363900e-01 -8.18737044e-01 -2.61106519e-01 1.02847099e+02] [ 7.11861703e-01 5.73775796e-01 -4.05011421e-01 4.37031166e+01] [ 4.81414455e-01 2.12364883e-02 8.76235775e-01 2.89126287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:102.86, Y:43.72, Z:28.93 [[ 5.11207186e-01 -8.18586765e-01 -2.61883410e-01 1.02862966e+02] [ 7.10805395e-01 5.73972809e-01 -4.06584439e-01 4.37210151e+01] [ 4.83138597e-01 2.17007467e-02 8.75274913e-01 2.89260667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.88, Y:43.76, Z:28.91 [[ 5.13536418e-01 -8.32060840e-01 -2.09654730e-01 1.02878543e+02] [ 7.16456614e-01 5.50246492e-01 -4.28857457e-01 4.37595927e+01] [ 4.72197275e-01 7.00254041e-02 8.78707105e-01 2.89132475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.90, Y:43.76, Z:28.96 [[ 5.09320287e-01 -8.09192291e-01 -2.92917534e-01 1.02897317e+02] [ 7.11298783e-01 5.87426163e-01 -3.85985162e-01 4.37598664e+01] [ 4.84403641e-01 -1.17618119e-02 8.74765553e-01 2.89582417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:102.91, Y:43.79, Z:28.95 [[ 5.17216169e-01 -8.23728141e-01 -2.32291594e-01 1.02910992e+02] [ 7.13107576e-01 5.64853576e-01 -4.15232492e-01 4.37931356e+01] [ 4.73249427e-01 4.91160630e-02 8.79558180e-01 2.89451593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.54710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:102.93, Y:43.81, Z:28.97 [[ 5.18955994e-01 -8.14829509e-01 -2.58336113e-01 1.02930086e+02] [ 7.09010867e-01 5.79132756e-01 -4.02378977e-01 4.38057776e+01] [ 4.77481170e-01 2.56538709e-02 8.78267392e-01 2.89685171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.94, Y:43.81, Z:29.01 [[ 5.17442294e-01 -7.98769120e-01 -3.06954990e-01 1.02943647e+02] [ 7.01685010e-01 6.01377760e-01 -3.82077135e-01 4.38085376e+01] [ 4.89787321e-01 -1.76828461e-02 8.71662605e-01 2.90068133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:102.96, Y:43.85, Z:28.98 [[ 5.22869751e-01 -8.24582821e-01 -2.16033319e-01 1.02955735e+02] [ 7.06680758e-01 5.61046609e-01 -4.31078889e-01 4.38541153e+01] [ 4.76665007e-01 7.27315220e-02 8.76071114e-01 2.89836498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63710568099998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:102.97, Y:43.87, Z:29.01 [[ 5.20499240e-01 -8.14094334e-01 -2.57547970e-01 1.02973031e+02] [ 7.06287750e-01 5.79989116e-01 -4.05919006e-01 4.38656886e+01] [ 4.79831382e-01 2.93775578e-02 8.76868749e-01 2.90099085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.99, Y:43.87, Z:29.05 [[ 5.18383388e-01 -7.98051468e-01 -3.07233651e-01 1.02988883e+02] [ 7.02186272e-01 6.02292786e-01 -3.79707571e-01 4.38668147e+01] [ 4.88070797e-01 -1.89011547e-02 8.72599360e-01 2.90482783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:103.00, Y:43.89, Z:29.05 [[ 5.16783873e-01 -8.15097437e-01 -2.61821689e-01 1.03003942e+02] [ 7.05928544e-01 5.78731508e-01 -4.08331645e-01 4.38921942e+01] [ 4.84354538e-01 2.61918049e-02 8.74479657e-01 2.90499231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:43.91, Z:29.06 [[ 5.14470117e-01 -8.16750639e-01 -2.61225749e-01 1.03019010e+02] [ 7.08101688e-01 5.76456754e-01 -4.07786232e-01 4.39103180e+01] [ 4.83645013e-01 2.48194371e-02 8.74912279e-01 2.90636233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:103.04, Y:43.93, Z:29.08 [[ 5.10908197e-01 -8.19067120e-01 -2.60963345e-01 1.03036190e+02] [ 7.10723428e-01 5.73242334e-01 -4.07756588e-01 4.39283449e+01] [ 4.83575251e-01 2.28534201e-02 8.75004399e-01 2.90768949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.05, Y:43.95, Z:29.09 [[ 5.08498236e-01 -8.20466051e-01 -2.61275721e-01 1.03053864e+02] [ 7.11819735e-01 5.71279841e-01 -4.08597611e-01 4.39477420e+01] [ 4.84502021e-01 2.17899506e-02 8.74518719e-01 2.90875498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.07, Y:43.99, Z:29.07 [[ 5.05424602e-01 -8.39654144e-01 -1.98813708e-01 1.03067250e+02] [ 7.17330634e-01 5.36926195e-01 -4.44012414e-01 4.39928594e+01] [ 4.79565151e-01 8.17996348e-02 8.73685347e-01 2.90705339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.09, Y:43.97, Z:29.13 [[ 5.02938983e-01 -8.01491556e-01 -3.23517644e-01 1.03088750e+02] [ 7.12611269e-01 5.96334682e-01 -3.69553957e-01 4.39728873e+01] [ 4.89119167e-01 -4.46792273e-02 8.71071873e-01 2.91314546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.11, Y:44.00, Z:29.12 [[ 4.98566723e-01 -8.26085562e-01 -2.62704906e-01 1.03105393e+02] [ 7.16343427e-01 5.63284834e-01 -4.11779420e-01 4.40041520e+01] [ 4.88142723e-01 1.71125829e-02 8.72596036e-01 2.91244834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.90710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:103.12, Y:44.03, Z:29.14 [[ 4.90933715e-01 -8.34187477e-01 -2.51227667e-01 1.03121396e+02] [ 7.19107088e-01 5.50802994e-01 -4.23675653e-01 4.40293895e+01] [ 4.91801875e-01 2.73370663e-02 8.70277887e-01 2.91371656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.14, Y:44.04, Z:29.16 [[ 4.82111465e-01 -8.32433851e-01 -2.73171045e-01 1.03140424e+02] [ 7.27263486e-01 5.54113999e-01 -4.05025304e-01 4.40429068e+01] [ 4.88524674e-01 -3.39998383e-03 8.72543456e-01 2.91593949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96710568099998 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:103.15, Y:44.06, Z:29.17 [[ 4.80120281e-01 -8.33027084e-01 -2.74864320e-01 1.03154967e+02] [ 7.31388383e-01 5.53150160e-01 -3.98868317e-01 4.40588999e+01] [ 4.84309354e-01 -9.52780174e-03 8.74844941e-01 2.91700441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.17, Y:44.08, Z:29.18 [[ 4.77599759e-01 -8.39561121e-01 -2.58912328e-01 1.03168577e+02] [ 7.34099634e-01 5.43246519e-01 -4.07407593e-01 4.40820496e+01] [ 4.82696796e-01 4.51032281e-03 8.75775919e-01 2.91777043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.027105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.18, Y:44.10, Z:29.19 [[ 4.71555737e-01 -8.42983518e-01 -2.58870576e-01 1.03184321e+02] [ 7.37819672e-01 5.37937896e-01 -4.07731471e-01 4.41005862e+01] [ 4.82967202e-01 1.26831076e-03 8.75637524e-01 2.91931335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.057105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.20, Y:44.13, Z:29.20 [[ 4.64924781e-01 -8.49404742e-01 -2.49712899e-01 1.03196427e+02] [ 7.40090263e-01 5.27664634e-01 -4.16936970e-01 4.41265279e+01] [ 4.85912905e-01 9.03424420e-03 8.73960543e-01 2.92048096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.087105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.21, Y:44.14, Z:29.22 [[ 4.59722830e-01 -8.47412784e-01 -2.65605898e-01 1.03208152e+02] [ 7.42344350e-01 5.30854288e-01 -4.08801407e-01 4.41441331e+01] [ 4.87421568e-01 -9.23569803e-03 8.73117928e-01 2.92221761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.117105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.22, Y:44.16, Z:29.24 [[ 4.57858468e-01 -8.45589102e-01 -2.74489880e-01 1.03219935e+02] [ 7.44745415e-01 5.33428177e-01 -4.01009535e-01 4.41633099e+01] [ 4.85509929e-01 -2.08194682e-02 8.73983214e-01 2.92382575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:103.23, Y:44.19, Z:29.25 [[ 4.52773779e-01 -8.51131958e-01 -2.65650700e-01 1.03229374e+02] [ 7.48003024e-01 5.24745504e-01 -4.06366377e-01 4.41895642e+01] [ 4.85270421e-01 -1.47154869e-02 8.74240283e-01 2.92472424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.24, Y:44.21, Z:29.26 [[ 4.50977219e-01 -8.52455914e-01 -2.64458812e-01 1.03240558e+02] [ 7.49581060e-01 5.22583136e-01 -4.06245123e-01 4.42115445e+01] [ 4.84507773e-01 -1.50260210e-02 8.74657897e-01 2.92600724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.20710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.25, Y:44.24, Z:29.27 [[ 4.46877401e-01 -8.58272127e-01 -2.52328249e-01 1.03250107e+02] [ 7.49197679e-01 5.13191256e-01 -4.18733296e-01 4.42369074e+01] [ 4.88879767e-01 -1.92129148e-03 8.72349060e-01 2.92702901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.23710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:44.25, Z:29.29 [[ 4.43627318e-01 -8.53582582e-01 -2.73114589e-01 1.03258299e+02] [ 7.52081720e-01 5.20311275e-01 -4.04535862e-01 4.42548574e+01] [ 4.87409365e-01 -2.59413302e-02 8.72788152e-01 2.92867354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.26710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.26, Y:44.28, Z:29.30 [[ 4.39341041e-01 -8.58779599e-01 -2.63584996e-01 1.03264614e+02] [ 7.56936094e-01 5.11912207e-01 -4.06194095e-01 4.42815548e+01] [ 4.83763579e-01 -2.10592612e-02 8.74945317e-01 2.92978601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.29710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.27, Y:44.31, Z:29.31 [[ 4.35520298e-01 -8.63490641e-01 -2.54373707e-01 1.03270221e+02] [ 7.58100523e-01 5.04204649e-01 -4.13595537e-01 4.43084462e+01] [ 4.85392281e-01 -1.27115885e-02 8.74204066e-01 2.93103396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.32710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:103.28, Y:44.33, Z:29.33 [[ 4.34815391e-01 -8.60176218e-01 -2.66519137e-01 1.03279377e+02] [ 7.60456346e-01 5.09256594e-01 -4.02944001e-01 4.43299988e+01] [ 4.82329475e-01 -2.74699154e-02 8.75559068e-01 2.93254132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:103.28, Y:44.36, Z:29.33 [[ 4.32104057e-01 -8.65897567e-01 -2.52006919e-01 1.03281201e+02] [ 7.60280079e-01 5.00066694e-01 -4.14617298e-01 4.43616273e+01] [ 4.85036376e-01 -1.24380237e-02 8.74405518e-01 2.93336213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:103.29, Y:44.38, Z:29.35 [[ 4.33494536e-01 -8.62301859e-01 -2.61759415e-01 1.03290162e+02] [ 7.61161824e-01 5.05858576e-01 -4.05881483e-01 4.43810768e+01] [ 4.82405602e-01 -2.32938685e-02 8.75638185e-01 2.93508196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41710568099998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:103.29, Y:44.41, Z:29.37 [[ 4.35385053e-01 -8.63406351e-01 -2.54890816e-01 1.03292931e+02] [ 7.61425324e-01 5.04232629e-01 -4.07407573e-01 4.44071817e+01] [ 4.80282553e-01 -1.67011544e-02 8.76954811e-01 2.93653279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44710568099998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:103.29, Y:44.44, Z:29.38 [[ 4.38110458e-01 -8.63977298e-01 -2.48198420e-01 1.03293272e+02] [ 7.57624426e-01 5.03494044e-01 -4.15329961e-01 4.44350952e+01] [ 4.83802084e-01 -6.08078574e-03 8.75156310e-01 2.93763532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47710568099998 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:103.30, Y:44.46, Z:29.39 [[ 4.39607390e-01 -8.61235965e-01 -2.54986188e-01 1.03301432e+02] [ 7.56393875e-01 5.08069270e-01 -4.11987770e-01 4.44591487e+01] [ 4.84369331e-01 -1.17571225e-02 8.74784614e-01 2.93918078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.50710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:103.30, Y:44.48, Z:29.41 [[ 4.48518180e-01 -8.56296908e-01 -2.56099683e-01 1.03304331e+02] [ 7.52462147e-01 5.16399376e-01 -4.08818298e-01 4.44848871e+01] [ 4.82319561e-01 -9.34287881e-03 8.75945519e-01 2.94060527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53710568099999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:103.31, Y:44.51, Z:29.42 [[ 4.60401092e-01 -8.48639184e-01 -2.60465677e-01 1.03308392e+02] [ 7.47049080e-01 5.28892763e-01 -4.02728342e-01 4.45112268e+01] [ 4.79529463e-01 -9.16407600e-03 8.77477928e-01 2.94203402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.567105681 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:103.32, Y:44.53, Z:29.43 [[ 4.60082025e-01 -8.50931745e-01 -2.53455509e-01 1.03320873e+02] [ 7.47222947e-01 5.25272161e-01 -4.07120406e-01 4.45339880e+01] [ 4.79564800e-01 -2.07899162e-03 8.77504006e-01 2.94324727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.597105681 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:103.33, Y:44.56, Z:29.45 [[ 4.65891792e-01 -8.47531275e-01 -2.54235276e-01 1.03329026e+02] [ 7.43533887e-01 5.30745236e-01 -4.06776170e-01 4.45565359e+01] [ 4.79689688e-01 4.81136124e-04 8.77438073e-01 2.94452234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.627105681 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:103.33, Y:44.59, Z:29.46 [[ 4.75328888e-01 -8.42815559e-01 -2.52436888e-01 1.03334322e+02] [ 7.37131691e-01 5.38140163e-01 -4.08707763e-01 4.45854856e+01] [ 4.80311689e-01 8.19137620e-03 8.77059623e-01 2.94552965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.657105681 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:103.34, Y:44.61, Z:29.46 [[ 4.82050742e-01 -8.38070212e-01 -2.55470941e-01 1.03341107e+02] [ 7.30389820e-01 5.45439233e-01 -4.11128634e-01 4.46126538e+01] [ 4.83898535e-01 1.15914881e-02 8.75047339e-01 2.94647337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.687105681 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:103.35, Y:44.64, Z:29.48 [[ 4.84315216e-01 -8.36584114e-01 -2.56058180e-01 1.03351755e+02] [ 7.27964387e-01 5.47675642e-01 -4.12455141e-01 4.46363137e+01] [ 4.85290247e-01 1.33570648e-02 8.74251088e-01 2.94766559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.717105681 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:103.36, Y:44.66, Z:29.49 [[ 4.86831224e-01 -8.35237199e-01 -2.55683751e-01 1.03360722e+02] [ 7.26569172e-01 5.49687410e-01 -4.12238996e-01 4.46588209e+01] [ 4.84863483e-01 1.49188839e-02 8.74462595e-01 2.94899516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.747105681 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:103.37, Y:44.68, Z:29.50 [[ 4.87342411e-01 -8.34745750e-01 -2.56314080e-01 1.03371063e+02] [ 7.25210961e-01 5.50411322e-01 -4.13662228e-01 4.46807538e+01] [ 4.86380958e-01 1.57133672e-02 8.73605548e-01 2.95038414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.777105681 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:103.38, Y:44.71, Z:29.52 [[ 4.85188878e-01 -8.40189753e-01 -2.42224961e-01 1.03380489e+02] [ 7.22882238e-01 5.41269927e-01 -4.29497539e-01 4.47054926e+01] [ 4.91968518e-01 3.32873068e-02 8.69976398e-01 2.95165884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.807105681 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:103.40, Y:44.72, Z:29.53 [[ 4.84457170e-01 -8.31358985e-01 -2.72293019e-01 1.03395258e+02] [ 7.27535279e-01 5.55726570e-01 -4.02318777e-01 4.47217471e+01] [ 4.85791795e-01 -3.19656172e-03 8.74068712e-01 2.95332586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.837105681 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:103.41, Y:44.75, Z:29.54 [[ 4.83222640e-01 -8.37729722e-01 -2.54371369e-01 1.03406482e+02] [ 7.29729316e-01 5.45923075e-01 -4.11658987e-01 4.47454576e+01] [ 4.83726169e-01 1.33006974e-02 8.75118326e-01 2.95446344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.867105681 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:103.42, Y:44.77, Z:29.55 [[ 4.79587357e-01 -8.49766932e-01 -2.18842704e-01 1.03417654e+02] [ 7.38189953e-01 5.25538838e-01 -4.22947423e-01 4.47731485e+01] [ 4.74417074e-01 4.12927519e-02 8.79331194e-01 2.95470250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89710568099997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:103.44, Y:44.78, Z:29.58 [[ 4.70896940e-01 -8.37023010e-01 -2.78654898e-01 1.03436359e+02] [ 7.40153165e-01 5.46729315e-01 -3.91484799e-01 4.47804180e+01] [ 4.80030587e-01 -2.18983103e-02 8.76978392e-01 2.95782436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.92710568099997 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:103.45, Y:44.81, Z:29.58 [[ 4.66174092e-01 -8.47911996e-01 -2.52441999e-01 1.03447518e+02] [ 7.42483014e-01 5.30125705e-01 -4.09494457e-01 4.48058321e+01] [ 4.81041255e-01 3.46181018e-03 8.76691124e-01 2.95846829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95710568099997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:103.47, Y:44.82, Z:29.60 [[ 4.59454253e-01 -8.51120527e-01 -2.53959913e-01 1.03465174e+02] [ 7.44551003e-01 5.24970193e-01 -4.12371314e-01 4.48246007e+01] [ 4.84299075e-01 3.79646369e-04 8.74902430e-01 2.95966230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.98710568099997 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:103.48, Y:44.84, Z:29.61 [[ 4.58466608e-01 -8.51393239e-01 -2.54829203e-01 1.03480418e+02] [ 7.43871608e-01 5.24527838e-01 -4.14156465e-01 4.48449023e+01] [ 4.86275025e-01 3.16700402e-04 8.73805756e-01 2.96098521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.01710568099998 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:103.49, Y:44.87, Z:29.62 [[ 4.58945600e-01 -8.51157949e-01 -2.54752983e-01 1.03492926e+02] [ 7.43463705e-01 5.24909060e-01 -4.14405837e-01 4.48665992e+01] [ 4.86446971e-01 7.90138838e-04 8.73709746e-01 2.96234116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.04710568099998 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:103.51, Y:44.89, Z:29.64 [[ 4.62801084e-01 -8.49075735e-01 -2.54726430e-01 1.03505018e+02] [ 7.40893120e-01 5.28261317e-01 -4.14749763e-01 4.48890867e+01] [ 4.86716079e-01 3.22158009e-03 8.73554280e-01 2.96361503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07710568099998 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:103.52, Y:44.91, Z:29.65 [[ 4.64447485e-01 -8.48198551e-01 -2.54652215e-01 1.03516704e+02] [ 7.39738901e-01 5.29660287e-01 -4.15025709e-01 4.49107825e+01] [ 4.86903371e-01 4.38149748e-03 8.73444852e-01 2.96500806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.10710568099998 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:103.53, Y:44.93, Z:29.66 [[ 4.65956958e-01 -8.47298528e-01 -2.54890795e-01 1.03528586e+02] [ 7.38270906e-01 5.31087697e-01 -4.15814776e-01 4.49322995e+01] [ 4.87688613e-01 5.57332947e-03 8.72999860e-01 2.96626902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13710568099998 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:103.54, Y:44.95, Z:29.67 [[ 4.64982532e-01 -8.50505496e-01 -2.45828490e-01 1.03539743e+02] [ 7.36564765e-01 5.25697252e-01 -4.25575782e-01 4.49525927e+01] [ 4.91185904e-01 1.68167009e-02 8.70892420e-01 2.96746143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.16710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:103.55, Y:44.97, Z:29.69 [[ 4.64679028e-01 -8.46395787e-01 -2.60168355e-01 1.03552573e+02] [ 7.39452699e-01 5.32553412e-01 -4.11821040e-01 4.49705071e+01] [ 4.87117138e-01 -1.01759137e-03 8.73336051e-01 2.96890795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19710568099998 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:103.57, Y:45.00, Z:29.70 [[ 4.60923555e-01 -8.51448794e-01 -2.50168797e-01 1.03565078e+02] [ 7.43431290e-01 5.24410523e-01 -4.15094591e-01 4.49958129e+01] [ 4.84622939e-01 5.34356318e-03 8.74706839e-01 2.96995172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.22710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:103.58, Y:45.02, Z:29.71 [[ 4.57529768e-01 -8.52554824e-01 -2.52619841e-01 1.03578444e+02] [ 7.45344319e-01 5.22636681e-01 -4.13899440e-01 4.50162919e+01] [ 4.84900359e-01 1.08255150e-03 8.74568734e-01 2.97127562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25710568099998 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:103.59, Y:45.04, Z:29.73 [[ 4.48968402e-01 -8.59454559e-01 -2.44469293e-01 1.03590262e+02] [ 7.49638460e-01 5.11182757e-01 -4.20397868e-01 4.50379108e+01] [ 4.86281352e-01 5.48177437e-03 8.73785098e-01 2.97261832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.28710568099999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:103.61, Y:45.05, Z:29.74 [[ 4.39886185e-01 -8.59981038e-01 -2.58713661e-01 1.03605510e+02] [ 7.58831880e-01 5.10003432e-01 -4.05056387e-01 4.50548406e+01] [ 4.80285667e-01 -1.81414649e-02 8.76924492e-01 2.97424576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.317105681 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:103.62, Y:45.08, Z:29.75 [[ 4.33700685e-01 -8.65747919e-01 -2.49768405e-01 1.03616482e+02] [ 7.62371196e-01 5.00326506e-01 -4.10443111e-01 4.50779451e+01] [ 4.80306023e-01 -1.24067789e-02 8.77013225e-01 2.97546258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.347105681 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:103.63, Y:45.10, Z:29.77 [[ 4.23911437e-01 -8.70523640e-01 -2.49975371e-01 1.03625925e+02] [ 7.67503986e-01 4.91813244e-01 -4.11165860e-01 4.51002000e+01] [ 4.80870799e-01 -1.75591834e-02 8.76615623e-01 2.97675426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.377105681 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:103.63, Y:45.12, Z:29.78 [[ 4.17430251e-01 -8.73478013e-01 -2.50575630e-01 1.03634447e+02] [ 7.70255843e-01 4.86417209e-01 -4.12436946e-01 4.51223361e+01] [ 4.82138903e-01 -2.08436848e-02 8.75846801e-01 2.97804119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.407105681 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:103.64, Y:45.14, Z:29.79 [[ 4.13972902e-01 -8.75057842e-01 -2.50799142e-01 1.03644792e+02] [ 7.71655745e-01 4.83497197e-01 -4.13252794e-01 4.51445709e+01] [ 4.82880781e-01 -2.24551400e-02 8.75398149e-01 2.97934532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.437105681 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:103.65, Y:45.17, Z:29.81 [[ 4.07865867e-01 -8.78020415e-01 -2.50450764e-01 1.03651372e+02] [ 7.75194185e-01 4.77934935e-01 -4.13100682e-01 4.51690341e+01] [ 4.82410002e-01 -2.56583082e-02 8.75569667e-01 2.98067123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.467105681 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:103.66, Y:45.20, Z:29.82 [[ 4.02215742e-01 -8.80466651e-01 -2.50999945e-01 1.03655843e+02] [ 7.77356184e-01 4.73254996e-01 -4.14423783e-01 4.51955112e+01] [ 4.83673299e-01 -2.84285903e-02 8.74786806e-01 2.98180426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.497105681 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:103.66, Y:45.22, Z:29.83 [[ 3.99547614e-01 -8.81673175e-01 -2.51026126e-01 1.03663648e+02] [ 7.78510604e-01 4.70928033e-01 -4.14907250e-01 4.52189685e+01] [ 4.84027833e-01 -2.96512991e-02 8.74550089e-01 2.98304210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.527105681 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:103.67, Y:45.24, Z:29.84 [[ 3.95833273e-01 -8.83783833e-01 -2.49483781e-01 1.03670109e+02] [ 7.82114840e-01 4.66817802e-01 -4.12768114e-01 4.52431089e+01] [ 4.81261256e-01 -3.17376141e-02 8.76002470e-01 2.98445509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.557105681 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:103.68, Y:45.27, Z:29.86 [[ 3.94060748e-01 -8.85275109e-01 -2.46990098e-01 1.03675011e+02] [ 7.85797309e-01 4.63902823e-01 -4.09043714e-01 4.52671032e+01] [ 4.76695622e-01 -3.28960820e-02 8.78452692e-01 2.98615592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.587105681 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:103.68, Y:45.29, Z:29.88 [[ 3.92195617e-01 -8.86276548e-01 -2.46366556e-01 1.03680465e+02] [ 7.87288340e-01 4.61922771e-01 -4.08416972e-01 4.52906287e+01] [ 4.75772706e-01 -3.37821703e-02 8.78919278e-01 2.98767375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.617105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:45.32, Z:29.89 [[ 3.89636515e-01 -8.87570255e-01 -2.45769055e-01 1.03677568e+02] [ 7.89091737e-01 4.59339273e-01 -4.07850050e-01 4.53200671e+01] [ 4.74886952e-01 -3.50210582e-02 8.79349708e-01 2.98895200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:45.35, Z:29.90 [[ 3.87040958e-01 -8.88638527e-01 -2.46009888e-01 1.03680131e+02] [ 7.89921889e-01 4.57180712e-01 -4.08667599e-01 4.53481580e+01] [ 4.75628749e-01 -3.61574966e-02 8.78902684e-01 2.99008477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.69, Y:45.37, Z:29.91 [[ 3.85620968e-01 -8.89273214e-01 -2.45946377e-01 1.03688128e+02] [ 7.90512963e-01 4.55899822e-01 -4.08955508e-01 4.53730796e+01] [ 4.75800088e-01 -3.67219803e-02 8.78786534e-01 2.99135488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.70710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:103.69, Y:45.40, Z:29.93 [[ 3.82351638e-01 -8.90554082e-01 -2.46415608e-01 1.03686005e+02] [ 7.91405939e-01 4.53271073e-01 -4.10148723e-01 4.54027869e+01] [ 4.76952686e-01 -3.81937393e-02 8.78098727e-01 2.99254083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.73710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:103.68, Y:45.44, Z:29.94 [[ 3.81915389e-01 -8.90609920e-01 -2.46889867e-01 1.03680622e+02] [ 7.90832059e-01 4.53165888e-01 -4.11370067e-01 4.54350187e+01] [ 4.78252328e-01 -3.81398631e-02 8.77393903e-01 2.99384604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:45.46, Z:29.95 [[ 3.84337429e-01 -8.89711524e-01 -2.46369934e-01 1.03683927e+02] [ 7.89995695e-01 4.55045130e-01 -4.10902338e-01 4.54614318e+01] [ 4.77693984e-01 -3.67060385e-02 8.77759149e-01 2.99512375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.79710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.68, Y:45.49, Z:29.97 [[ 3.93919197e-01 -8.85919842e-01 -2.44895284e-01 1.03681888e+02] [ 7.86635086e-01 4.62758203e-01 -4.08729846e-01 4.54906059e+01] [ 4.75429183e-01 -3.16366902e-02 8.79184970e-01 2.99650941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.82710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.69, Y:45.51, Z:29.98 [[ 3.98713548e-01 -8.83896800e-01 -2.44446220e-01 1.03687448e+02] [ 7.84429421e-01 4.66786907e-01 -4.08387643e-01 4.55146202e+01] [ 4.75076826e-01 -2.89211204e-02 8.79468918e-01 2.99794105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.69, Y:45.54, Z:29.99 [[ 4.07709186e-01 -8.79873288e-01 -2.44123365e-01 1.03685299e+02] [ 7.79852820e-01 4.74603135e-01 -4.08143899e-01 4.55442206e+01] [ 4.74976629e-01 -2.39762779e-02 8.79671723e-01 2.99938963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:45.57, Z:30.01 [[ 4.18873187e-01 -8.74475644e-01 -2.44617256e-01 1.03681846e+02] [ 7.72936099e-01 4.84750111e-01 -4.09374056e-01 4.55732959e+01] [ 4.76565882e-01 -1.75976919e-02 8.78962616e-01 3.00066978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.69, Y:45.60, Z:30.02 [[ 4.25703298e-01 -8.71273580e-01 -2.44252023e-01 1.03689024e+02] [ 7.69365232e-01 4.90604942e-01 -4.09125812e-01 4.55983780e+01] [ 4.76291761e-01 -1.37528065e-02 8.79179742e-01 3.00196236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.69, Y:45.62, Z:30.03 [[ 4.38913632e-01 -8.64851990e-01 -2.43692138e-01 1.03694429e+02] [ 7.62279755e-01 5.01985759e-01 -4.08582762e-01 4.56249140e+01] [ 4.75693598e-01 -6.42903893e-03 8.79587556e-01 3.00316976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:45.65, Z:30.04 [[ 4.43297932e-01 -8.62504892e-01 -2.44074281e-01 1.03702838e+02] [ 7.59038251e-01 5.06035360e-01 -4.09620737e-01 4.56483912e+01] [ 4.76810106e-01 -3.67768936e-03 8.78998633e-01 3.00447580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.71, Y:45.67, Z:30.06 [[ 4.49894505e-01 -8.58900679e-01 -2.44713217e-01 1.03707811e+02] [ 7.54121062e-01 5.12142025e-01 -4.11110655e-01 4.56737866e+01] [ 4.78431143e-01 4.13033912e-04 8.78124975e-01 3.00568536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.72, Y:45.70, Z:30.07 [[ 4.52515391e-01 -8.57532705e-01 -2.44678322e-01 1.03718805e+02] [ 7.52443013e-01 5.14425452e-01 -4.11334374e-01 4.56973807e+01] [ 4.78601435e-01 2.02864164e-03 8.78029926e-01 3.00682147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.067105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:45.72, Z:30.08 [[ 4.51307342e-01 -8.58296891e-01 -2.44229668e-01 1.03731067e+02] [ 7.53507682e-01 5.13151392e-01 -4.10976668e-01 4.57192466e+01] [ 4.78066790e-01 1.44785648e-03 8.78322292e-01 3.00810115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.097105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:45.74, Z:30.09 [[ 4.46427748e-01 -8.60771722e-01 -2.44487850e-01 1.03742821e+02] [ 7.55870518e-01 5.08990301e-01 -4.11811404e-01 4.57410492e+01] [ 4.78917556e-01 -9.57120519e-04 8.77859362e-01 3.00926831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.127105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:45.76, Z:30.10 [[ 4.42341159e-01 -8.62867593e-01 -2.44527740e-01 1.03755614e+02] [ 7.57996669e-01 5.05421279e-01 -4.12298897e-01 4.57620177e+01] [ 4.79348880e-01 -2.97444105e-03 8.77619396e-01 3.01043534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.157105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.77, Y:45.78, Z:30.12 [[ 4.39917241e-01 -8.64300382e-01 -2.43839437e-01 1.03767005e+02] [ 7.60038970e-01 5.02957791e-01 -4.11550999e-01 4.57830508e+01] [ 4.78344630e-01 -4.27909468e-03 8.78161776e-01 3.01189533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.187105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.78, Y:45.80, Z:30.13 [[ 4.38399684e-01 -8.65212234e-01 -2.43338258e-01 1.03778626e+02] [ 7.61324957e-01 5.01380543e-01 -4.11098359e-01 4.58049977e+01] [ 4.77692398e-01 -5.03409837e-03 8.78512738e-01 3.01326822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.217105681 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:103.79, Y:45.83, Z:30.14 [[ 4.37421469e-01 -8.65696102e-01 -2.43377725e-01 1.03789433e+02] [ 7.61619560e-01 5.00541560e-01 -4.11574770e-01 4.58259498e+01] [ 4.78119340e-01 -5.32959494e-03 8.78278710e-01 3.01449210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:45.85, Z:30.16 [[ 4.36796357e-01 -8.65994768e-01 -2.43437888e-01 1.03803089e+02] [ 7.61706361e-01 5.00023371e-01 -4.12043745e-01 4.58474918e+01] [ 4.78552361e-01 -5.44898157e-03 8.78042110e-01 3.01567431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.82, Y:45.87, Z:30.17 [[ 4.34078158e-01 -8.67093970e-01 -2.44385352e-01 1.03819261e+02] [ 7.61873690e-01 4.98102739e-01 -4.14055723e-01 4.58674973e+01] [ 4.80754233e-01 -6.45822455e-03 8.76831602e-01 3.01685272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.307105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.83, Y:45.89, Z:30.18 [[ 4.31003119e-01 -8.68545556e-01 -2.44673105e-01 1.03832014e+02] [ 7.63053988e-01 4.95547087e-01 -4.14947823e-01 4.58881640e+01] [ 4.81648132e-01 -7.85498258e-03 8.76329490e-01 3.01813626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.337105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:45.91, Z:30.19 [[ 4.30120358e-01 -8.69133473e-01 -2.44138246e-01 1.03843702e+02] [ 7.63989868e-01 4.94508795e-01 -4.14464153e-01 4.59094396e+01] [ 4.80953178e-01 -8.24967635e-03 8.76707467e-01 3.01946747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.86, Y:45.93, Z:30.21 [[ 4.29025966e-01 -8.69382791e-01 -2.45173985e-01 1.03857533e+02] [ 7.63094177e-01 4.94068755e-01 -4.16633342e-01 4.59295270e+01] [ 4.83346663e-01 -8.34431835e-03 8.75389271e-01 3.02087552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:103.87, Y:45.95, Z:30.22 [[ 4.29710504e-01 -8.68893409e-01 -2.45709434e-01 1.03874572e+02] [ 7.61805081e-01 4.94941148e-01 -4.17954876e-01 4.59480392e+01] [ 4.84769946e-01 -7.58309474e-03 8.74608825e-01 3.02211111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.42710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:45.97, Z:30.24 [[ 4.35485789e-01 -8.65981338e-01 -2.45821987e-01 1.03888035e+02] [ 7.58118982e-01 5.00059643e-01 -4.18564169e-01 4.59669409e+01] [ 4.85394414e-01 -4.08356744e-03 8.74285758e-01 3.02356761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:103.90, Y:45.99, Z:30.25 [[ 4.40846921e-01 -8.63457811e-01 -2.45142002e-01 1.03900009e+02] [ 7.55658454e-01 5.04419936e-01 -4.17780839e-01 4.59877959e+01] [ 4.84390642e-01 -1.06622964e-03 8.74851170e-01 3.02503120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.48710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:103.91, Y:46.01, Z:30.26 [[ 4.40538363e-01 -8.63666611e-01 -2.44961093e-01 1.03912430e+02] [ 7.55838388e-01 5.04062368e-01 -4.17886899e-01 4.60095109e+01] [ 4.84390630e-01 -1.05578693e-03 8.74851189e-01 3.02639149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.51710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.93, Y:46.03, Z:30.28 [[ 4.52255403e-01 -8.58068262e-01 -2.43277430e-01 1.03926773e+02] [ 7.50832891e-01 5.13509247e-01 -4.15401279e-01 4.60283093e+01] [ 4.81367863e-01 5.20677718e-03 8.76503206e-01 3.02789275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.94, Y:46.05, Z:30.29 [[ 4.56459506e-01 -8.56106426e-01 -2.42335524e-01 1.03941576e+02] [ 7.49270541e-01 5.16745222e-01 -4.14207715e-01 4.60472076e+01] [ 4.79831611e-01 7.49417988e-03 8.77328594e-01 3.02924888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57710568099998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:103.96, Y:46.06, Z:30.31 [[ 4.61561213e-01 -8.54105862e-01 -2.39717381e-01 1.03957753e+02] [ 7.49271975e-01 5.20009246e-01 -4.10099856e-01 4.60639000e+01] [ 4.74923945e-01 9.67267155e-03 8.79973685e-01 3.03076742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.97, Y:46.08, Z:30.32 [[ 4.63025112e-01 -8.53974122e-01 -2.37351945e-01 1.03973655e+02] [ 7.51103019e-01 5.20220751e-01 -4.06466020e-01 4.60820929e+01] [ 4.70586869e-01 9.92821205e-03 8.82297812e-01 3.03221044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.99, Y:46.10, Z:30.34 [[ 4.62330169e-01 -8.54500390e-01 -2.36811947e-01 1.03988923e+02] [ 7.51983734e-01 5.19362083e-01 -4.05935329e-01 4.61020795e+01] [ 4.69863043e-01 9.59741689e-03 8.82687153e-01 3.03354685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:46.12, Z:30.35 [[ 4.63205323e-01 -8.54095758e-01 -2.36561334e-01 1.04008694e+02] [ 7.51551111e-01 5.20015229e-01 -4.05900344e-01 4.61180647e+01] [ 4.69693258e-01 1.02272665e-02 8.82770438e-01 3.03475897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.02, Y:46.14, Z:30.36 [[ 4.64648013e-01 -8.53241054e-01 -2.36816232e-01 1.04024602e+02] [ 7.50132389e-01 5.21393104e-01 -4.06756230e-01 4.61380066e+01] [ 4.70535465e-01 1.13549483e-02 8.82308020e-01 3.03605508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.72710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.04, Y:46.16, Z:30.37 [[ 4.69681763e-01 -8.50045183e-01 -2.38374134e-01 1.04044076e+02] [ 7.44872638e-01 5.26498029e-01 -4.09834819e-01 4.61566016e+01] [ 4.73881625e-01 1.49335703e-02 8.80461921e-01 3.03719821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:46.17, Z:30.38 [[ 4.73653646e-01 -8.47185977e-01 -2.40682662e-01 1.04066282e+02] [ 7.39249206e-01 5.30982342e-01 -4.14208117e-01 4.61737837e+01] [ 4.78709552e-01 1.82667180e-02 8.77783283e-01 3.03830463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:46.19, Z:30.39 [[ 4.75584469e-01 -8.45838072e-01 -2.41614092e-01 1.04083506e+02] [ 7.36614118e-01 5.33065723e-01 -4.16221787e-01 4.61924506e+01] [ 4.80852425e-01 1.99722663e-02 8.76574044e-01 3.03946011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.817105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:46.21, Z:30.40 [[ 4.80303334e-01 -8.44342129e-01 -2.37476475e-01 1.04105229e+02] [ 7.31536005e-01 5.35004146e-01 -4.22641263e-01 4.62065355e+01] [ 4.83904723e-01 2.92734155e-02 8.74630943e-01 3.04043878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.847105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.13, Y:46.22, Z:30.42 [[ 4.77263222e-01 -8.49262745e-01 -2.25771139e-01 1.04125640e+02] [ 7.28936023e-01 5.26092823e-01 -4.38039514e-01 4.62231199e+01] [ 4.90787216e-01 4.44874339e-02 8.70142963e-01 3.04193006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.877105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:46.24, Z:30.43 [[ 4.74700103e-01 -8.44191231e-01 -2.48999954e-01 1.04147348e+02] [ 7.31437608e-01 5.35735077e-01 -4.21885001e-01 4.62393037e+01] [ 4.89549627e-01 1.81409228e-02 8.71786711e-01 3.04348168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.907105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:46.25, Z:30.45 [[ 4.69582952e-01 -8.44914204e-01 -2.56148081e-01 1.04173826e+02] [ 7.38824296e-01 5.34892037e-01 -4.09913611e-01 4.62527699e+01] [ 4.83353401e-01 3.24001800e-03 8.75419324e-01 3.04503763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.937105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:46.27, Z:30.46 [[ 4.61993156e-01 -8.53100555e-01 -2.42449515e-01 1.04195550e+02] [ 7.43535566e-01 5.21583197e-01 -4.18456486e-01 4.62675201e+01] [ 4.83443053e-01 1.30541956e-02 8.75278471e-01 3.04642002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.967105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:46.29, Z:30.48 [[ 4.57949250e-01 -8.55262091e-01 -2.42506165e-01 1.04212517e+02] [ 7.45761390e-01 5.18079773e-01 -4.18847584e-01 4.62863887e+01] [ 4.83862000e-01 1.09592024e-02 8.75075689e-01 3.04773116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.997105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.23, Y:46.30, Z:30.49 [[ 4.50918594e-01 -8.58857749e-01 -2.42972813e-01 1.04233277e+02] [ 7.49163404e-01 5.12160957e-01 -4.20053982e-01 4.63029039e+01] [ 4.85207806e-01 7.38381200e-03 8.74367694e-01 3.04909835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.027105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.25, Y:46.32, Z:30.50 [[ 4.46338772e-01 -8.61463912e-01 -2.42201626e-01 1.04252839e+02] [ 7.52652146e-01 5.07796355e-01 -4.19115270e-01 4.63187984e+01] [ 4.84041783e-01 4.77382133e-03 8.75031864e-01 3.05044242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.057105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.27, Y:46.34, Z:30.52 [[ 4.45165736e-01 -8.62349171e-01 -2.41208156e-01 1.04265983e+02] [ 7.54385571e-01 5.06297997e-01 -4.17809465e-01 4.63375298e+01] [ 4.82420852e-01 4.03050526e-03 8.75930292e-01 3.05185847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.087105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.28, Y:46.36, Z:30.53 [[ 4.47166932e-01 -8.61589598e-01 -2.40218859e-01 1.04278836e+02] [ 7.54246586e-01 5.07580282e-01 -4.16502516e-01 4.63562210e+01] [ 4.80784591e-01 5.06189815e-03 8.76824130e-01 3.05334478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:46.38, Z:30.55 [[ 4.48946132e-01 -8.60601136e-01 -2.40443456e-01 1.04291337e+02] [ 7.52676342e-01 5.09239652e-01 -4.17316787e-01 4.63771031e+01] [ 4.81586643e-01 6.37665647e-03 8.76375287e-01 3.05467671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:46.40, Z:30.56 [[ 4.54171563e-01 -8.57778536e-01 -2.40715964e-01 1.04305279e+02] [ 7.48995969e-01 5.13929145e-01 -4.18188799e-01 4.63977258e+01] [ 4.82424325e-01 9.63417386e-03 8.75884669e-01 3.05606709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.32, Y:46.42, Z:30.58 [[ 4.60785867e-01 -8.54391651e-01 -2.40190115e-01 1.04319479e+02] [ 7.45461925e-01 5.19456637e-01 -4.17673700e-01 4.64165902e+01] [ 4.81625272e-01 1.34055524e-02 8.76274722e-01 3.05755962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.20710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:46.44, Z:30.59 [[ 4.64336201e-01 -8.52483874e-01 -2.40131499e-01 1.04332521e+02] [ 7.43148069e-01 5.22519862e-01 -4.17976006e-01 4.64373042e+01] [ 4.81791283e-01 1.56281307e-02 8.76146633e-01 3.05901566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.23710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.35, Y:46.46, Z:30.60 [[ 4.71588264e-01 -8.48656247e-01 -2.39556014e-01 1.04345546e+02] [ 7.39193726e-01 5.28575934e-01 -4.17372875e-01 4.64585558e+01] [ 4.80829642e-01 1.97498471e-02 8.76591581e-01 3.06031931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.26710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.36, Y:46.48, Z:30.61 [[ 4.76893480e-01 -8.47560046e-01 -2.32840239e-01 1.04358592e+02] [ 7.35117650e-01 5.29820009e-01 -4.22957207e-01 4.64815916e+01] [ 4.81845048e-01 3.05405655e-02 8.75724057e-01 3.06145191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.29710568099998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:104.38, Y:46.50, Z:30.63 [[ 4.82508725e-01 -8.40200797e-01 -2.47483233e-01 1.04378872e+02] [ 7.32457060e-01 5.41992089e-01 -4.12008774e-01 4.64967425e+01] [ 4.80304055e-01 1.75269869e-02 8.76926918e-01 3.06281748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.32710568099998 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:104.39, Y:46.52, Z:30.64 [[ 4.80265217e-01 -8.47119427e-01 -2.27451089e-01 1.04392103e+02] [ 7.30972049e-01 5.29875246e-01 -4.30014055e-01 4.65208761e+01] [ 4.84793962e-01 4.02604045e-02 8.73701273e-01 3.06405214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35710568099998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:104.42, Y:46.53, Z:30.65 [[ 4.81486009e-01 -8.37198375e-01 -2.59364811e-01 1.04415761e+02] [ 7.28972967e-01 5.46821796e-01 -4.11806188e-01 4.65332178e+01] [ 4.86589803e-01 9.20898215e-03 8.73582027e-01 3.06529228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.38710568099998 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:104.43, Y:46.56, Z:30.66 [[ 4.81004387e-01 -8.42801654e-01 -2.41495658e-01 1.04428417e+02] [ 7.29554892e-01 5.37536044e-01 -4.22853001e-01 4.65558489e+01] [ 4.86193829e-01 2.72098093e-02 8.73427265e-01 3.06620654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41710568099998 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:104.45, Y:46.57, Z:30.68 [[ 4.80711460e-01 -8.43239141e-01 -2.40549876e-01 1.04447367e+02] [ 7.30765638e-01 5.36865695e-01 -4.21612153e-01 4.65729166e+01] [ 4.84662846e-01 2.68882100e-02 8.74287681e-01 3.06768530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.44710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:104.47, Y:46.59, Z:30.69 [[ 4.81503328e-01 -8.42832747e-01 -2.40390319e-01 1.04466614e+02] [ 7.30256033e-01 5.37471778e-01 -4.21722911e-01 4.65904972e+01] [ 4.84644892e-01 2.75145048e-02 8.74278148e-01 3.06907573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.48, Y:46.61, Z:30.70 [[ 4.81773614e-01 -8.42435596e-01 -2.41239406e-01 1.04482070e+02] [ 7.28727096e-01 5.38053749e-01 -4.23621273e-01 4.66093556e+01] [ 4.86673406e-01 2.82918602e-02 8.73125745e-01 3.07031086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50710568099998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:104.50, Y:46.63, Z:30.70 [[ 4.84307837e-01 -8.47303373e-01 -2.17997506e-01 1.04498566e+02] [ 7.27789328e-01 5.28454531e-01 -4.37102393e-01 4.66336421e+01] [ 4.85560102e-01 5.30358561e-02 8.72593024e-01 3.07036782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53710568099999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:104.52, Y:46.64, Z:30.73 [[ 4.87588164e-01 -8.32610951e-01 -2.62710463e-01 1.04524472e+02] [ 7.20886756e-01 5.53684801e-01 -4.16839808e-01 4.66395666e+01] [ 4.92524180e-01 1.38616632e-02 8.70188363e-01 3.07318684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.567105681 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:104.54, Y:46.67, Z:30.74 [[ 4.87457803e-01 -8.41076832e-01 -2.34466740e-01 1.04537088e+02] [ 7.20424053e-01 5.39144539e-01 -4.36248037e-01 4.66653422e+01] [ 4.93329579e-01 4.37370301e-02 8.68742193e-01 3.07447443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.597105681 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:104.56, Y:46.68, Z:30.75 [[ 4.90862375e-01 -8.39957159e-01 -2.31357084e-01 1.04557119e+02] [ 7.20675083e-01 5.40676730e-01 -4.33930983e-01 4.66824796e+01] [ 4.89572827e-01 4.62671069e-02 8.70734059e-01 3.07530503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.627105681 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:104.58, Y:46.70, Z:30.77 [[ 4.89615707e-01 -8.40884889e-01 -2.30627541e-01 1.04579565e+02] [ 7.17692903e-01 5.38858607e-01 -4.41076296e-01 4.67002452e+01] [ 4.95170028e-01 5.04381330e-02 8.67330755e-01 3.07690241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.657105681 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:104.60, Y:46.71, Z:30.80 [[ 4.87461494e-01 -8.27648569e-01 -2.78171059e-01 1.04599543e+02] [ 7.13718228e-01 5.61217157e-01 -4.19096162e-01 4.67063608e+01] [ 5.02978710e-01 5.75748542e-03 8.64279624e-01 3.07982286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.687105681 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:104.62, Y:46.74, Z:30.79 [[ 4.91197925e-01 -8.40744568e-01 -2.27756820e-01 1.04616548e+02] [ 7.18717267e-01 5.38918874e-01 -4.39331239e-01 4.67352743e+01] [ 4.92107802e-01 5.21058335e-02 8.68973471e-01 3.07937599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.717105681 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:104.64, Y:46.75, Z:30.81 [[ 4.88838034e-01 -8.39027788e-01 -2.38892753e-01 1.04639098e+02] [ 7.20805636e-01 5.42719775e-01 -4.31154822e-01 4.67484450e+01] [ 4.91402698e-01 3.85696323e-02 8.70078026e-01 3.08112945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.747105681 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:104.66, Y:46.75, Z:30.84 [[ 4.83894746e-01 -8.28904001e-01 -2.80649302e-01 1.04655728e+02] [ 7.17222139e-01 5.59390840e-01 -4.15540961e-01 4.67541731e+01] [ 5.01436215e-01 -2.09804919e-04 8.65194590e-01 3.08440426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.777105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:104.67, Y:46.79, Z:30.83 [[ 4.83570575e-01 -8.51234306e-01 -2.03861856e-01 1.04666604e+02] [ 7.25363404e-01 5.20068916e-01 -4.50972565e-01 4.67920579e+01] [ 4.89905533e-01 7.02031328e-02 8.68944238e-01 3.08292967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.807105681 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:104.69, Y:46.80, Z:30.85 [[ 4.80773057e-01 -8.43852806e-01 -2.38263950e-01 1.04691667e+02] [ 7.25887408e-01 5.35457945e-01 -4.31708537e-01 4.68013196e+01] [ 4.91878785e-01 3.46010315e-02 8.69975879e-01 3.08542644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.837105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:104.71, Y:46.80, Z:30.89 [[ 4.77315648e-01 -8.32094459e-01 -2.82468732e-01 1.04708187e+02] [ 7.21752819e-01 5.54599197e-01 -4.14116649e-01 4.68045682e+01] [ 5.01241101e-01 -6.20824737e-03 8.65285396e-01 3.08906269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.72, Y:46.83, Z:30.90 [[ 4.77257188e-01 -8.44006117e-01 -2.44702371e-01 1.04722226e+02] [ 7.25137610e-01 5.35541101e-01 -4.32863923e-01 4.68309766e+01] [ 4.96387976e-01 2.91445260e-02 8.67611419e-01 3.08953633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:104.74, Y:46.85, Z:30.91 [[ 4.75903088e-01 -8.46061035e-01 -2.40201946e-01 1.04739238e+02] [ 7.25207616e-01 5.32012789e-01 -4.37077004e-01 4.68494853e+01] [ 4.97584330e-01 3.38100154e-02 8.66756435e-01 3.09083992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.92710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:104.76, Y:46.87, Z:30.93 [[ 4.77113873e-01 -8.42000731e-01 -2.51787850e-01 1.04755236e+02] [ 7.24266236e-01 5.38993910e-01 -4.30027888e-01 4.68651677e+01] [ 4.97795913e-01 2.28108324e-02 8.66994172e-01 3.09250230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:104.77, Y:46.89, Z:30.93 [[ 4.77534047e-01 -8.43792325e-01 -2.44899460e-01 1.04770649e+02] [ 7.24036619e-01 5.35824942e-01 -4.34353088e-01 4.68859169e+01] [ 4.97727041e-01 3.01022108e-02 8.66811196e-01 3.09343756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.98710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.78, Y:46.91, Z:30.95 [[ 4.77417958e-01 -8.43860406e-01 -2.44891216e-01 1.04784868e+02] [ 7.23878057e-01 5.35707012e-01 -4.34762644e-01 4.69061147e+01] [ 4.98068923e-01 3.02921160e-02 8.66608179e-01 3.09471614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.01710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.80, Y:46.94, Z:30.94 [[ 4.78300606e-01 -8.53363202e-01 -2.07363875e-01 1.04799807e+02] [ 7.29141935e-01 5.17496309e-01 -4.47827654e-01 4.69375755e+01] [ 4.89469681e-01 6.29985410e-02 8.69741694e-01 3.09428429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.04710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.82, Y:46.95, Z:30.97 [[ 4.76751931e-01 -8.46276031e-01 -2.37748767e-01 1.04820886e+02] [ 7.29397463e-01 5.31798347e-01 -4.30313675e-01 4.69476445e+01] [ 4.90598551e-01 3.17395281e-02 8.70807478e-01 3.09675494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:46.95, Z:31.00 [[ 4.72146919e-01 -8.36570023e-01 -2.77899054e-01 1.04841045e+02] [ 7.26037056e-01 5.47832151e-01 -4.15632202e-01 4.69496044e+01] [ 4.99947477e-01 -5.52554750e-03 8.66038099e-01 3.10022217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.10710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:46.98, Z:31.00 [[ 4.70909637e-01 -8.47458571e-01 -2.45067508e-01 1.04854587e+02] [ 7.26996804e-01 5.30157984e-01 -4.36357834e-01 4.69779531e+01] [ 4.99719683e-01 2.73218141e-02 8.65756177e-01 3.10040321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:47.00, Z:31.02 [[ 4.70011209e-01 -8.47901831e-01 -2.45258939e-01 1.04872427e+02] [ 7.27048213e-01 5.29458292e-01 -4.37121051e-01 4.69967992e+01] [ 5.00490119e-01 2.71367204e-02 8.65316843e-01 3.10151511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:47.02, Z:31.01 [[ 4.71732499e-01 -8.54810083e-01 -2.16259501e-01 1.04888713e+02] [ 7.29589877e-01 5.16137395e-01 -4.48665579e-01 4.70245916e+01] [ 4.95143476e-01 5.38693921e-02 8.67139566e-01 3.10111026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:47.04, Z:31.03 [[ 4.72902650e-01 -8.49439744e-01 -2.34126473e-01 1.04904989e+02] [ 7.29284316e-01 5.26461585e-01 -4.37015544e-01 4.70399471e+01] [ 4.94476966e-01 3.59210446e-02 8.68448161e-01 3.10314844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:47.05, Z:31.07 [[ 4.71034106e-01 -8.40328010e-01 -2.68282886e-01 1.04923683e+02] [ 7.25938454e-01 5.42058453e-01 -4.23303668e-01 4.70465680e+01] [ 5.01138935e-01 4.63360125e-03 8.65354435e-01 3.10654014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:47.07, Z:31.07 [[ 4.66272650e-01 -8.49243194e-01 -2.47741426e-01 1.04940092e+02] [ 7.29053700e-01 5.27511982e-01 -4.36132790e-01 4.70670282e+01] [ 5.01069374e-01 2.27399889e-02 8.65108303e-01 3.10742070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:104.96, Y:47.09, Z:31.09 [[ 4.61611549e-01 -8.52613350e-01 -2.44878037e-01 1.04955150e+02] [ 7.32158619e-01 5.22050508e-01 -4.37500884e-01 4.70864632e+01] [ 5.00857798e-01 2.26658949e-02 8.65232757e-01 3.10879591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.317105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:104.97, Y:47.11, Z:31.09 [[ 4.48997648e-01 -8.65376922e-01 -2.22539650e-01 1.04970854e+02] [ 7.44389073e-01 5.00030493e-01 -4.42554420e-01 4.71133263e+01] [ 4.94252992e-01 3.30498095e-02 8.68689640e-01 3.10887510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.347105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.99, Y:47.12, Z:31.12 [[ 4.35129109e-01 -8.62158646e-01 -2.59509398e-01 1.04991795e+02] [ 7.49987523e-01 5.06548494e-01 -4.25355543e-01 4.71185023e+01] [ 4.98178054e-01 -9.54423226e-03 8.67022222e-01 3.11211570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.377105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.00, Y:47.14, Z:31.13 [[ 4.35079425e-01 -8.67041067e-01 -2.42787319e-01 1.05003033e+02] [ 7.50174401e-01 4.98186964e-01 -4.34796639e-01 4.71447495e+01] [ 4.97940019e-01 7.03823967e-03 8.67182910e-01 3.11290076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.407105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.01, Y:47.18, Z:31.12 [[ 4.26382519e-01 -8.83420252e-01 -1.94336323e-01 1.05014752e+02] [ 7.55148845e-01 4.65919343e-01 -4.61160913e-01 4.71811739e+01] [ 4.97943941e-01 4.98781017e-02 8.65773646e-01 3.11154460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.437105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.03, Y:47.17, Z:31.17 [[ 4.10015524e-01 -8.70536465e-01 -2.72127787e-01 1.05034360e+02] [ 7.62007540e-01 4.90913480e-01 -4.22313231e-01 4.71748696e+01] [ 5.01230266e-01 -3.42084449e-02 8.64637498e-01 3.11663693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.467105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.05, Y:47.20, Z:31.17 [[ 4.02049779e-01 -8.80897938e-01 -2.49749470e-01 1.05046491e+02] [ 7.69396246e-01 4.72903871e-01 -4.29408135e-01 4.72021481e+01] [ 4.96372232e-01 -1.95128589e-02 8.67890463e-01 3.11731126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.497105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.06, Y:47.23, Z:31.18 [[ 4.00057822e-01 -8.84234798e-01 -2.41003240e-01 1.05057635e+02] [ 7.70578634e-01 4.66884667e-01 -4.33851675e-01 4.72260362e+01] [ 4.96147466e-01 -1.21461914e-02 8.68153306e-01 3.11840834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.527105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.07, Y:47.25, Z:31.20 [[ 3.98425800e-01 -8.84925155e-01 -2.41172868e-01 1.05066685e+02] [ 7.70956655e-01 4.65557994e-01 -4.34605098e-01 4.72473638e+01] [ 4.96872940e-01 -1.27759441e-02 8.67729253e-01 3.11977428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.557105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.07, Y:47.27, Z:31.21 [[ 3.99095118e-01 -8.84732439e-01 -2.40772919e-01 1.05074326e+02] [ 7.70868388e-01 4.65938100e-01 -4.34354251e-01 4.72726831e+01] [ 4.96472573e-01 -1.22555704e-02 8.67965890e-01 3.12093287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.587105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:105.08, Y:47.30, Z:31.22 [[ 4.00955787e-01 -8.83727933e-01 -2.41369835e-01 1.05081206e+02] [ 7.68832932e-01 4.67876231e-01 -4.35875848e-01 4.72970485e+01] [ 4.98126871e-01 -1.08061344e-02 8.67036820e-01 3.12230809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:105.09, Y:47.32, Z:31.24 [[ 4.02814121e-01 -8.82745547e-01 -2.41869971e-01 1.05088870e+02] [ 7.66915238e-01 4.69757878e-01 -4.37228263e-01 4.73200894e+01] [ 4.99581626e-01 -9.37204772e-03 8.66216118e-01 3.12362404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:105.09, Y:47.35, Z:31.25 [[ 4.08177874e-01 -8.81273304e-01 -2.38218778e-01 1.05091187e+02] [ 7.62009570e-01 4.72606268e-01 -4.42701627e-01 4.73477242e+01] [ 5.02724814e-01 -8.23980070e-04 8.64446113e-01 3.12492766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.09, Y:47.37, Z:31.27 [[ 4.15241217e-01 -8.75221818e-01 -2.48115903e-01 1.05094735e+02] [ 7.59304104e-01 4.83661757e-01 -4.35348805e-01 4.73697170e+01] [ 5.01030946e-01 -7.62065607e-03 8.65395815e-01 3.12654825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.10, Y:47.39, Z:31.28 [[ 4.17935146e-01 -8.75876471e-01 -2.41185865e-01 1.05101698e+02] [ 7.58833645e-01 4.82535350e-01 -4.37414146e-01 4.73928515e+01] [ 4.99501464e-01 -2.09204642e-04 8.66313017e-01 3.12766603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.11, Y:47.42, Z:31.29 [[ 4.23029201e-01 -8.73729811e-01 -2.40088550e-01 1.05106538e+02] [ 7.57293203e-01 4.86404958e-01 -4.35794932e-01 4.74159419e+01] [ 4.97547284e-01 2.53655530e-03 8.67433148e-01 3.12917075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.11, Y:47.45, Z:31.30 [[ 4.25347959e-01 -8.75291215e-01 -2.30096508e-01 1.05110166e+02] [ 7.53854904e-01 4.83336361e-01 -4.45071619e-01 4.74460395e+01] [ 5.00781287e-01 1.58509242e-02 8.65428709e-01 3.12997926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.79710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.12, Y:47.46, Z:31.32 [[ 4.28303460e-01 -8.67762169e-01 -2.52081264e-01 1.05120387e+02] [ 7.53966892e-01 4.96942881e-01 -4.29629724e-01 4.74629279e+01] [ 4.98086411e-01 -6.04903015e-03 8.67106301e-01 3.13176321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.82710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.13, Y:47.49, Z:31.33 [[ 4.32709693e-01 -8.68938832e-01 -2.40224120e-01 1.05127372e+02] [ 7.50947335e-01 4.94840932e-01 -4.37276288e-01 4.74888582e+01] [ 4.98839075e-01 8.81802612e-03 8.66649768e-01 3.13259290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.14, Y:47.51, Z:31.34 [[ 4.34245438e-01 -8.69441484e-01 -2.35589485e-01 1.05136169e+02] [ 7.48315500e-01 4.93774944e-01 -4.42956225e-01 4.75110480e+01] [ 5.01452703e-01 1.60564566e-02 8.65036055e-01 3.13385445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.14, Y:47.53, Z:31.36 [[ 4.37424740e-01 -8.65554633e-01 -2.43874506e-01 1.05143543e+02] [ 7.48354055e-01 5.00754260e-01 -4.34984344e-01 4.75330226e+01] [ 4.98623912e-01 7.76843844e-03 8.66783621e-01 3.13557552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.15, Y:47.56, Z:31.36 [[ 4.37367177e-01 -8.71984183e-01 -2.19894375e-01 1.05148301e+02] [ 7.45668392e-01 4.88330560e-01 -4.53334219e-01 4.75620891e+01] [ 5.02681412e-01 3.43052225e-02 8.63790802e-01 3.13639192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.16, Y:47.58, Z:31.39 [[ 4.37568586e-01 -8.60865156e-01 -2.59701590e-01 1.05161034e+02] [ 7.49103447e-01 5.08755448e-01 -4.24278117e-01 4.75753972e+01] [ 4.97370846e-01 -8.89258049e-03 8.67492458e-01 3.13889582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.17, Y:47.60, Z:31.40 [[ 4.34760215e-01 -8.68496512e-01 -2.38112083e-01 1.05170213e+02] [ 7.51676624e-01 4.95590093e-01 -4.35169751e-01 4.76018144e+01] [ 4.95949400e-01 1.02112083e-02 8.68291382e-01 3.13970472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.00710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.18, Y:47.62, Z:31.41 [[ 4.28537044e-01 -8.72483103e-01 -2.34796161e-01 1.05182088e+02] [ 7.54556138e-01 4.88529279e-01 -4.38159991e-01 4.76248326e+01] [ 4.96991987e-01 1.06009023e-02 8.67690374e-01 3.14110482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.19, Y:47.64, Z:31.43 [[ 4.26458399e-01 -8.71280414e-01 -2.42906718e-01 1.05193624e+02] [ 7.55948239e-01 4.90784250e-01 -4.33212511e-01 4.76446536e+01] [ 4.96664367e-01 1.12220826e-03 8.67941961e-01 3.14257639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.067105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.20, Y:47.67, Z:31.43 [[ 4.21360535e-01 -8.74851079e-01 -2.38937000e-01 1.05202978e+02] [ 7.57345966e-01 4.84378759e-01 -4.37954684e-01 4.76705682e+01] [ 4.98881136e-01 3.57884707e-03 8.66663028e-01 3.14347980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.097105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:105.21, Y:47.70, Z:31.44 [[ 4.17683420e-01 -8.76776434e-01 -2.38335152e-01 1.05211742e+02] [ 7.59942457e-01 4.80895773e-01 -4.37294773e-01 4.76959736e+01] [ 4.98024119e-01 1.52977539e-03 8.67161829e-01 3.14427218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.127105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.22, Y:47.72, Z:31.46 [[ 4.16537491e-01 -8.77547801e-01 -2.37500263e-01 1.05222482e+02] [ 7.61444798e-01 4.79488389e-01 -4.36225521e-01 4.77173957e+01] [ 4.96687365e-01 8.60943813e-04 8.67929099e-01 3.14564925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.157105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.23, Y:47.74, Z:31.47 [[ 4.17081622e-01 -8.77515601e-01 -2.36662820e-01 1.05233798e+02] [ 7.62033968e-01 4.79546734e-01 -4.35131201e-01 4.77369279e+01] [ 4.95325300e-01 1.14011925e-03 8.68706825e-01 3.14735484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.187105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.24, Y:47.76, Z:31.49 [[ 4.18219525e-01 -8.77090580e-01 -2.36229854e-01 1.05243764e+02] [ 7.61746745e-01 4.80321307e-01 -4.34779645e-01 4.77589255e+01] [ 4.94807363e-01 1.88601390e-03 8.69000642e-01 3.14883854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.217105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:105.25, Y:47.78, Z:31.50 [[ 4.23922757e-01 -8.73048439e-01 -2.40989459e-01 1.05250516e+02] [ 7.60832260e-01 4.87630056e-01 -4.28195284e-01 4.77817675e+01] [ 4.91348927e-01 -1.83082888e-03 8.70960895e-01 3.15022444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.26, Y:47.81, Z:31.51 [[ 4.29868914e-01 -8.73624078e-01 -2.28021242e-01 1.05256821e+02] [ 7.56632130e-01 4.86360197e-01 -4.36991508e-01 4.78092415e+01] [ 4.92666760e-01 1.53208672e-02 8.70083177e-01 3.15124148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.277105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:105.27, Y:47.83, Z:31.53 [[ 4.33073012e-01 -8.70191188e-01 -2.34978855e-01 1.05267064e+02] [ 7.54619811e-01 4.92604415e-01 -4.33462606e-01 4.78310798e+01] [ 4.92946962e-01 1.04012571e-02 8.69997188e-01 3.15269904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.307105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.28, Y:47.86, Z:31.54 [[ 4.38287227e-01 -8.68052984e-01 -2.33213045e-01 1.05276045e+02] [ 7.51505693e-01 4.96236534e-01 -4.34728072e-01 4.78558574e+01] [ 4.93095833e-01 1.52748301e-02 8.69840893e-01 3.15403589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.337105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:105.29, Y:47.88, Z:31.55 [[ 4.38257014e-01 -8.71755378e-01 -2.19028195e-01 1.05285794e+02] [ 7.47986430e-01 4.88833738e-01 -4.48951977e-01 4.78818304e+01] [ 4.98444672e-01 3.29262356e-02 8.66296007e-01 3.15525655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36710568099997 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:105.30, Y:47.90, Z:31.57 [[ 4.40264798e-01 -8.61440950e-01 -2.53152912e-01 1.05298484e+02] [ 7.46050453e-01 5.07857191e-01 -4.30685262e-01 4.78974220e+01] [ 4.99575448e-01 7.50715023e-04 8.66270055e-01 3.15733464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:47.92, Z:31.58 [[ 4.42425450e-01 -8.61792540e-01 -2.48139759e-01 1.05306845e+02] [ 7.45117650e-01 5.07216670e-01 -4.33048424e-01 4.79223551e+01] [ 4.99058523e-01 6.69832955e-03 8.66542395e-01 3.15798908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.42710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:105.32, Y:47.95, Z:31.59 [[ 4.39585944e-01 -8.68406634e-01 -2.29421263e-01 1.05316686e+02] [ 7.43817957e-01 4.95132508e-01 -4.48975106e-01 4.79478274e+01] [ 5.03486886e-01 2.67154900e-02 8.63589740e-01 3.15870652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:105.33, Y:47.96, Z:31.61 [[ 4.38064935e-01 -8.63919684e-01 -2.48479159e-01 1.05331858e+02] [ 7.45593834e-01 5.03594744e-01 -4.36442629e-01 4.79637289e+01] [ 5.02184177e-01 5.92568313e-03 8.64740388e-01 3.16053623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.48710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:105.34, Y:47.99, Z:31.61 [[ 4.30919313e-01 -8.74505839e-01 -2.22593989e-01 1.05342511e+02] [ 7.47500461e-01 4.84110264e-01 -4.54840977e-01 4.79871394e+01] [ 5.05521124e-01 2.96106516e-02 8.62305979e-01 3.16147904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.51710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:105.36, Y:48.00, Z:31.63 [[ 4.26878091e-01 -8.70996480e-01 -2.43187638e-01 1.05356311e+02] [ 7.49488705e-01 4.91236792e-01 -4.43793979e-01 4.80040816e+01] [ 5.06005708e-01 7.17953906e-03 8.62500248e-01 3.16324836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.37, Y:48.02, Z:31.65 [[ 4.20909216e-01 -8.73662660e-01 -2.44026615e-01 1.05370785e+02] [ 7.52214595e-01 4.86519711e-01 -4.44377962e-01 4.80247081e+01] [ 5.06960191e-01 3.48239860e-03 8.61962434e-01 3.16459858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.39, Y:48.04, Z:31.66 [[ 4.18949786e-01 -8.71933189e-01 -2.53404007e-01 1.05386386e+02] [ 7.55235311e-01 4.89546127e-01 -4.35848843e-01 4.80420883e+01] [ 5.04084022e-01 -8.78087479e-03 8.63609979e-01 3.16597391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.40, Y:48.07, Z:31.67 [[ 4.17340657e-01 -8.77253418e-01 -2.37177608e-01 1.05397425e+02] [ 7.57565523e-01 4.80002102e-01 -4.42371406e-01 4.80672114e+01] [ 5.01917578e-01 4.94199431e-03 8.64901336e-01 3.16693838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.41, Y:48.08, Z:31.69 [[ 4.13588861e-01 -8.79559204e-01 -2.35201745e-01 1.05410950e+02] [ 7.62099361e-01 4.75783545e-01 -4.39129346e-01 4.80842165e+01] [ 4.98145378e-01 2.37190664e-03 8.67090282e-01 3.16863239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.66710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.42, Y:48.10, Z:31.70 [[ 4.11825039e-01 -8.80677209e-01 -2.34110638e-01 1.05422963e+02] [ 7.64289358e-01 4.73715151e-01 -4.37556548e-01 4.81036966e+01] [ 4.96247836e-01 1.26847341e-03 8.68179979e-01 3.17020803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.43, Y:48.13, Z:31.72 [[ 4.01582741e-01 -8.87147600e-01 -2.27377303e-01 1.05430953e+02] [ 7.71505477e-01 4.61485567e-01 -4.37961608e-01 4.81262153e+01] [ 4.93467933e-01 4.54988354e-04 8.69763871e-01 3.17154475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.44, Y:48.15, Z:31.73 [[ 3.96926141e-01 -8.85641227e-01 -2.41017127e-01 1.05443349e+02] [ 7.75313137e-01 4.64065493e-01 -4.28407233e-01 4.81470711e+01] [ 4.91262840e-01 -1.68177151e-02 8.70849003e-01 3.17326748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.45, Y:48.17, Z:31.74 [[ 3.89205997e-01 -8.91538949e-01 -2.31682960e-01 1.05450791e+02] [ 7.79184397e-01 4.52789424e-01 -4.33420596e-01 4.81695059e+01] [ 4.91314936e-01 -1.18338522e-02 8.70901598e-01 3.17421152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:105.46, Y:48.19, Z:31.76 [[ 3.85110195e-01 -8.93578796e-01 -2.30666584e-01 1.05460102e+02] [ 7.81518871e-01 4.48708133e-01 -4.33461953e-01 4.81928563e+01] [ 4.90834383e-01 -1.33396709e-02 8.71150769e-01 3.17552246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.817105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.47, Y:48.22, Z:31.77 [[ 3.81111687e-01 -8.95314384e-01 -2.30577612e-01 1.05467469e+02] [ 7.83377807e-01 4.45171226e-01 -4.33753144e-01 4.82156019e+01] [ 4.90991948e-01 -1.53209919e-02 8.71029376e-01 3.17693305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.847105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:105.48, Y:48.24, Z:31.78 [[ 3.80088263e-01 -8.95712636e-01 -2.30720147e-01 1.05476986e+02] [ 7.83420944e-01 4.44359664e-01 -4.34506746e-01 4.82383446e+01] [ 4.91715910e-01 -1.56000807e-02 8.70615932e-01 3.17824886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.877105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:105.48, Y:48.26, Z:31.79 [[ 3.79830720e-01 -8.95476004e-01 -2.32058938e-01 1.05482978e+02] [ 7.81480236e-01 4.44850941e-01 -4.37488606e-01 4.82633145e+01] [ 4.94992186e-01 -1.51778616e-02 8.68764852e-01 3.17945925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.907105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.49, Y:48.29, Z:31.81 [[ 3.81550466e-01 -8.94738758e-01 -2.32081443e-01 1.05488002e+02] [ 7.80326729e-01 4.46371029e-01 -4.37998973e-01 4.82879840e+01] [ 4.95489090e-01 -1.39806417e-02 8.68501643e-01 3.18067433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.937105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:105.50, Y:48.31, Z:31.82 [[ 3.83659408e-01 -8.93885810e-01 -2.31891393e-01 1.05496773e+02] [ 7.79250547e-01 4.48117388e-01 -4.38131705e-01 4.83113476e+01] [ 4.95554279e-01 -1.26081444e-02 8.68485458e-01 3.18195142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.967105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:105.50, Y:48.34, Z:31.83 [[ 3.86133834e-01 -8.95389346e-01 -2.21762443e-01 1.05501320e+02] [ 7.73163810e-01 4.45274502e-01 -4.51606401e-01 4.83383756e+01] [ 5.03108722e-01 2.92181576e-03 8.64218188e-01 3.18296470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.997105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:105.51, Y:48.36, Z:31.85 [[ 3.89112850e-01 -8.88085090e-01 -2.44736723e-01 1.05512400e+02] [ 7.72298845e-01 4.59316653e-01 -4.38842462e-01 4.83563279e+01] [ 5.02141100e-01 -1.82506472e-02 8.64593101e-01 3.18470657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.027105681 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:105.52, Y:48.38, Z:31.86 [[ 3.96458670e-01 -8.85662241e-01 -2.41708332e-01 1.05517715e+02] [ 7.67418996e-01 4.64218773e-01 -4.42231857e-01 4.83821695e+01] [ 5.03873603e-01 -1.01649114e-02 8.63717585e-01 3.18566738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.057105681 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:105.52, Y:48.41, Z:31.87 [[ 4.04019695e-01 -8.84106831e-01 -2.34783299e-01 1.05522213e+02] [ 7.63596285e-01 4.67284220e-01 -4.45607643e-01 4.84081248e+01] [ 5.03675292e-01 7.54609205e-04 8.63892720e-01 3.18676799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.087105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:105.53, Y:48.43, Z:31.88 [[ 4.09820099e-01 -8.81861096e-01 -2.33170526e-01 1.05530098e+02] [ 7.62510131e-01 4.71494249e-01 -4.43025364e-01 4.84310977e+01] [ 5.00625395e-01 3.76581002e-03 8.65655839e-01 3.18830362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11710568099997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:105.54, Y:48.45, Z:31.90 [[ 4.12079595e-01 -8.81120456e-01 -2.31985235e-01 1.05539001e+02] [ 7.62698716e-01 4.72866621e-01 -4.41234435e-01 4.84525535e+01] [ 4.98478761e-01 4.88886629e-03 8.66888126e-01 3.18981914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14710568099997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:105.54, Y:48.48, Z:31.91 [[ 4.16871938e-01 -8.79579548e-01 -2.29254457e-01 1.05544243e+02] [ 7.63662153e-01 4.75701959e-01 -4.36494860e-01 4.84757782e+01] [ 4.92988746e-01 6.88950576e-03 8.70008409e-01 3.19126204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17710568099997 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:105.55, Y:48.50, Z:31.93 [[ 4.18810479e-01 -8.78944303e-01 -2.28154980e-01 1.05553999e+02] [ 7.63860680e-01 4.76859753e-01 -4.34881176e-01 4.84979137e+01] [ 4.91034259e-01 7.85417550e-03 8.71104855e-01 3.19270256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.20710568099997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:105.56, Y:48.52, Z:31.94 [[ 4.22175607e-01 -8.77262721e-01 -2.28424770e-01 1.05563546e+02] [ 7.61402719e-01 4.79904729e-01 -4.35840969e-01 4.85187267e+01] [ 4.91969162e-01 1.00781844e-02 8.70554291e-01 3.19428483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.23710568099997 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:105.57, Y:48.54, Z:31.95 [[ 4.26751400e-01 -8.74677371e-01 -2.29831980e-01 1.05570733e+02] [ 7.56658246e-01 4.84519377e-01 -4.38986641e-01 4.85430819e+01] [ 4.95329729e-01 1.34339008e-02 8.68601169e-01 3.19535694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.26710568099998 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:105.58, Y:48.57, Z:31.96 [[ 4.29989060e-01 -8.74947127e-01 -2.22658780e-01 1.05578717e+02] [ 7.52838958e-01 4.83605199e-01 -4.46496937e-01 4.85651084e+01] [ 4.98340156e-01 2.43625940e-02 8.66639229e-01 3.19629791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.29710568099998 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:105.59, Y:48.59, Z:31.98 [[ 4.29758017e-01 -8.73736566e-01 -2.27799165e-01 1.05590667e+02] [ 7.52759297e-01 4.86014871e-01 -4.44007867e-01 4.85861769e+01] [ 4.98659691e-01 1.93380011e-02 8.66582111e-01 3.19781711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.32710568099998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:105.60, Y:48.61, Z:31.99 [[ 4.34549132e-01 -8.69168444e-01 -2.36036583e-01 1.05603664e+02] [ 7.50324943e-01 4.94328305e-01 -4.38921413e-01 4.86079059e+01] [ 4.98176205e-01 1.36287836e-02 8.66968699e-01 3.19929827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35710568099998 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:105.62, Y:48.63, Z:32.01 [[ 4.38598778e-01 -8.68494738e-01 -2.30971865e-01 1.05615410e+02] [ 7.47425316e-01 4.95227832e-01 -4.42837207e-01 4.86305031e+01] [ 4.98985480e-01 2.15936391e-02 8.66341275e-01 3.20053494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.38710568099998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:105.63, Y:48.65, Z:32.02 [[ 4.38845985e-01 -8.68394982e-01 -2.30877364e-01 1.05627791e+02] [ 7.47162373e-01 4.95387030e-01 -4.43102786e-01 4.86517769e+01] [ 4.99161887e-01 2.19509992e-02 8.66230665e-01 3.20179119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:105.64, Y:48.67, Z:32.03 [[ 4.35889835e-01 -8.72041489e-01 -2.22584127e-01 1.05641595e+02] [ 7.45703246e-01 4.88413478e-01 -4.53187537e-01 4.86713722e+01] [ 5.03911422e-01 3.15581342e-02 8.63178639e-01 3.20305363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.44710568099998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:105.66, Y:48.69, Z:32.05 [[ 4.34539746e-01 -8.67983747e-01 -2.40373509e-01 1.05659345e+02] [ 7.48586465e-01 4.96470144e-01 -4.39472071e-01 4.86890758e+01] [ 5.00792886e-01 1.10277263e-02 8.65496895e-01 3.20450600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47710568099998 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:105.68, Y:48.71, Z:32.06 [[ 4.28972624e-01 -8.73575457e-01 -2.29887819e-01 1.05676457e+02] [ 7.53250395e-01 4.86399885e-01 -4.42751616e-01 4.87077481e+01] [ 4.98594354e-01 1.67652320e-02 8.66673293e-01 3.20563185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.50710568099998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:105.70, Y:48.72, Z:32.07 [[ 4.19951829e-01 -8.78244226e-01 -2.28752140e-01 1.05695774e+02] [ 7.59559796e-01 4.78074968e-01 -4.41036553e-01 4.87239552e+01] [ 4.96698478e-01 1.14631783e-02 8.67847462e-01 3.20716853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53710568099999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:105.71, Y:48.74, Z:32.09 [[ 4.14068757e-01 -8.81138654e-01 -2.28345653e-01 1.05711125e+02] [ 7.63063468e-01 4.72786296e-01 -4.40689530e-01 4.87431490e+01] [ 4.96267275e-01 8.23354043e-03 8.68130751e-01 3.20864511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.567105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:105.73, Y:48.76, Z:32.10 [[ 4.02485620e-01 -8.86850210e-01 -2.26940590e-01 1.05728874e+02] [ 7.70899779e-01 4.62054562e-01 -4.38428002e-01 4.87599216e+01] [ 4.93678900e-01 1.51251550e-03 8.69642947e-01 3.21018609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.597105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:105.74, Y:48.78, Z:32.12 [[ 3.93666236e-01 -8.91217997e-01 -2.25293977e-01 1.05743556e+02] [ 7.77459308e-01 4.53560662e-01 -4.35706037e-01 4.87783832e+01] [ 4.90493547e-01 -3.63414392e-03 8.71437246e-01 3.21160160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.627105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:105.76, Y:48.80, Z:32.13 [[ 3.91040254e-01 -8.92372544e-01 -2.25297055e-01 1.05755706e+02] [ 7.78512371e-01 4.51273714e-01 -4.36200096e-01 4.87995594e+01] [ 4.90923628e-01 -4.82474803e-03 8.71189253e-01 3.21300867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.657105681 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:105.77, Y:48.82, Z:32.14 [[ 3.93085393e-01 -8.91272392e-01 -2.26091569e-01 1.05766576e+02] [ 7.76112750e-01 4.53456898e-01 -4.38207531e-01 4.88212504e+01] [ 4.93085056e-01 -3.21956945e-03 8.69975150e-01 3.21448077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.687105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.78, Y:48.84, Z:32.16 [[ 3.97944946e-01 -8.89134191e-01 -2.26009315e-01 1.05775476e+02] [ 7.73475052e-01 4.57646475e-01 -4.38515733e-01 4.88428696e+01] [ 4.93331698e-01 -3.07446692e-04 8.69841216e-01 3.21584606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.717105681 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:105.78, Y:48.87, Z:32.17 [[ 4.11539685e-01 -8.83047963e-01 -2.25524685e-01 1.05780546e+02] [ 7.66763396e-01 4.69225067e-01 -4.38065898e-01 4.88680985e+01] [ 4.92655034e-01 7.35742820e-03 8.70193591e-01 3.21719885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.747105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:105.79, Y:48.89, Z:32.18 [[ 4.20979446e-01 -8.78429286e-01 -2.26137779e-01 1.05787463e+02] [ 7.60563468e-01 4.77692195e-01 -4.39719658e-01 4.88929107e+01] [ 4.94286877e-01 1.31208046e-02 8.69199820e-01 3.21834965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.777105681 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:105.80, Y:48.91, Z:32.20 [[ 4.23118814e-01 -8.77214150e-01 -2.26860761e-01 1.05798306e+02] [ 7.58107682e-01 4.79869318e-01 -4.41585983e-01 4.89145627e+01] [ 4.96228992e-01 1.48584517e-02 8.68064522e-01 3.21958680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.807105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.81, Y:48.94, Z:32.21 [[ 4.24753580e-01 -8.75981064e-01 -2.28564152e-01 1.05811874e+02] [ 7.54485760e-01 4.82055149e-01 -4.45392043e-01 4.89361358e+01] [ 5.00335522e-01 1.67334667e-02 8.65669889e-01 3.22083582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.837105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:105.83, Y:48.96, Z:32.22 [[ 4.23194500e-01 -8.76632794e-01 -2.28957114e-01 1.05825922e+02] [ 7.54502412e-01 4.80885135e-01 -4.46626910e-01 4.89564100e+01] [ 5.01629869e-01 1.62613572e-02 8.64929502e-01 3.22215152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:105.84, Y:48.98, Z:32.23 [[ 4.20734193e-01 -8.79111569e-01 -2.23932108e-01 1.05840249e+02] [ 7.56360511e-01 4.76224508e-01 -4.48474074e-01 4.89788551e+01] [ 5.00900705e-01 1.93149741e-02 8.65289209e-01 3.22336491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89710568099997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:105.85, Y:49.00, Z:32.25 [[ 4.19577728e-01 -8.77390821e-01 -2.32679773e-01 1.05853928e+02] [ 7.57987923e-01 4.79690442e-01 -4.41985733e-01 4.89966687e+01] [ 4.99408488e-01 9.07891210e-03 8.66319072e-01 3.22485022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.92710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:105.87, Y:49.02, Z:32.26 [[ 4.16684320e-01 -8.80203078e-01 -2.27193132e-01 1.05869491e+02] [ 7.59980754e-01 4.74434129e-01 -4.44231371e-01 4.90160968e+01] [ 4.98801996e-01 1.24418386e-02 8.66626661e-01 3.22631766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95710568099997 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:105.88, Y:49.03, Z:32.28 [[ 4.15534428e-01 -8.80930366e-01 -2.26479202e-01 1.05882958e+02] [ 7.61358227e-01 4.73099457e-01 -4.43295109e-01 4.90345502e+01] [ 4.97659311e-01 1.17725754e-02 8.67292694e-01 3.22792976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.98710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:105.89, Y:49.06, Z:32.29 [[ 4.15187322e-01 -8.81178574e-01 -2.26149969e-01 1.05893736e+02] [ 7.61735958e-01 4.72638332e-01 -4.43138057e-01 4.90566832e+01] [ 4.97370905e-01 1.17187398e-02 8.67458849e-01 3.22931448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.01710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:105.90, Y:49.08, Z:32.31 [[ 4.13885790e-01 -8.82033300e-01 -2.25201712e-01 1.05903564e+02] [ 7.63526702e-01 4.71061455e-01 -4.41733042e-01 4.90793933e+01] [ 4.95707099e-01 1.08795083e-02 8.68421619e-01 3.23056155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.04710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:105.91, Y:49.10, Z:32.32 [[ 4.12258538e-01 -8.83034116e-01 -2.24262451e-01 1.05914221e+02] [ 7.65470467e-01 4.69205028e-01 -4.40342601e-01 4.91010262e+01] [ 4.94062609e-01 9.86871354e-03 8.69370316e-01 3.23195596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.92, Y:49.12, Z:32.34 [[ 4.07631165e-01 -8.85285900e-01 -2.23843044e-01 1.05924762e+02] [ 7.68252524e-01 4.64988653e-01 -4.39970013e-01 4.91214441e+01] [ 4.93583725e-01 7.37750551e-03 8.69666993e-01 3.23352718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.10710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.94, Y:49.14, Z:32.35 [[ 4.02786909e-01 -8.87635367e-01 -2.23307327e-01 1.05935115e+02] [ 7.71277782e-01 4.60522495e-01 -4.39374117e-01 4.91442681e+01] [ 4.92842052e-01 4.74216240e-03 8.70105869e-01 3.23485712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.94, Y:49.17, Z:32.36 [[ 4.00794773e-01 -8.88571372e-01 -2.23169144e-01 1.05944344e+02] [ 7.72241742e-01 4.58722372e-01 -4.39563964e-01 4.91665281e+01] [ 4.92956633e-01 3.83441080e-03 8.70045433e-01 3.23605419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.16710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:105.95, Y:49.19, Z:32.37 [[ 3.98698891e-01 -8.89106941e-01 -2.24784435e-01 1.05953606e+02] [ 7.70755031e-01 4.57686403e-01 -4.43237903e-01 4.91907389e+01] [ 4.96966676e-01 3.46472663e-03 8.67762709e-01 3.23712838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.96, Y:49.21, Z:32.38 [[ 3.99058272e-01 -8.88361136e-01 -2.27083655e-01 1.05963665e+02] [ 7.66990129e-01 4.59121239e-01 -4.48256434e-01 4.92127514e+01] [ 5.02472525e-01 4.70951628e-03 8.64580350e-01 3.23830651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.22710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.97, Y:49.23, Z:32.40 [[ 4.00629178e-01 -8.87620501e-01 -2.27213792e-01 1.05972992e+02] [ 7.65693278e-01 4.60537583e-01 -4.49019976e-01 4.92342083e+01] [ 5.03199827e-01 5.91443109e-03 8.64149844e-01 3.23962303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:105.98, Y:49.26, Z:32.41 [[ 4.07211479e-01 -8.84900948e-01 -2.26117499e-01 1.05980715e+02] [ 7.63554022e-01 4.65682062e-01 -4.47353856e-01 4.92565174e+01] [ 5.01162714e-01 9.51469936e-03 8.65300759e-01 3.24119377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.28710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:105.99, Y:49.28, Z:32.43 [[ 4.14241294e-01 -8.82106334e-01 -2.24260038e-01 1.05989591e+02] [ 7.62246129e-01 4.70869783e-01 -4.44142417e-01 4.92790372e+01] [ 4.97378115e-01 1.30407836e-02 8.67435847e-01 3.24263081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.317105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.00, Y:49.30, Z:32.44 [[ 4.16213267e-01 -8.81966098e-01 -2.21138685e-01 1.05998647e+02] [ 7.60273497e-01 4.70965474e-01 -4.47410027e-01 4.93013735e+01] [ 4.98749161e-01 1.80921084e-02 8.66557528e-01 3.24407800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.347105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:106.01, Y:49.32, Z:32.46 [[ 4.22188530e-01 -8.77794191e-01 -2.26349738e-01 1.06012659e+02] [ 7.59636489e-01 4.78837648e-01 -4.40076029e-01 4.93198878e+01] [ 4.94680958e-01 1.38515317e-02 8.68964260e-01 3.24559452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.377105681 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:106.02, Y:49.34, Z:32.47 [[ 4.22404924e-01 -8.78827905e-01 -2.21890949e-01 1.06024403e+02] [ 7.60352057e-01 4.76814896e-01 -4.41035490e-01 4.93405887e+01] [ 4.93395206e-01 1.75803233e-02 8.69627566e-01 3.24706216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.407105681 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:106.04, Y:49.36, Z:32.48 [[ 4.21765851e-01 -8.79168801e-01 -2.21756141e-01 1.06035288e+02] [ 7.60627340e-01 4.76191806e-01 -4.41233966e-01 4.93624350e+01] [ 4.93517595e-01 1.74236351e-02 8.69561269e-01 3.24824313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.437105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:106.05, Y:49.38, Z:32.49 [[ 4.20564862e-01 -8.79526067e-01 -2.22618719e-01 1.06048143e+02] [ 7.59838957e-01 4.75536873e-01 -4.43293854e-01 4.93844538e+01] [ 4.95751910e-01 1.72794431e-02 8.68292269e-01 3.24942547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.467105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:106.06, Y:49.41, Z:32.50 [[ 4.17699730e-01 -8.86368825e-01 -1.99692868e-01 1.06056841e+02] [ 7.56653069e-01 4.61020154e-01 -4.63612500e-01 4.94109074e+01] [ 5.02994104e-01 4.25525944e-02 8.63241686e-01 3.25034293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.497105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:106.07, Y:49.42, Z:32.53 [[ 4.18118574e-01 -8.73467704e-01 -2.49461476e-01 1.06072586e+02] [ 7.59244758e-01 4.86802541e-01 -4.31938287e-01 4.94211141e+01] [ 4.98722625e-01 -8.80089740e-03 8.66716959e-01 3.25276121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.527105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.08, Y:49.45, Z:32.53 [[ 4.20154540e-01 -8.79723470e-01 -2.22613519e-01 1.06082534e+02] [ 7.59371016e-01 4.75155599e-01 -4.44502887e-01 4.94482984e+01] [ 4.96815682e-01 1.77136519e-02 8.67675287e-01 3.25333857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.557105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:106.10, Y:49.47, Z:32.55 [[ 4.22019624e-01 -8.78655687e-01 -2.23301635e-01 1.06096111e+02] [ 7.57084328e-01 4.77065223e-01 -4.46354224e-01 4.94672416e+01] [ 4.98721121e-01 1.93120736e-02 8.66547337e-01 3.25475387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.587105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.11, Y:49.49, Z:32.56 [[ 4.22995856e-01 -8.78165097e-01 -2.23384352e-01 1.06108638e+02] [ 7.56145793e-01 4.77932023e-01 -4.47017361e-01 4.94882993e+01] [ 4.99317579e-01 2.01753530e-02 8.66184109e-01 3.25614358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:106.12, Y:49.51, Z:32.57 [[ 4.23850163e-01 -8.77816087e-01 -2.23136634e-01 1.06121309e+02] [ 7.55777365e-01 4.78545453e-01 -4.46984143e-01 4.95094627e+01] [ 4.99150893e-01 2.08126845e-02 8.66265097e-01 3.25747219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.14, Y:49.53, Z:32.59 [[ 4.26241722e-01 -8.76685140e-01 -2.23027261e-01 1.06136137e+02] [ 7.54366258e-01 4.80543695e-01 -4.47224000e-01 4.95289960e+01] [ 4.99248979e-01 2.23812878e-02 8.66169461e-01 3.25883121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.15, Y:49.56, Z:32.58 [[ 4.27404326e-01 -8.84878559e-01 -1.85244375e-01 1.06150156e+02] [ 7.57121360e-01 4.62319292e-01 -4.61549693e-01 4.95643213e+01] [ 4.94057475e-01 5.70158627e-02 8.67557723e-01 3.25813956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.70710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:106.17, Y:49.56, Z:32.62 [[ 4.23962096e-01 -8.71206654e-01 -2.47497690e-01 1.06169835e+02] [ 7.51868232e-01 4.90916197e-01 -4.40108452e-01 4.95636400e+01] [ 5.04926037e-01 5.03651406e-04 8.63162466e-01 3.26221104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.73710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:106.18, Y:49.60, Z:32.61 [[ 4.26258141e-01 -8.83022004e-01 -1.96408089e-01 1.06181368e+02] [ 7.57807214e-01 4.67136827e-01 -4.55534203e-01 4.96009692e+01] [ 4.93996177e-01 4.53356962e-02 8.68281321e-01 3.26125453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.76710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.20, Y:49.60, Z:32.66 [[ 4.22931672e-01 -8.67170806e-01 -2.62951694e-01 1.06200337e+02] [ 7.52732490e-01 4.97762827e-01 -4.30843321e-01 4.95965020e+01] [ 5.04502328e-01 -1.57149974e-02 8.63267305e-01 3.26589736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.79710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.21, Y:49.63, Z:32.66 [[ 4.23256228e-01 -8.77913399e-01 -2.23879942e-01 1.06210535e+02] [ 7.53613226e-01 4.78308387e-01 -4.50874918e-01 4.96259517e+01] [ 5.02912786e-01 2.21167314e-02 8.64054153e-01 3.26614135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.82710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.22, Y:49.64, Z:32.67 [[ 4.23341371e-01 -8.78269357e-01 -2.22317388e-01 1.06224358e+02] [ 7.55621911e-01 4.77671517e-01 -4.48180153e-01 4.96448237e+01] [ 4.99817578e-01 2.17453112e-02 8.65857684e-01 3.26732991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.24, Y:49.68, Z:32.66 [[ 4.24916270e-01 -8.87793820e-01 -1.76828439e-01 1.06236444e+02] [ 7.61881898e-01 4.56228664e-01 -4.59773182e-01 4.96830206e+01] [ 4.88857992e-01 6.06427190e-02 8.70253023e-01 3.26625003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.25, Y:49.70, Z:32.69 [[ 4.24283433e-01 -8.79522756e-01 -2.15460646e-01 1.06252371e+02] [ 7.60852432e-01 4.75274761e-01 -4.41834220e-01 4.96950212e+01] [ 4.91006258e-01 2.35291833e-02 8.70838235e-01 3.26877848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.27, Y:49.70, Z:32.72 [[ 4.21432380e-01 -8.74084912e-01 -2.41599496e-01 1.06267763e+02] [ 7.54141738e-01 4.85756301e-01 -4.41940104e-01 4.97018947e+01] [ 5.03651654e-01 4.04760561e-03 8.63897348e-01 3.27199052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.28, Y:49.72, Z:32.73 [[ 4.20929388e-01 -8.74811053e-01 -2.39841763e-01 1.06284523e+02] [ 7.56688126e-01 4.84452981e-01 -4.39008416e-01 4.97206892e+01] [ 5.00241472e-01 3.30612999e-03 8.65879633e-01 3.27331307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.30, Y:49.74, Z:32.74 [[ 4.20892156e-01 -8.76888857e-01 -2.32197603e-01 1.06295846e+02] [ 7.59112952e-01 4.80617608e-01 -4.39037858e-01 4.97398077e+01] [ 4.96585662e-01 8.52338302e-03 8.67945869e-01 3.27422303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.00710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.31, Y:49.77, Z:32.75 [[ 4.11188152e-01 -8.85774784e-01 -2.15237858e-01 1.06310678e+02] [ 7.67603652e-01 4.63816026e-01 -4.42333954e-01 4.97656958e+01] [ 4.91639031e-01 1.66651157e-02 8.70639614e-01 3.27508496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:106.33, Y:49.78, Z:32.77 [[ 4.00341695e-01 -8.88629768e-01 -2.23749106e-01 1.06328350e+02] [ 7.73997116e-01 4.58622489e-01 -4.36570587e-01 4.97768515e+01] [ 4.90565991e-01 1.59624543e-03 8.71402582e-01 3.27694805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.067105681 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:106.34, Y:49.81, Z:32.77 [[ 3.83360985e-01 -8.97297947e-01 -2.18839551e-01 1.06337878e+02] [ 7.79840903e-01 4.41425117e-01 -4.43837844e-01 4.98062524e+01] [ 4.94856061e-01 -5.09920618e-04 8.68974809e-01 3.27726272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.097105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.36, Y:49.82, Z:32.79 [[ 3.77707549e-01 -9.02291408e-01 -2.07863472e-01 1.06355642e+02] [ 7.81503814e-01 4.31053963e-01 -4.51047969e-01 4.98246109e+01] [ 4.96577080e-01 7.91812605e-03 8.67956512e-01 3.27916630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.127105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:106.37, Y:49.84, Z:32.81 [[ 3.71825237e-01 -8.99340401e-01 -2.30071374e-01 1.06369019e+02] [ 7.85610348e-01 4.36884968e-01 -4.38118599e-01 4.98368623e+01] [ 4.94532481e-01 -1.78428999e-02 8.68975981e-01 3.28099275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.157105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.38, Y:49.86, Z:32.82 [[ 3.71049143e-01 -9.01967781e-01 -2.20854376e-01 1.06378880e+02] [ 7.86563968e-01 4.31690251e-01 -4.41543487e-01 4.98612827e+01] [ 4.93598680e-01 -9.88176218e-03 8.69633655e-01 3.28203386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.187105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.39, Y:49.88, Z:32.83 [[ 3.70846547e-01 -9.02822762e-01 -2.17678431e-01 1.06389519e+02] [ 7.86633819e-01 4.29957363e-01 -4.43107099e-01 4.98845425e+01] [ 4.93639619e-01 -6.90847719e-03 8.69639120e-01 3.28331640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.217105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.40, Y:49.91, Z:32.85 [[ 3.70051009e-01 -9.02955593e-01 -2.18479858e-01 1.06396604e+02] [ 7.85689586e-01 4.29677401e-01 -4.45049667e-01 4.99061342e+01] [ 4.95735943e-01 -6.96627073e-03 8.68445361e-01 3.28480190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.40, Y:49.93, Z:32.86 [[ 3.75024028e-01 -9.01940527e-01 -2.14150096e-01 1.06404695e+02] [ 7.83560911e-01 4.31860170e-01 -4.46686795e-01 4.99322992e+01] [ 4.95367820e-01 -2.81363082e-04 8.68683282e-01 3.28622438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.277105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:106.41, Y:49.97, Z:32.86 [[ 3.79740844e-01 -9.07026761e-01 -1.81932258e-01 1.06412458e+02] [ 7.84528084e-01 4.19965625e-01 -4.56228627e-01 4.99672326e+01] [ 4.90216868e-01 3.05176779e-02 8.71066067e-01 3.28554161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.307105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.42, Y:49.97, Z:32.90 [[ 3.82140508e-01 -8.90374879e-01 -2.47388777e-01 1.06420037e+02] [ 7.81542578e-01 4.54242693e-01 -4.27615218e-01 4.99726600e+01] [ 4.93112392e-01 -2.99357659e-02 8.69450412e-01 3.28976677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.337105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.43, Y:50.00, Z:32.90 [[ 3.86749075e-01 -8.93708830e-01 -2.27397627e-01 1.06427246e+02] [ 7.79410543e-01 4.48574671e-01 -4.37378520e-01 4.99973921e+01] [ 4.92893861e-01 -8.08036953e-03 8.70051923e-01 3.29040117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:106.43, Y:50.03, Z:32.91 [[ 3.91758909e-01 -8.99301508e-01 -1.94375295e-01 1.06431561e+02] [ 7.78583979e-01 4.36599443e-01 -4.50763701e-01 5.00312290e+01] [ 4.90236622e-01 2.52532052e-02 8.71223468e-01 3.29060289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39710568099997 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:106.44, Y:50.04, Z:32.93 [[ 3.97381969e-01 -8.88230317e-01 -2.30509164e-01 1.06440747e+02] [ 7.76360727e-01 4.59337989e-01 -4.31593135e-01 5.00437922e+01] [ 4.89235723e-01 -7.45093220e-03 8.72119769e-01 3.29314114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.42710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.44, Y:50.08, Z:32.92 [[ 4.00477370e-01 -8.98570112e-01 -1.79414687e-01 1.06444175e+02] [ 7.79719570e-01 4.37033180e-01 -4.48374166e-01 5.00842415e+01] [ 4.81305795e-01 3.96705642e-02 8.75654600e-01 3.29182253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.46, Y:50.09, Z:32.96 [[ 4.01560202e-01 -8.82458763e-01 -2.44981500e-01 1.06457068e+02] [ 7.72054644e-01 4.70068828e-01 -4.27746330e-01 5.00856841e+01] [ 4.92626664e-01 -1.73732021e-02 8.70067320e-01 3.29636219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.48710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.46, Y:50.13, Z:32.95 [[ 4.04637367e-01 -8.96741468e-01 -1.79229854e-01 1.06460055e+02] [ 7.76789220e-01 4.40470493e-01 -4.50093605e-01 5.01291014e+01] [ 4.82563062e-01 4.29008726e-02 8.74809926e-01 3.29455165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.51710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.47, Y:50.15, Z:32.97 [[ 4.05221259e-01 -8.90978732e-01 -2.04823411e-01 1.06471366e+02] [ 7.73382459e-01 4.53555971e-01 -4.42906935e-01 5.01455389e+01] [ 4.87519541e-01 2.10684724e-02 8.72857845e-01 3.29684206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.48, Y:50.15, Z:33.01 [[ 4.05654572e-01 -8.78492338e-01 -2.52379835e-01 1.06482184e+02] [ 7.64997429e-01 4.77427525e-01 -4.32252117e-01 5.01479167e+01] [ 5.00223253e-01 -1.77248772e-02 8.65715038e-01 3.30071931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:106.49, Y:50.19, Z:32.99 [[ 4.08316997e-01 -8.92829886e-01 -1.90084256e-01 1.06486624e+02] [ 7.71623969e-01 4.48842039e-01 -4.50707527e-01 5.01934447e+01] [ 4.87722955e-01 3.73579754e-02 8.72198774e-01 3.29900983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.50, Y:50.21, Z:33.01 [[ 4.09918448e-01 -8.83823351e-01 -2.25439903e-01 1.06500786e+02] [ 7.69204945e-01 4.67793728e-01 -4.35307685e-01 5.02065884e+01] [ 4.90194469e-01 5.03116215e-03 8.71598571e-01 3.30145557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.51, Y:50.24, Z:33.02 [[ 4.05281891e-01 -8.92097557e-01 -1.99771215e-01 1.06508419e+02] [ 7.69994386e-01 4.50902434e-01 -4.51437304e-01 5.02358956e+01] [ 4.92803443e-01 2.91366499e-02 8.69652702e-01 3.30162492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.66710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.52, Y:50.26, Z:33.04 [[ 4.01171324e-01 -8.91117591e-01 -2.12063691e-01 1.06522841e+02] [ 7.71841238e-01 4.53521430e-01 -4.45622504e-01 5.02550087e+01] [ 4.93277480e-01 1.50914679e-02 8.69741097e-01 3.30363852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.54, Y:50.27, Z:33.05 [[ 3.92621353e-01 -8.94664616e-01 -2.13128362e-01 1.06535691e+02] [ 7.77367231e-01 4.46662666e-01 -4.42936397e-01 5.02714692e+01] [ 4.91476004e-01 8.22728311e-03 8.70852255e-01 3.30490565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.55, Y:50.29, Z:33.06 [[ 3.80873409e-01 -8.99234024e-01 -2.15205987e-01 1.06551768e+02] [ 7.81259258e-01 4.37465483e-01 -4.45261635e-01 5.02916758e+01] [ 4.94539602e-01 1.45664711e-03 8.69153876e-01 3.30641314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.57, Y:50.31, Z:33.08 [[ 3.67911047e-01 -9.05618757e-01 -2.10941056e-01 1.06565479e+02] [ 7.85253865e-01 4.24092626e-01 -4.51133918e-01 5.03130708e+01] [ 4.98013884e-01 3.34872685e-04 8.67168991e-01 3.30752674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:106.58, Y:50.32, Z:33.11 [[ 3.60205586e-01 -9.00777154e-01 -2.42595248e-01 1.06580470e+02] [ 7.85052654e-01 4.33176651e-01 -4.42775698e-01 5.03235115e+01] [ 5.03928830e-01 -3.09597637e-02 8.63190145e-01 3.31086286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.817105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.59, Y:50.34, Z:33.12 [[ 3.53959179e-01 -9.08983840e-01 -2.20139226e-01 1.06591531e+02] [ 7.88201958e-01 4.16622661e-01 -4.52949481e-01 5.03445261e+01] [ 5.03438749e-01 -1.31885420e-02 8.63930257e-01 3.31175351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.847105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:106.60, Y:50.37, Z:33.13 [[ 3.53805918e-01 -9.09823726e-01 -2.16892045e-01 1.06601693e+02] [ 7.87890478e-01 4.14877435e-01 -4.55088243e-01 5.03657973e+01] [ 5.04033697e-01 -9.87426388e-03 8.63627542e-01 3.31336744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.877105681 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:106.61, Y:50.40, Z:33.13 [[ 3.60796143e-01 -9.15096139e-01 -1.80069984e-01 1.06606305e+02] [ 7.86543287e-01 4.02303482e-01 -4.68509942e-01 5.03997034e+01] [ 5.01174421e-01 2.74037427e-02 8.64912270e-01 3.31315260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.907105681 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:106.62, Y:50.42, Z:33.16 [[ 3.68875884e-01 -9.01637986e-01 -2.25786458e-01 1.06616280e+02] [ 7.86045970e-01 4.32249573e-01 -4.41918589e-01 5.04150321e+01] [ 4.96046687e-01 -1.44654248e-02 8.68175349e-01 3.31598044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.937105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:106.62, Y:50.43, Z:33.18 [[ 3.70687076e-01 -8.97702827e-01 -2.38161134e-01 1.06621123e+02] [ 7.80676804e-01 4.40078952e-01 -4.43705132e-01 5.04328215e+01] [ 5.03125054e-01 -2.14511151e-02 8.63947354e-01 3.31831636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.967105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.62, Y:50.46, Z:33.19 [[ 3.77597168e-01 -8.96100195e-01 -2.33291275e-01 1.06623315e+02] [ 7.75879202e-01 4.43698709e-01 -4.48489598e-01 5.04583995e+01] [ 5.05402654e-01 -1.16574463e-02 8.62804880e-01 3.31919887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.997105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.63, Y:50.49, Z:33.20 [[ 3.82390834e-01 -9.00562156e-01 -2.06797130e-01 1.06629846e+02] [ 7.73216163e-01 4.34404087e-01 -4.61984690e-01 5.04856043e+01] [ 5.05879447e-01 1.67598270e-02 8.62441356e-01 3.32000825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.027105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:106.64, Y:50.51, Z:33.21 [[ 3.89176607e-01 -9.00904892e-01 -1.92124813e-01 1.06637251e+02] [ 7.74416095e-01 4.32924653e-01 -4.61363152e-01 5.05136837e+01] [ 4.98819888e-01 3.07671988e-02 8.66159396e-01 3.32071458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.057105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.65, Y:50.52, Z:33.24 [[ 3.89926089e-01 -8.86886337e-01 -2.47770599e-01 1.06645276e+02] [ 7.72212014e-01 4.61507691e-01 -4.36691261e-01 5.05185420e+01] [ 5.01643550e-01 -2.10541174e-02 8.64818174e-01 3.32437413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.087105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.65, Y:50.55, Z:33.25 [[ 3.87986914e-01 -8.95870237e-01 -2.16524069e-01 1.06651581e+02] [ 7.72973069e-01 4.44236896e-01 -4.52952773e-01 5.05487928e+01] [ 5.01974888e-01 8.37247428e-03 8.64841669e-01 3.32496640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.66, Y:50.57, Z:33.26 [[ 3.85893517e-01 -8.95620185e-01 -2.21248000e-01 1.06661015e+02] [ 7.75556253e-01 4.44817805e-01 -4.47939302e-01 5.05693255e+01] [ 4.99598531e-01 1.26660281e-03 8.66256142e-01 3.32648532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.67, Y:50.60, Z:33.26 [[ 3.86185136e-01 -9.03207079e-01 -1.87291255e-01 1.06669302e+02] [ 7.76425135e-01 4.27914865e-01 -4.62658489e-01 5.06018881e+01] [ 4.98021135e-01 3.32541936e-02 8.66527038e-01 3.32594483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.68, Y:50.61, Z:33.30 [[ 3.86886076e-01 -8.88909666e-01 -2.45272849e-01 1.06680421e+02] [ 7.70055114e-01 4.57768691e-01 -4.44368032e-01 5.06068456e+01] [ 5.07281270e-01 -1.69538071e-02 8.61613766e-01 3.33036381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.20710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:106.69, Y:50.63, Z:33.31 [[ 3.90360669e-01 -8.94592123e-01 -2.17539610e-01 1.06686629e+02] [ 7.68455446e-01 4.46730998e-01 -4.58156789e-01 5.06335119e+01] [ 5.07045141e-01 1.16768924e-02 8.61840400e-01 3.33091298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.23710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:106.69, Y:50.66, Z:33.33 [[ 3.87822414e-01 -8.91323735e-01 -2.34810081e-01 1.06689719e+02] [ 7.61697837e-01 4.53366908e-01 -4.62898318e-01 5.06554306e+01] [ 5.19047378e-01 6.68011993e-04 8.54745210e-01 3.33261957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.26710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:106.70, Y:50.68, Z:33.33 [[ 3.99338054e-01 -8.93018536e-01 -2.07477740e-01 1.06703652e+02] [ 7.63965258e-01 4.49241248e-01 -4.63183966e-01 5.06806453e+01] [ 5.06839426e-01 2.64611985e-02 8.61634262e-01 3.33304207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.71, Y:50.71, Z:33.33 [[ 3.99820136e-01 -9.00066100e-01 -1.73276872e-01 1.06712876e+02] [ 7.68097610e-01 4.32162863e-01 -4.72505366e-01 5.07144460e+01] [ 5.00169891e-01 5.58236083e-02 8.64126035e-01 3.33252296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.32710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.73, Y:50.71, Z:33.37 [[ 3.94331510e-01 -8.83642380e-01 -2.52346598e-01 1.06731894e+02] [ 7.64391710e-01 4.67818850e-01 -4.43678755e-01 5.07081133e+01] [ 5.10105846e-01 -1.79351340e-02 8.59924623e-01 3.33749646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.74, Y:50.74, Z:33.38 [[ 3.90784344e-01 -8.94732443e-01 -2.16197715e-01 1.06740824e+02] [ 7.67115535e-01 4.46376718e-01 -4.60740254e-01 5.07385357e+01] [ 5.08744880e-01 1.42014521e-02 8.60800189e-01 3.33780375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.75, Y:50.77, Z:33.37 [[ 3.84272851e-01 -9.04378261e-01 -1.85564913e-01 1.06753067e+02] [ 7.75939623e-01 4.25290809e-01 -4.65881347e-01 5.07727418e+01] [ 5.00252015e-01 3.50383842e-02 8.65170638e-01 3.33707447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.77, Y:50.77, Z:33.41 [[ 3.75908737e-01 -8.90992560e-01 -2.54607304e-01 1.06769232e+02] [ 7.73980580e-01 4.52976174e-01 -4.42455249e-01 5.07709411e+01] [ 5.09555377e-01 -3.07383150e-02 8.59888640e-01 3.34138161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.78, Y:50.80, Z:33.41 [[ 3.71292855e-01 -9.04792535e-01 -2.08547558e-01 1.06776416e+02] [ 7.75518763e-01 4.25700905e-01 -4.66207452e-01 5.08032318e+01] [ 5.10599907e-01 1.13669513e-02 8.59743292e-01 3.34140878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.79, Y:50.82, Z:33.43 [[ 3.64498774e-01 -9.05263796e-01 -2.18261547e-01 1.06788704e+02] [ 7.80557876e-01 4.24837609e-01 -4.58521982e-01 5.08172856e+01] [ 5.07809064e-01 -3.23506957e-03 8.61463574e-01 3.34312356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.80, Y:50.84, Z:33.45 [[ 3.54972092e-01 -9.08938252e-01 -2.18691717e-01 1.06799997e+02] [ 7.86759899e-01 4.16799935e-01 -4.55287464e-01 5.08389661e+01] [ 5.04978886e-01 -1.04435296e-02 8.63068513e-01 3.34478311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.81, Y:50.86, Z:33.46 [[ 3.45608563e-01 -9.15333076e-01 -2.06688366e-01 1.06806413e+02] [ 7.88466655e-01 4.02691131e-01 -4.64930304e-01 5.08647952e+01] [ 5.08797657e-01 -2.28299003e-03 8.60883112e-01 3.34574077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.567105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.82, Y:50.88, Z:33.47 [[ 3.44430835e-01 -9.12098680e-01 -2.22358714e-01 1.06816073e+02] [ 7.89873227e-01 4.09557009e-01 -4.56468335e-01 5.08807642e+01] [ 5.07412736e-01 -1.84134249e-02 8.61506391e-01 3.34729026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.597105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.82, Y:50.92, Z:33.48 [[ 3.33695365e-01 -9.24660812e-01 -1.83438779e-01 1.06817584e+02] [ 7.89147599e-01 3.80449440e-01 -4.82186987e-01 5.09199858e+01] [ 5.15648592e-01 1.61432904e-02 8.56648075e-01 3.34783977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.627105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.83, Y:50.93, Z:33.51 [[ 3.35658714e-01 -9.08011467e-01 -2.50695836e-01 1.06831147e+02] [ 7.94011235e-01 4.15921706e-01 -4.43345569e-01 5.09259925e+01] [ 5.06832700e-01 -5.02425071e-02 8.60579052e-01 3.35087264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.657105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:106.83, Y:50.96, Z:33.51 [[ 3.28776788e-01 -9.24417729e-01 -1.93281365e-01 1.06828917e+02] [ 7.90058406e-01 3.81347375e-01 -4.79981139e-01 5.09638214e+01] [ 5.17410416e-01 5.10309007e-03 8.55722163e-01 3.35096050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.687105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:106.83, Y:50.98, Z:33.54 [[ 3.28699239e-01 -9.12294806e-01 -2.44284666e-01 1.06833739e+02] [ 7.96366774e-01 4.06779458e-01 -4.47582880e-01 5.09782082e+01] [ 5.07697521e-01 -4.74200393e-02 8.60229369e-01 3.35377131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.717105681 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:106.83, Y:51.01, Z:33.54 [[ 3.26832168e-01 -9.22554102e-01 -2.05121095e-01 1.06834500e+02] [ 7.95626478e-01 3.85724006e-01 -4.67114011e-01 5.10109620e+01] [ 5.10058077e-01 -1.05318897e-02 8.60075484e-01 3.35420097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.747105681 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:106.83, Y:51.04, Z:33.56 [[ 3.24709693e-01 -9.23290313e-01 -2.05179465e-01 1.06833268e+02] [ 7.95442174e-01 3.83946574e-01 -4.68888873e-01 5.10361188e+01] [ 5.11698507e-01 -1.09556374e-02 8.59095229e-01 3.35586884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.777105681 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:106.84, Y:51.06, Z:33.57 [[ 3.25380707e-01 -9.19672717e-01 -2.19839690e-01 1.06837690e+02] [ 7.95053203e-01 3.91941389e-01 -4.62895617e-01 5.10552387e+01] [ 5.11876743e-01 -2.41669463e-02 8.58718906e-01 3.35742090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.807105681 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:106.84, Y:51.09, Z:33.59 [[ 3.29186055e-01 -9.16468693e-01 -2.27424001e-01 1.06835852e+02] [ 7.96965262e-01 3.98831074e-01 -4.53629966e-01 5.10857050e+01] [ 5.06441421e-01 -3.19203692e-02 8.61683339e-01 3.35882056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83710568099997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:106.83, Y:51.12, Z:33.60 [[ 3.35030426e-01 -9.19637964e-01 -2.04989336e-01 1.06832421e+02] [ 7.92343453e-01 3.92721166e-01 -4.66863939e-01 5.11157197e+01] [ 5.09849453e-01 -6.00833383e-03 8.60242660e-01 3.35991393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86710568099997 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:106.84, Y:51.13, Z:33.62 [[ 3.41304953e-01 -9.12841315e-01 -2.24124213e-01 1.06839145e+02] [ 7.91448196e-01 4.07723595e-01 -4.55380306e-01 5.11334696e+01] [ 5.07070687e-01 -2.19591500e-02 8.61624695e-01 3.36176802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89710568099997 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:106.83, Y:51.16, Z:33.63 [[ 3.51722892e-01 -9.11422642e-01 -2.13541036e-01 1.06833060e+02] [ 7.85798817e-01 4.11436269e-01 -4.61779618e-01 5.11635844e+01] [ 5.08734927e-01 -5.38183103e-03 8.60906389e-01 3.36275428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92710568099997 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:106.82, Y:51.21, Z:33.61 [[ 3.62216901e-01 -9.21189348e-01 -1.42158723e-01 1.06822982e+02] [ 7.85570744e-01 3.83793185e-01 -4.85367281e-01 5.12138513e+01] [ 5.01674718e-01 6.41324984e-02 8.62675779e-01 3.36141789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95710568099997 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:106.84, Y:51.21, Z:33.67 [[ 3.71985894e-01 -8.84597935e-01 -2.81270312e-01 1.06839177e+02] [ 7.71878047e-01 4.63091785e-01 -4.35603351e-01 5.12060821e+01] [ 5.15587796e-01 -5.50680770e-02 8.55065338e-01 3.36683479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.98710568099997 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:106.84, Y:51.24, Z:33.67 [[ 3.75226661e-01 -9.01466225e-01 -2.15786002e-01 1.06838123e+02] [ 7.70560602e-01 4.32749402e-01 -4.67936229e-01 5.12422490e+01] [ 5.15209969e-01 9.30595726e-03 8.57013470e-01 3.36688846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.01710568099998 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:106.84, Y:51.27, Z:33.68 [[ 3.78556669e-01 -9.00240585e-01 -2.15085419e-01 1.06840907e+02] [ 7.69750978e-01 4.35248599e-01 -4.66949771e-01 5.12670584e+01] [ 5.13982762e-01 1.12047383e-02 8.57727331e-01 3.36819826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.04710568099998 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:106.85, Y:51.29, Z:33.70 [[ 3.76482662e-01 -9.01198162e-01 -2.14715343e-01 1.06846262e+02] [ 7.71106133e-01 4.33290188e-01 -4.66535042e-01 5.12908100e+01] [ 5.13474573e-01 1.00740366e-02 8.58045673e-01 3.36959072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07710568099998 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:106.85, Y:51.33, Z:33.69 [[ 3.73158971e-01 -9.13569466e-01 -1.61688630e-01 1.06846836e+02] [ 7.75403331e-01 4.02794711e-01 -4.86318923e-01 5.13285534e+01] [ 5.09413444e-01 5.61003665e-02 8.58691267e-01 3.36901891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.10710568099998 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:106.86, Y:51.34, Z:33.71 [[ 3.72619906e-01 -9.03823184e-01 -2.10375991e-01 1.06863102e+02] [ 7.74635673e-01 4.27774988e-01 -4.65776914e-01 5.13416934e+01] [ 5.10973560e-01 1.05930028e-02 8.59531157e-01 3.37132090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13710568099998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:106.87, Y:51.35, Z:33.74 [[ 3.66636303e-01 -8.91154153e-01 -2.67249128e-01 1.06873087e+02] [ 7.74260042e-01 4.51529025e-01 -4.43444390e-01 5.13512912e+01] [ 5.15848048e-01 -4.43375089e-02 8.55531985e-01 3.37442123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.16710568099998 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:106.88, Y:51.38, Z:33.75 [[ 3.64383431e-01 -9.06151877e-01 -2.14740521e-01 1.06876642e+02] [ 7.75605815e-01 4.22931720e-01 -4.68576973e-01 5.13814812e+01] [ 5.15422481e-01 4.18768871e-03 8.56925976e-01 3.37496323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19710568099998 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:106.88, Y:51.41, Z:33.76 [[ 3.57856532e-01 -9.13789102e-01 -1.92167060e-01 1.06883144e+02] [ 7.73998532e-01 4.05398916e-01 -4.86392836e-01 5.14073717e+01] [ 5.22364791e-01 2.53218315e-02 8.52346074e-01 3.37644470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22710568099998 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:106.90, Y:51.42, Z:33.78 [[ 3.56711779e-01 -9.02556693e-01 -2.41139217e-01 1.06895170e+02] [ 7.79401992e-01 4.29824524e-01 -4.55832658e-01 5.14236574e+01] [ 5.15062366e-01 -2.53435076e-02 8.56777956e-01 3.37821287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25710568099998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:106.90, Y:51.46, Z:33.78 [[ 3.56390582e-01 -9.18442711e-01 -1.71606349e-01 1.06897480e+02] [ 7.84827908e-01 3.93929256e-01 -4.78398260e-01 5.14635970e+01] [ 5.06982157e-01 3.58151829e-02 8.61212149e-01 3.37755865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28710568099999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:106.92, Y:51.47, Z:33.81 [[ 3.49851545e-01 -9.02660113e-01 -2.50616475e-01 1.06915682e+02] [ 7.82112946e-01 4.28691528e-01 -4.52242097e-01 5.14662576e+01] [ 5.15658061e-01 -3.77927931e-02 8.55960553e-01 3.38130128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.317105681 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:106.92, Y:51.49, Z:33.82 [[ 3.45400928e-01 -9.13663419e-01 -2.14283356e-01 1.06918331e+02] [ 7.83293776e-01 4.06436043e-01 -4.70383465e-01 5.14947268e+01] [ 5.16864643e-01 -5.37593392e-03 8.56050255e-01 3.38203927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.347105681 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:106.93, Y:51.52, Z:33.83 [[ 3.43684774e-01 -9.14407975e-01 -2.13866387e-01 1.06925949e+02] [ 7.84355949e-01 4.04746491e-01 -4.70070232e-01 5.15177127e+01] [ 5.16397638e-01 -6.19139138e-03 8.56326542e-01 3.38341627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.377105681 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:106.93, Y:51.55, Z:33.84 [[ 3.41108617e-01 -9.22972058e-01 -1.78234373e-01 1.06930772e+02] [ 7.85182341e-01 3.84002958e-01 -4.85829619e-01 5.15490099e+01] [ 5.16849690e-01 2.57741874e-02 8.55688079e-01 3.38390061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.407105681 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:106.95, Y:51.55, Z:33.87 [[ 3.35042050e-01 -9.08282451e-01 -2.50539048e-01 1.06946180e+02] [ 7.86745513e-01 4.16003506e-01 -4.56040109e-01 5.15547168e+01] [ 5.18438350e-01 -4.43178585e-02 8.53965810e-01 3.38690515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.437105681 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:106.95, Y:51.59, Z:33.88 [[ 3.29612514e-01 -9.21394035e-01 -2.05884975e-01 1.06949270e+02] [ 7.89956707e-01 3.88578619e-01 -4.74315357e-01 5.15855544e+01] [ 5.17033840e-01 -6.29993929e-03 8.55941773e-01 3.38751135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.467105681 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:106.96, Y:51.60, Z:33.89 [[ 3.17606535e-01 -9.21693254e-01 -2.22727712e-01 1.06958936e+02] [ 7.93831715e-01 3.86922361e-01 -4.69171925e-01 5.16030209e+01] [ 5.18610931e-01 -2.77962521e-02 8.54558407e-01 3.38929319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.497105681 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:106.97, Y:51.63, Z:33.91 [[ 3.11640249e-01 -9.25924870e-01 -2.13409209e-01 1.06965187e+02] [ 7.97146061e-01 3.76998191e-01 -4.71625404e-01 5.16251508e+01] [ 5.17144577e-01 -2.31408518e-02 8.55585173e-01 3.39058188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.527105681 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:106.97, Y:51.65, Z:33.92 [[ 3.09605017e-01 -9.26677056e-01 -2.13106470e-01 1.06974210e+02] [ 7.98069506e-01 3.75087147e-01 -4.71587420e-01 5.16467588e+01] [ 5.16942740e-01 -2.40679442e-02 8.55681563e-01 3.39201520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.557105681 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:106.98, Y:51.67, Z:33.93 [[ 3.07794857e-01 -9.27348772e-01 -2.12806443e-01 1.06981458e+02] [ 7.98913457e-01 3.73369969e-01 -4.71521106e-01 5.16679858e+01] [ 5.16720054e-01 -2.48821597e-02 8.55792769e-01 3.39348361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58710568099997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:106.98, Y:51.70, Z:33.94 [[ 3.06471362e-01 -9.35446895e-01 -1.76109091e-01 1.06983255e+02] [ 8.03188582e-01 3.53424111e-01 -4.79561779e-01 5.17026095e+01] [ 5.10845776e-01 5.52314066e-03 8.59654633e-01 3.39369437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61710568099997 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:107.00, Y:51.71, Z:33.97 [[ 3.04804365e-01 -9.20170097e-01 -2.45726050e-01 1.06997554e+02] [ 8.00328843e-01 3.87323171e-01 -4.57661999e-01 5.17105227e+01] [ 5.16302278e-01 -5.71642705e-02 8.54496462e-01 3.39665804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64710568099997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:106.99, Y:51.74, Z:33.98 [[ 3.02467468e-01 -9.29041982e-01 -2.13059676e-01 1.06994786e+02] [ 7.99709927e-01 3.68978242e-01 -4.73623363e-01 5.17390857e+01] [ 5.18630372e-01 -2.71302789e-02 8.54568011e-01 3.39757314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:107.00, Y:51.77, Z:33.98 [[ 3.02412175e-01 -9.35452632e-01 -1.82962429e-01 1.06997449e+02] [ 8.01927514e-01 3.53450473e-01 -4.81648238e-01 5.17707989e+01] [ 5.15227269e-01 -1.06631412e-03 8.57052930e-01 3.39813963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.70710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.00, Y:51.79, Z:34.01 [[ 2.99980221e-01 -9.24191111e-01 -2.36395131e-01 1.07004139e+02] [ 8.02389349e-01 3.78475146e-01 -4.61441109e-01 5.17868474e+01] [ 5.15929453e-01 -5.12577294e-02 8.55096161e-01 3.40071599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:51.82, Z:34.02 [[ 2.97252184e-01 -9.32805883e-01 -2.03750641e-01 1.06996940e+02] [ 7.98458454e-01 3.59866605e-01 -4.82659429e-01 5.18157155e+01] [ 5.23550606e-01 -1.92148525e-02 8.51777877e-01 3.40189839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.99, Y:51.85, Z:34.03 [[ 2.98598242e-01 -9.35173594e-01 -1.90497872e-01 1.06993434e+02] [ 8.03856337e-01 3.54036800e-01 -4.77988424e-01 5.18494087e+01] [ 5.14445409e-01 -1.04064189e-02 8.57459986e-01 3.40264127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.79710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:107.00, Y:51.87, Z:34.04 [[ 2.99738318e-01 -9.31492965e-01 -2.06101423e-01 1.06999295e+02] [ 8.04240195e-01 3.62920382e-01 -4.70623528e-01 5.18726521e+01] [ 5.13180913e-01 -2.46911435e-02 8.57925229e-01 3.40425898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.82710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:51.90, Z:34.06 [[ 3.01287390e-01 -9.31282786e-01 -2.04788383e-01 1.06996455e+02] [ 8.03817794e-01 3.63585611e-01 -4.70831666e-01 5.19026274e+01] [ 5.12935535e-01 -2.27569028e-02 8.58125434e-01 3.40559172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:107.00, Y:51.93, Z:34.07 [[ 3.01363374e-01 -9.30724762e-01 -2.07199263e-01 1.06999577e+02] [ 8.03135189e-01 3.64900647e-01 -4.70979178e-01 5.19284905e+01] [ 5.13959128e-01 -2.44731452e-02 8.57465498e-01 3.40704230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88710568099998 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:107.01, Y:51.96, Z:34.07 [[ 3.11626250e-01 -9.22825242e-01 -2.26456734e-01 1.07012146e+02] [ 8.02860493e-01 3.83189254e-01 -4.56706716e-01 5.19635450e+01] [ 5.08236273e-01 -3.94913644e-02 8.60311759e-01 3.40722825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:107.00, Y:51.98, Z:34.09 [[ 3.03136931e-01 -9.26426275e-01 -2.23254023e-01 1.07004148e+02] [ 8.03956603e-01 3.74405974e-01 -4.62032410e-01 5.19761851e+01] [ 5.11626604e-01 -3.94274593e-02 8.58302798e-01 3.40932960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.94710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:107.01, Y:51.99, Z:34.12 [[ 2.98469087e-01 -9.24079174e-01 -2.38733921e-01 1.07006753e+02] [ 8.01247579e-01 3.78511702e-01 -4.63390989e-01 5.19945471e+01] [ 5.18573545e-01 -5.29770907e-02 8.53390243e-01 3.41198147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:52.02, Z:34.13 [[ 2.97755965e-01 -9.30573189e-01 -2.13013911e-01 1.06998906e+02] [ 8.00126520e-01 3.64979048e-01 -4.76012443e-01 5.20236447e+01] [ 5.20710031e-01 -2.87025348e-02 8.53250976e-01 3.41346431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.00710568099998 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:107.00, Y:52.05, Z:34.15 [[ 2.99107652e-01 -9.30271156e-01 -2.12438670e-01 1.07002878e+02] [ 8.00173846e-01 3.65815997e-01 -4.75289882e-01 5.20468394e+01] [ 5.19861932e-01 -2.78250267e-02 8.53797013e-01 3.41492358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:107.00, Y:52.07, Z:34.17 [[ 3.05054253e-01 -9.28640043e-01 -2.11115072e-01 1.07002989e+02] [ 7.99579814e-01 3.70169550e-01 -4.72912915e-01 5.20718724e+01] [ 5.17314240e-01 -2.45392539e-02 8.55443629e-01 3.41653722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.067105681 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:106.99, Y:52.11, Z:34.17 [[ 3.14333507e-01 -9.38032216e-01 -1.45910962e-01 1.06993629e+02] [ 8.00507331e-01 3.44530019e-01 -4.90394820e-01 5.21099793e+01] [ 5.10276847e-01 3.73447286e-02 8.59198994e-01 3.41699873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.097105681 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:107.03, Y:52.13, Z:34.17 [[ 3.30205908e-01 -9.06052044e-01 -2.64638909e-01 1.07027829e+02] [ 7.95993318e-01 4.17975317e-01 -4.37825619e-01 5.21269017e+01] [ 5.07305329e-01 -6.60781975e-02 8.59229291e-01 3.41749041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.127105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:52.15, Z:34.21 [[ 3.28291418e-01 -9.21192788e-01 -2.08874586e-01 1.07000701e+02] [ 7.92866660e-01 3.88933681e-01 -4.69140759e-01 5.21502468e+01] [ 5.13407445e-01 -1.15948108e-02 8.58066638e-01 3.42104783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.157105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:107.00, Y:52.18, Z:34.23 [[ 3.37627976e-01 -9.20740758e-01 -1.95560237e-01 1.06996477e+02] [ 7.84858800e-01 3.90069218e-01 -4.81500435e-01 5.21778504e+01] [ 5.19619105e-01 9.08084434e-03 8.54349767e-01 3.42252684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.187105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.01, Y:52.20, Z:34.24 [[ 3.42396946e-01 -9.12569354e-01 -2.23565441e-01 1.07007109e+02] [ 7.84535421e-01 4.08620488e-01 -4.66404835e-01 5.22012544e+01] [ 5.16980178e-01 -1.56994162e-02 8.55853389e-01 3.42359811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.217105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.01, Y:52.23, Z:34.25 [[ 3.51536144e-01 -9.12060239e-01 -2.11112434e-01 1.07009799e+02] [ 7.78225495e-01 4.10045919e-01 -4.75633707e-01 5.22272239e+01] [ 5.20372384e-01 2.90936024e-03 8.53934492e-01 3.42482992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.01, Y:52.25, Z:34.26 [[ 3.54090489e-01 -9.15091211e-01 -1.92945592e-01 1.07013928e+02] [ 7.73077784e-01 4.02506280e-01 -4.90244260e-01 5.22505088e+01] [ 5.26280026e-01 2.44288791e-02 8.49960331e-01 3.42649499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.02, Y:52.27, Z:34.28 [[ 3.58208060e-01 -9.07959130e-01 -2.17479204e-01 1.07024555e+02] [ 7.71147826e-01 4.19039794e-01 -4.79308545e-01 5.22725572e+01] [ 5.26325011e-01 3.98356907e-03 8.50274141e-01 3.42781632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.307105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:107.03, Y:52.29, Z:34.29 [[ 3.60138869e-01 -9.07406997e-01 -2.16593020e-01 1.07031964e+02] [ 7.70446570e-01 4.20213193e-01 -4.79408964e-01 5.22896516e+01] [ 5.26034293e-01 5.78045286e-03 8.50443713e-01 3.42906185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:107.04, Y:52.31, Z:34.31 [[ 3.59607764e-01 -9.12645454e-01 -1.94320689e-01 1.07039300e+02] [ 7.69617164e-01 4.07851953e-01 -4.91269992e-01 5.23124822e+01] [ 5.27609398e-01 2.71119658e-02 8.49054335e-01 3.43068027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.06, Y:52.34, Z:34.32 [[ 3.56471226e-01 -9.09398705e-01 -2.14294799e-01 1.07059264e+02] [ 7.73944609e-01 4.15902475e-01 -4.77529970e-01 5.23374130e+01] [ 5.23390874e-01 4.37338939e-03 8.52081491e-01 3.43216567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.07, Y:52.36, Z:34.34 [[ 3.54810108e-01 -9.14631105e-01 -1.93803323e-01 1.07068237e+02] [ 7.72293579e-01 4.03552212e-01 -4.90620261e-01 5.23581094e+01] [ 5.26946311e-01 2.44039660e-02 8.49548134e-01 3.43391945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.09, Y:52.38, Z:34.35 [[ 3.49416607e-01 -9.09742425e-01 -2.24224787e-01 1.07091014e+02] [ 7.80541579e-01 4.15008874e-01 -4.67463880e-01 5.23765504e+01] [ 5.18327000e-01 -1.16771266e-02 8.55102781e-01 3.43528055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:107.10, Y:52.39, Z:34.37 [[ 3.42780931e-01 -9.18097477e-01 -1.98993107e-01 1.07100942e+02] [ 7.83704997e-01 3.96273901e-01 -4.78302700e-01 5.23949533e+01] [ 5.17984277e-01 8.00115278e-03 8.55352717e-01 3.43702869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.48710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.12, Y:52.42, Z:34.38 [[ 3.41215839e-01 -9.15603332e-01 -2.12702350e-01 1.07116276e+02] [ 7.87026830e-01 4.02008435e-01 -4.67950838e-01 5.24153144e+01] [ 5.13965485e-01 -7.73021870e-03 8.57776034e-01 3.43832696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.51710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.13, Y:52.43, Z:34.40 [[ 3.41733138e-01 -9.20115625e-01 -1.91326161e-01 1.07127522e+02] [ 7.83205901e-01 3.91349396e-01 -4.83150254e-01 5.24344654e+01] [ 5.19429475e-01 1.52606740e-02 8.54377043e-01 3.43995443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.54710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:107.14, Y:52.45, Z:34.41 [[ 3.45896227e-01 -9.13350129e-01 -2.14819324e-01 1.07143274e+02] [ 7.82074644e-01 4.07146634e-01 -4.71795368e-01 5.24524846e+01] [ 5.18377325e-01 -4.81250817e-03 8.55138462e-01 3.44113660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.15, Y:52.48, Z:34.43 [[ 3.48209667e-01 -9.13555749e-01 -2.10156896e-01 1.07154631e+02] [ 7.80221968e-01 4.06710727e-01 -4.75226332e-01 5.24772755e+01] [ 5.19618811e-01 1.50937557e-03 8.54396871e-01 3.44254852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.16, Y:52.50, Z:34.44 [[ 3.49237108e-01 -9.13476647e-01 -2.08791423e-01 1.07163998e+02] [ 7.78651291e-01 4.06869056e-01 -4.77660694e-01 5.24988055e+01] [ 5.21282658e-01 4.24112877e-03 8.53373543e-01 3.44398914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:107.18, Y:52.52, Z:34.45 [[ 3.53294986e-01 -9.11764292e-01 -2.09448153e-01 1.07175557e+02] [ 7.75383271e-01 4.10652744e-01 -4.79734414e-01 5.25203178e+01] [ 5.23415167e-01 7.08516882e-03 8.52048334e-01 3.44536977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.19, Y:52.54, Z:34.47 [[ 3.58069495e-01 -9.10003163e-01 -2.08998755e-01 1.07188016e+02] [ 7.73620024e-01 4.14482311e-01 -4.79287463e-01 5.25399830e+01] [ 5.22779394e-01 9.93259781e-03 8.52410141e-01 3.44687574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.20, Y:52.56, Z:34.48 [[ 3.63210066e-01 -9.08254632e-01 -2.07730526e-01 1.07202998e+02] [ 7.73027082e-01 4.18226162e-01 -4.76986381e-01 5.25588570e+01] [ 5.20103431e-01 1.26649328e-02 8.54009380e-01 3.44848762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.21, Y:52.58, Z:34.50 [[ 3.64842653e-01 -9.09741521e-01 -1.98141877e-01 1.07213856e+02] [ 7.70861146e-01 4.14496117e-01 -4.83700384e-01 5.25786892e+01] [ 5.22171362e-01 2.37346567e-02 8.52510255e-01 3.44997051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.23, Y:52.61, Z:34.50 [[ 3.68500605e-01 -9.15744046e-01 -1.60062946e-01 1.07225673e+02] [ 7.75866453e-01 3.97803714e-01 -4.89676885e-01 5.26062051e+01] [ 5.12092326e-01 5.62587580e-02 8.57085994e-01 3.45010813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.26, Y:52.61, Z:34.53 [[ 3.65292875e-01 -8.96015710e-01 -2.52422193e-01 1.07255053e+02] [ 7.73707085e-01 4.43017067e-01 -4.52894276e-01 5.26116845e+01] [ 5.17627726e-01 -2.98617868e-02 8.55084681e-01 3.45303287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.817105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.25, Y:52.65, Z:34.53 [[ 3.65937668e-01 -9.18921010e-01 -1.47220246e-01 1.07254870e+02] [ 7.79999339e-01 3.89131135e-01 -4.90079576e-01 5.26480569e+01] [ 5.07632400e-01 6.45068829e-02 8.59155520e-01 3.45292594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.847105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:52.65, Z:34.56 [[ 3.60958743e-01 -8.96132222e-01 -2.58177898e-01 1.07288483e+02] [ 7.73944410e-01 4.42305437e-01 -4.53184234e-01 5.26496092e+01] [ 5.20306483e-01 -3.62345291e-02 8.53210539e-01 3.45572017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.877105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:52.69, Z:34.56 [[ 3.60370697e-01 -9.21275955e-01 -1.46231239e-01 1.07286371e+02] [ 7.76463773e-01 3.83137803e-01 -5.00309338e-01 5.26876223e+01] [ 5.16949679e-01 6.67535654e-02 8.53409041e-01 3.45567259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.907105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.32, Y:52.69, Z:34.58 [[ 3.53655016e-01 -8.97300398e-01 -2.64159280e-01 1.07319415e+02] [ 7.73957845e-01 4.39305693e-01 -4.56069910e-01 5.26897155e+01] [ 5.25278388e-01 -4.31567360e-02 8.49835344e-01 3.45842195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.937105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.33, Y:52.71, Z:34.60 [[ 3.47005137e-01 -9.14340828e-01 -2.08730170e-01 1.07329522e+02] [ 7.76542463e-01 4.04909180e-01 -4.82732182e-01 5.27111560e+01] [ 5.25898505e-01 5.42270642e-03 8.50530044e-01 3.45970234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.967105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.34, Y:52.73, Z:34.61 [[ 3.42332799e-01 -9.16150344e-01 -2.08510913e-01 1.07341942e+02] [ 7.78593948e-01 4.00823989e-01 -4.82837027e-01 5.27313100e+01] [ 5.25927485e-01 2.94561615e-03 8.50524311e-01 3.46116644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.997105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.35, Y:52.75, Z:34.63 [[ 3.42121197e-01 -9.16277233e-01 -2.08300551e-01 1.07351388e+02] [ 7.78687256e-01 4.00533293e-01 -4.82927778e-01 5.27537764e+01] [ 5.25927033e-01 3.01884483e-03 8.50524334e-01 3.46264535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.36, Y:52.77, Z:34.64 [[ 3.34518045e-01 -9.21858601e-01 -1.95638436e-01 1.07361251e+02] [ 7.79447103e-01 3.87333725e-01 -4.92376685e-01 5.27746218e+01] [ 5.29679046e-01 1.22190739e-02 8.48110136e-01 3.46412569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.057105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.38, Y:52.79, Z:34.66 [[ 3.32569914e-01 -9.17228995e-01 -2.19290272e-01 1.07380700e+02] [ 7.84878656e-01 3.98107268e-01 -4.74843236e-01 5.27913349e+01] [ 5.22841035e-01 -1.41976797e-02 8.52311960e-01 3.46553505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.39, Y:52.81, Z:34.67 [[ 3.31913285e-01 -9.20469110e-01 -2.06325442e-01 1.07390444e+02] [ 7.85415191e-01 3.90805754e-01 -4.79993583e-01 5.28125265e+01] [ 5.22452437e-01 -2.73488943e-03 8.52664044e-01 3.46684519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.40, Y:52.83, Z:34.68 [[ 3.28141660e-01 -9.21774433e-01 -2.06530737e-01 1.07402192e+02] [ 7.86268901e-01 3.87700277e-01 -4.81112992e-01 5.28328022e+01] [ 5.23549679e-01 -4.51548022e-03 8.51983183e-01 3.46813433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.41, Y:52.85, Z:34.69 [[ 3.23166897e-01 -9.23574191e-01 -2.06334366e-01 1.07414908e+02] [ 7.88268883e-01 3.83354032e-01 -4.81323025e-01 5.28535230e+01] [ 5.23636635e-01 -7.09929120e-03 8.51912129e-01 3.46949391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.43, Y:52.87, Z:34.71 [[ 3.20215167e-01 -9.24646949e-01 -2.06131673e-01 1.07426331e+02] [ 7.89457212e-01 3.80729191e-01 -4.81458818e-01 5.28735518e+01] [ 5.23659772e-01 -8.56172056e-03 8.51884464e-01 3.47088237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.20710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.44, Y:52.89, Z:34.72 [[ 3.14144324e-01 -9.30875628e-01 -1.86504449e-01 1.07437418e+02] [ 7.87592649e-01 3.65224902e-01 -4.96294862e-01 5.28947483e+01] [ 5.30104860e-01 9.01868132e-03 8.47884132e-01 3.47237787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.23710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.46, Y:52.91, Z:34.74 [[ 3.14691259e-01 -9.21060804e-01 -2.29382666e-01 1.07455984e+02] [ 7.91661529e-01 3.88011164e-01 -4.71931521e-01 5.29099332e+01] [ 5.23680661e-01 -3.30807078e-02 8.51272126e-01 3.47398638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.26710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.46, Y:52.93, Z:34.75 [[ 3.11770015e-01 -9.27723163e-01 -2.05253968e-01 1.07462658e+02] [ 7.93369783e-01 3.73047105e-01 -4.81040793e-01 5.29329226e+01] [ 5.22842084e-01 -1.28682012e-02 8.52332426e-01 3.47517325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.29710568099998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:107.47, Y:52.95, Z:34.77 [[ 3.09439635e-01 -9.28515750e-01 -2.05196527e-01 1.07470679e+02] [ 7.93976981e-01 3.71032877e-01 -4.81596468e-01 5.29543621e+01] [ 5.23304563e-01 -1.38962833e-02 8.52032410e-01 3.47654616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.32710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:107.48, Y:52.98, Z:34.78 [[ 3.03457837e-01 -9.33225490e-01 -1.92363007e-01 1.07476415e+02] [ 7.93983505e-01 3.59269949e-01 -4.90423590e-01 5.29774481e+01] [ 5.26786043e-01 -3.91017313e-03 8.49988927e-01 3.47781457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:107.48, Y:53.00, Z:34.79 [[ 2.95041025e-01 -9.40631001e-01 -1.67821674e-01 1.07484005e+02] [ 7.99277737e-01 3.39210600e-01 -4.96075870e-01 5.30041412e+01] [ 5.23551232e-01 1.22266051e-02 8.51906460e-01 3.47870872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.50, Y:53.01, Z:34.81 [[ 2.91017613e-01 -9.28216398e-01 -2.31782372e-01 1.07500417e+02] [ 8.00788094e-01 3.68893766e-01 -4.71864195e-01 5.30127976e+01] [ 5.23495155e-01 -4.82877725e-02 8.50659223e-01 3.48139873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.50, Y:53.05, Z:34.82 [[ 2.85869991e-01 -9.42412451e-01 -1.73600461e-01 1.07498731e+02] [ 8.10149344e-01 3.34439435e-01 -4.81464748e-01 5.30503632e+01] [ 5.11797214e-01 -3.00597686e-03 8.59101028e-01 3.48175785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:53.07, Z:34.83 [[ 2.85840494e-01 -9.34972005e-01 -2.10053712e-01 1.07507556e+02] [ 8.10986772e-01 3.52792817e-01 -4.66730847e-01 5.30699754e+01] [ 5.10485717e-01 -3.69402059e-02 8.59092401e-01 3.48340502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:53.08, Z:34.86 [[ 2.84105197e-01 -9.27426933e-01 -2.43235527e-01 1.07514683e+02] [ 8.08682956e-01 3.68074520e-01 -4.58860571e-01 5.30829058e+01] [ 5.15088452e-01 -6.63357515e-02 8.54566238e-01 3.48610411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:107.50, Y:53.12, Z:34.86 [[ 2.83235929e-01 -9.49259795e-01 -1.36686684e-01 1.07501192e+02] [ 8.07798329e-01 3.12954760e-01 -4.99520948e-01 5.31245219e+01] [ 5.16951901e-01 3.10670049e-02 8.55450509e-01 3.48597837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.52, Y:53.13, Z:34.89 [[ 2.83885366e-01 -9.22087664e-01 -2.62989427e-01 1.07516897e+02] [ 8.07295486e-01 3.77839644e-01 -4.53333433e-01 5.31325801e+01] [ 5.17380998e-01 -8.36154499e-02 8.51660355e-01 3.48921589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.567105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:53.16, Z:34.90 [[ 2.83358904e-01 -9.37296893e-01 -2.02934142e-01 1.07511774e+02] [ 8.05207383e-01 3.47465713e-01 -4.80529550e-01 5.31641518e+01] [ 5.20911511e-01 -2.72417424e-02 8.53175882e-01 3.49023699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.597105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.50, Y:53.20, Z:34.90 [[ 2.87152502e-01 -9.46124094e-01 -1.49641702e-01 1.07504562e+02] [ 8.06257431e-01 3.23079789e-01 -4.95548590e-01 5.32036339e+01] [ 5.17196671e-01 2.16482832e-02 8.55592751e-01 3.49036006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.627105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:53.22, Z:34.92 [[ 2.91198794e-01 -9.38690334e-01 -1.84563593e-01 1.07512647e+02] [ 8.03275690e-01 3.44694159e-01 -4.85730484e-01 5.32217159e+01] [ 5.19568502e-01 -6.81131596e-03 8.54401649e-01 3.49191124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.657105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.52, Y:53.24, Z:34.95 [[ 2.94982222e-01 -9.16672645e-01 -2.69623350e-01 1.07519371e+02] [ 8.00439412e-01 3.91169193e-01 -4.54184335e-01 5.32369890e+01] [ 5.21806704e-01 -8.18408513e-02 8.49128870e-01 3.49475604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.687105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.50, Y:53.28, Z:34.95 [[ 3.01577529e-01 -9.43099878e-01 -1.40048612e-01 1.07500621e+02] [ 7.97544741e-01 3.30022036e-01 -5.04983012e-01 5.32786607e+01] [ 5.22468545e-01 4.05964949e-02 8.51691578e-01 3.49500680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.717105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.52, Y:53.29, Z:34.98 [[ 3.02647947e-01 -9.23503492e-01 -2.35680972e-01 1.07518161e+02] [ 7.92596005e-01 3.81198143e-01 -4.75898675e-01 5.32872358e+01] [ 5.29335237e-01 -4.27700396e-02 8.47334013e-01 3.49756046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.747105681 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:107.52, Y:53.34, Z:34.95 [[ 3.02635193e-01 -9.28670823e-01 -2.14435171e-01 1.07519384e+02] [ 8.12379025e-01 3.68998964e-01 -4.51530824e-01 5.33439977e+01] [ 4.98449858e-01 -3.75535170e-02 8.66104770e-01 3.49473311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:53.34, Z:35.00 [[ 3.15824934e-01 -9.31797194e-01 -1.78909476e-01 1.07512447e+02] [ 7.86995498e-01 3.62588082e-01 -4.99167275e-01 5.33409962e+01] [ 5.29993110e-01 1.68485193e-02 8.47834554e-01 3.50044424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.52, Y:53.37, Z:35.02 [[ 3.27847901e-01 -9.16707851e-01 -2.28391047e-01 1.07521652e+02] [ 7.83544381e-01 3.98908419e-01 -4.76371994e-01 5.33654334e+01] [ 5.27801058e-01 -2.27769629e-02 8.49062573e-01 3.50156022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:53.40, Z:35.02 [[ 3.41360036e-01 -9.31030306e-01 -1.29057722e-01 1.07510530e+02] [ 7.78125838e-01 3.56940103e-01 -5.16830672e-01 5.34000700e+01] [ 5.27250895e-01 7.60021882e-02 8.46303823e-01 3.50176394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.54, Y:53.41, Z:35.04 [[ 3.41084229e-01 -9.06256355e-01 -2.49721779e-01 1.07538395e+02] [ 7.71374092e-01 4.21658805e-01 -4.76640182e-01 5.34085986e+01] [ 5.37255581e-01 -3.00544622e-02 8.42883841e-01 3.50434601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.54, Y:53.43, Z:35.06 [[ 3.41449389e-01 -9.12920857e-01 -2.23579568e-01 1.07543284e+02] [ 7.75974972e-01 4.08031777e-01 -4.81012381e-01 5.34335899e+01] [ 5.30353804e-01 -9.25076526e-03 8.47725938e-01 3.50572611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.54, Y:53.46, Z:35.07 [[ 3.40381938e-01 -9.20516877e-01 -1.91804104e-01 1.07542961e+02] [ 7.73773092e-01 3.90112597e-01 -4.99086529e-01 5.34550404e+01] [ 5.34242771e-01 2.14671853e-02 8.45058473e-01 3.50725826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.56, Y:53.48, Z:35.09 [[ 3.38457952e-01 -9.16204159e-01 -2.14513761e-01 1.07556928e+02] [ 7.76094942e-01 4.00708291e-01 -4.86938915e-01 5.34785471e+01] [ 5.32092901e-01 -1.67469743e-03 8.46684321e-01 3.50851876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.98710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:107.56, Y:53.51, Z:35.08 [[ 3.36273735e-01 -9.30906665e-01 -1.42592978e-01 1.07559773e+02] [ 7.86439520e-01 3.60872182e-01 -5.01282504e-01 5.35110676e+01] [ 5.18105063e-01 5.64273867e-02 8.53453627e-01 3.50780273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.01710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.59, Y:53.52, Z:35.11 [[ 3.35223602e-01 -9.09744613e-01 -2.44928307e-01 1.07588966e+02] [ 7.76349392e-01 4.14021806e-01 -4.75255264e-01 5.35168796e+01] [ 5.33766576e-01 -3.08331608e-02 8.45069558e-01 3.51145402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.59, Y:53.54, Z:35.13 [[ 3.34298279e-01 -9.20170768e-01 -2.03790131e-01 1.07592908e+02] [ 7.78492459e-01 3.91480571e-01 -4.90604172e-01 5.35402261e+01] [ 5.31219495e-01 5.35904997e-03 8.47217285e-01 3.51304160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:107.60, Y:53.56, Z:35.15 [[ 3.32241603e-01 -9.21213988e-01 -2.02435931e-01 1.07604570e+02] [ 7.81382883e-01 3.89036369e-01 -4.87946200e-01 5.35603097e+01] [ 5.28257804e-01 3.93605618e-03 8.49074908e-01 3.51468913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.10710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:107.62, Y:53.58, Z:35.16 [[ 3.30701463e-01 -9.21833731e-01 -2.02136378e-01 1.07615657e+02] [ 7.82182878e-01 3.87572206e-01 -4.87829612e-01 5.35803946e+01] [ 5.28040233e-01 3.21835253e-03 8.49213256e-01 3.51623820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.63, Y:53.60, Z:35.18 [[ 3.27601497e-01 -9.22922100e-01 -2.02217845e-01 1.07630627e+02] [ 7.82959169e-01 3.84982777e-01 -4.88634016e-01 5.35994245e+01] [ 5.28821519e-01 1.74891892e-03 8.48731254e-01 3.51767138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.64, Y:53.62, Z:35.19 [[ 3.24460864e-01 -9.23869076e-01 -2.02955853e-01 1.07643054e+02] [ 7.82678192e-01 3.82708448e-01 -4.90865655e-01 5.36204872e+01] [ 5.31168519e-01 4.17574556e-04 8.47266092e-01 3.51885275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.65, Y:53.64, Z:35.20 [[ 3.24037000e-01 -9.23684379e-01 -2.04468067e-01 1.07653906e+02] [ 7.79720950e-01 3.83152832e-01 -4.95206167e-01 5.36410751e+01] [ 5.35756720e-01 1.03708490e-03 8.44371756e-01 3.52018329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.66, Y:53.68, Z:35.20 [[ 3.27452410e-01 -9.34129305e-01 -1.42047036e-01 1.07657792e+02] [ 7.82942038e-01 3.52410014e-01 -5.12648951e-01 5.36751558e+01] [ 5.28939206e-01 5.66535385e-02 8.46766611e-01 3.52041327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.68, Y:53.68, Z:35.23 [[ 3.25590896e-01 -9.14867953e-01 -2.38761799e-01 1.07682099e+02] [ 7.72015767e-01 4.03021133e-01 -4.91493257e-01 5.36780039e+01] [ 5.45877480e-01 -2.43021435e-02 8.37512497e-01 3.52343923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.28710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.69, Y:53.71, Z:35.24 [[ 3.33897145e-01 -9.27944847e-01 -1.65623243e-01 1.07685683e+02] [ 7.79475163e-01 3.70615209e-01 -5.05037461e-01 5.37136616e+01] [ 5.30029402e-01 3.95313616e-02 8.47057321e-01 3.52356265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.317105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.71, Y:53.72, Z:35.27 [[ 3.35410757e-01 -9.04122166e-01 -2.64693658e-01 1.07708379e+02] [ 7.71268226e-01 4.24878279e-01 -4.73944904e-01 5.37164167e+01] [ 5.40966679e-01 -4.51835889e-02 8.39829444e-01 3.52677845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.347105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.71, Y:53.74, Z:35.28 [[ 3.38569481e-01 -9.18434730e-01 -2.04568698e-01 1.07709357e+02] [ 7.71945488e-01 3.95430501e-01 -4.97729729e-01 5.37426311e+01] [ 5.38024972e-01 1.06002123e-02 8.42862245e-01 3.52814494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.377105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.72, Y:53.76, Z:35.30 [[ 3.38330438e-01 -9.22429829e-01 -1.86160481e-01 1.07720822e+02] [ 7.70724043e-01 3.85129391e-01 -5.07602012e-01 5.37606255e+01] [ 5.39923110e-01 2.82588528e-02 8.41239843e-01 3.52980685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.407105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.74, Y:53.78, Z:35.31 [[ 3.31447182e-01 -9.17132124e-01 -2.21385260e-01 1.07743254e+02] [ 7.74941645e-01 3.98482683e-01 -4.90588420e-01 5.37773129e+01] [ 5.38152592e-01 -8.95650780e-03 8.42799839e-01 3.53103859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.437105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:107.75, Y:53.80, Z:35.32 [[ 3.24939250e-01 -9.24063591e-01 -2.01298193e-01 1.07752034e+02] [ 7.77461622e-01 3.82194779e-01 -4.99480308e-01 5.38010350e+01] [ 5.38486685e-01 5.79913690e-03 8.42614063e-01 3.53235114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.467105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.76, Y:53.83, Z:35.32 [[ 3.16417567e-01 -9.37644029e-01 -1.43887449e-01 1.07759437e+02] [ 7.86720368e-01 3.44131478e-01 -5.12488623e-01 5.38342777e+01] [ 5.30048098e-01 4.89612159e-02 8.46552900e-01 3.53234707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.497105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.78, Y:53.85, Z:35.34 [[ 3.10117554e-01 -9.27299846e-01 -2.09623707e-01 1.07784454e+02] [ 7.87945318e-01 3.74075981e-01 -4.89090314e-01 5.38474346e+01] [ 5.31948567e-01 -1.34965268e-02 8.46669101e-01 3.53407783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.527105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.79, Y:53.87, Z:35.36 [[ 3.07399078e-01 -9.30444542e-01 -1.99446135e-01 1.07794276e+02] [ 7.87734038e-01 3.66400170e-01 -4.95202989e-01 5.38689395e+01] [ 5.33836016e-01 -4.88556695e-03 8.45573911e-01 3.53563806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.557105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.81, Y:53.89, Z:35.37 [[ 3.04836737e-01 -9.32052682e-01 -1.95837591e-01 1.07807388e+02] [ 7.86683966e-01 3.62318847e-01 -4.99853369e-01 5.38881352e+01] [ 5.36845323e-01 -1.68862263e-03 8.43678995e-01 3.53726987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:107.82, Y:53.91, Z:35.39 [[ 3.07808171e-01 -9.29629706e-01 -2.02590076e-01 1.07815954e+02] [ 7.82683627e-01 3.68471607e-01 -5.01632350e-01 5.39082291e+01] [ 5.40981025e-01 -4.15739890e-03 8.41024522e-01 3.53920664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.82, Y:53.92, Z:35.42 [[ 3.05993208e-01 -9.22847804e-01 -2.33923251e-01 1.07824116e+02] [ 7.75346021e-01 3.84146679e-01 -5.01268268e-01 5.39210802e+01] [ 5.52455160e-01 -2.79867767e-02 8.33072648e-01 3.54204176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.83, Y:53.95, Z:35.42 [[ 3.12773461e-01 -9.29166739e-01 -1.97032824e-01 1.07830346e+02] [ 7.79252789e-01 3.69630282e-01 -5.06101319e-01 5.39513934e+01] [ 5.43081811e-01 4.75668302e-03 8.39666315e-01 3.54242958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.84, Y:53.97, Z:35.44 [[ 3.11572087e-01 -9.28297747e-01 -2.02943658e-01 1.07841403e+02] [ 7.80014585e-01 3.71834767e-01 -5.03305229e-01 5.39711794e+01] [ 5.42678617e-01 -1.48315242e-03 8.39939116e-01 3.54413679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.84, Y:53.99, Z:35.46 [[ 3.08922487e-01 -9.33349706e-01 -1.82825664e-01 1.07844101e+02] [ 7.79497832e-01 3.58604915e-01 -5.13600667e-01 5.39918696e+01] [ 5.44931213e-01 1.61505871e-02 8.38325194e-01 3.54567245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.86, Y:54.01, Z:35.47 [[ 3.02040158e-01 -9.27480611e-01 -2.20343959e-01 1.07859397e+02] [ 7.85796140e-01 3.73090195e-01 -4.93283015e-01 5.40126516e+01] [ 5.39718602e-01 -2.41541525e-02 8.41498905e-01 3.54728812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.87, Y:54.03, Z:35.49 [[ 2.89355207e-01 -9.25355920e-01 -2.44928530e-01 1.07871487e+02] [ 7.84196346e-01 3.75891120e-01 -4.93702296e-01 5.40265455e+01] [ 5.48916802e-01 -4.92167282e-02 8.34426784e-01 3.54938720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.79710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.87, Y:54.06, Z:35.50 [[ 2.84418528e-01 -9.43357130e-01 -1.70831572e-01 1.07871776e+02] [ 7.87051478e-01 3.31503682e-01 -5.20245404e-01 5.40603113e+01] [ 5.47408506e-01 1.35141909e-02 8.36756413e-01 3.54957078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.82710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.89, Y:54.07, Z:35.52 [[ 2.68150013e-01 -9.33093652e-01 -2.39649344e-01 1.07890910e+02] [ 7.90514856e-01 3.55297022e-01 -4.98848963e-01 5.40681858e+01] [ 5.50619499e-01 -5.56800106e-02 8.32897295e-01 3.55227960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.89, Y:54.09, Z:35.54 [[ 2.62622915e-01 -9.46435268e-01 -1.87854967e-01 1.07890117e+02] [ 7.87683480e-01 3.22734037e-01 -5.24783267e-01 5.40936463e+01] [ 5.57300584e-01 -1.01501429e-02 8.30248778e-01 3.55367538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.90, Y:54.12, Z:35.55 [[ 2.56931854e-01 -9.45472233e-01 -2.00170622e-01 1.07901455e+02] [ 7.97594655e-01 3.24409283e-01 -5.08528646e-01 5.41210883e+01] [ 5.45736923e-01 -2.89978103e-02 8.37454678e-01 3.55467919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.91, Y:54.14, Z:35.56 [[ 2.56360520e-01 -9.43913448e-01 -2.08102586e-01 1.07911071e+02] [ 7.97829447e-01 3.28182634e-01 -5.05731483e-01 5.41418944e+01] [ 5.45662403e-01 -3.63807848e-02 8.37215015e-01 3.55625542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:54.16, Z:35.59 [[ 2.51926285e-01 -9.39227785e-01 -2.33204449e-01 1.07916036e+02] [ 7.95933940e-01 3.38166321e-01 -5.02128174e-01 5.41553028e+01] [ 5.50474623e-01 -5.91160503e-02 8.32756256e-01 3.55877154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.91, Y:54.19, Z:35.59 [[ 2.53249500e-01 -9.52294178e-01 -1.70295302e-01 1.07914022e+02] [ 7.98273888e-01 3.05149326e-01 -5.19271305e-01 5.41887594e+01] [ 5.46464537e-01 -4.43709459e-03 8.37470490e-01 3.55933945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:54.20, Z:35.62 [[ 2.52634614e-01 -9.39964572e-01 -2.29439218e-01 1.07919514e+02] [ 7.97388097e-01 3.36577532e-01 -5.00887001e-01 5.42024300e+01] [ 5.48040122e-01 -5.64107076e-02 8.34547696e-01 3.56203289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.91, Y:54.24, Z:35.62 [[ 2.55282496e-01 -9.50972608e-01 -1.74590796e-01 1.07913126e+02] [ 7.96089839e-01 3.09213226e-01 -5.20219328e-01 5.42384827e+01] [ 5.48700114e-01 -6.18707065e-03 8.35996355e-01 3.56241988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.067105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.93, Y:54.25, Z:35.65 [[ 2.54467705e-01 -9.35766904e-01 -2.44103438e-01 1.07926019e+02] [ 7.95496560e-01 3.46077074e-01 -4.97409170e-01 5.42505120e+01] [ 5.49937642e-01 -6.76088751e-02 8.32464792e-01 3.56474904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.097105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.91, Y:54.28, Z:35.66 [[ 2.55509531e-01 -9.47185452e-01 -1.93790092e-01 1.07914724e+02] [ 7.90318861e-01 3.20082651e-01 -5.22439656e-01 5.42784261e+01] [ 5.56876088e-01 -1.96676537e-02 8.30362696e-01 3.56615514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.127105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:54.30, Z:35.68 [[ 2.55284083e-01 -9.45510346e-01 -2.02089639e-01 1.07918792e+02] [ 7.90297663e-01 3.24468568e-01 -5.19759321e-01 5.43024570e+01] [ 5.57009551e-01 -2.70246879e-02 8.30066278e-01 3.56772549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.157105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:54.33, Z:35.69 [[ 2.54930183e-01 -9.42062513e-01 -2.18011063e-01 1.07919507e+02] [ 7.93669479e-01 3.32646443e-01 -5.09347722e-01 5.43274080e+01] [ 5.52358000e-01 -4.31806188e-02 8.32487882e-01 3.56919117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.187105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:54.35, Z:35.71 [[ 2.53714377e-01 -9.45248027e-01 -2.05268563e-01 1.07917125e+02] [ 7.92656077e-01 3.24799425e-01 -5.15947359e-01 5.43534737e+01] [ 5.54369335e-01 -3.18041110e-02 8.31662876e-01 3.57060315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.217105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:54.38, Z:35.71 [[ 2.54525361e-01 -9.52421087e-01 -1.67663098e-01 1.07916622e+02] [ 7.93122608e-01 3.04782775e-01 -5.27317731e-01 5.43833654e+01] [ 5.53329350e-01 1.23834254e-03 8.32961642e-01 3.57145430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:54.40, Z:35.74 [[ 2.47849218e-01 -9.41132709e-01 -2.29869504e-01 1.07922312e+02] [ 7.91597875e-01 3.33521830e-01 -5.11992181e-01 5.43998365e+01] [ 5.58519086e-01 -5.50673485e-02 8.27661777e-01 3.57352294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:54.43, Z:35.75 [[ 2.43400047e-01 -9.45868115e-01 -2.14685643e-01 1.07920540e+02] [ 7.94796053e-01 3.21370228e-01 -5.14801331e-01 5.44264154e+01] [ 5.55927739e-01 -4.53286339e-02 8.29993774e-01 3.57507698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.307105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:54.45, Z:35.77 [[ 2.39288786e-01 -9.48867263e-01 -2.05892679e-01 1.07918728e+02] [ 7.94567142e-01 3.13240443e-01 -5.20137945e-01 5.44506590e+01] [ 5.58035782e-01 -3.91323798e-02 8.28893674e-01 3.57677430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:54.47, Z:35.78 [[ 2.38908280e-01 -9.49067839e-01 -2.05409519e-01 1.07922296e+02] [ 7.95124371e-01 3.12626723e-01 -5.19655431e-01 5.44726084e+01] [ 5.57404762e-01 -3.91761296e-02 8.29316081e-01 3.57830446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:54.50, Z:35.80 [[ 2.41483919e-01 -9.48588042e-01 -2.04612423e-01 1.07922043e+02] [ 7.95288590e-01 3.14279382e-01 -5.18405757e-01 5.44955836e+01] [ 5.56058967e-01 -3.75392713e-02 8.30294663e-01 3.57982612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.93, Y:54.52, Z:35.81 [[ 2.43204105e-01 -9.48288591e-01 -2.03962035e-01 1.07927139e+02] [ 7.95461613e-01 3.15317273e-01 -5.17509265e-01 5.45191909e+01] [ 5.55060884e-01 -3.63835913e-02 8.31013627e-01 3.58136269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.93, Y:54.54, Z:35.83 [[ 2.46268573e-01 -9.47656502e-01 -2.03221418e-01 1.07927129e+02] [ 7.95419381e-01 3.17422145e-01 -5.16285958e-01 5.45438402e+01] [ 5.53768723e-01 -3.45012485e-02 8.31955446e-01 3.58300747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.93, Y:54.57, Z:35.85 [[ 2.46015063e-01 -9.47550914e-01 -2.04019248e-01 1.07926090e+02] [ 7.93529799e-01 3.17767626e-01 -5.18974174e-01 5.45696008e+01] [ 5.56585165e-01 -3.42198890e-02 8.30085509e-01 3.58456243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.48710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.93, Y:54.59, Z:35.86 [[ 2.43798806e-01 -9.48001218e-01 -2.04586983e-01 1.07931436e+02] [ 7.92721648e-01 3.16320869e-01 -5.21088760e-01 5.45936837e+01] [ 5.58707911e-01 -3.51397124e-02 8.28619738e-01 3.58601829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.51710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.93, Y:54.62, Z:35.88 [[ 2.38158533e-01 -9.52728931e-01 -1.88648079e-01 1.07930232e+02] [ 7.88833291e-01 3.03062047e-01 -5.34691906e-01 5.46174570e+01] [ 5.66588521e-01 -2.14704453e-02 8.23721111e-01 3.58778968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.94, Y:54.64, Z:35.89 [[ 2.38458893e-01 -9.44846976e-01 -2.24502892e-01 1.07941618e+02] [ 7.94430364e-01 3.22747168e-01 -5.14504288e-01 5.46393830e+01] [ 5.58585493e-01 -5.56637911e-02 8.27577059e-01 3.58887182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:107.94, Y:54.66, Z:35.91 [[ 2.41144655e-01 -9.50405593e-01 -1.96414014e-01 1.07936586e+02] [ 7.91849957e-01 3.09695432e-01 -5.26367157e-01 5.46629677e+01] [ 5.61090813e-01 -2.85998017e-02 8.27260026e-01 3.59077875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.94, Y:54.69, Z:35.92 [[ 2.48001565e-01 -9.45240244e-01 -2.12169989e-01 1.07939647e+02] [ 7.92479461e-01 3.23917401e-01 -5.16772505e-01 5.46865385e+01] [ 5.57199720e-01 -3.99799679e-02 8.29415502e-01 3.59215217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:107.93, Y:54.71, Z:35.94 [[ 2.55479305e-01 -9.45328233e-01 -2.02693999e-01 1.07934653e+02] [ 7.90670862e-01 3.24942140e-01 -5.18895166e-01 5.47123167e+01] [ 5.56390072e-01 -2.76972623e-02 8.30459481e-01 3.59384290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.94, Y:54.74, Z:35.95 [[ 2.59406769e-01 -9.44416451e-01 -2.01954686e-01 1.07938996e+02] [ 7.90313977e-01 3.27774698e-01 -5.17655836e-01 5.47358147e+01] [ 5.55078323e-01 -2.53241828e-02 8.31412497e-01 3.59537472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.94, Y:54.76, Z:35.97 [[ 2.68323699e-01 -9.42166620e-01 -2.00809493e-01 1.07941635e+02] [ 7.88975999e-01 3.34538586e-01 -5.15364733e-01 5.47596954e+01] [ 5.52737972e-01 -2.01492990e-02 8.33111481e-01 3.59693782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:107.94, Y:54.78, Z:35.98 [[ 2.74521933e-01 -9.40629068e-01 -1.99636333e-01 1.07940122e+02] [ 7.88591723e-01 3.39030160e-01 -5.13012325e-01 5.47838715e+01] [ 5.50237042e-01 -1.65984245e-02 8.34843512e-01 3.59847866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:107.94, Y:54.81, Z:36.00 [[ 2.75189849e-01 -9.40564203e-01 -1.99021422e-01 1.07943377e+02] [ 7.89080556e-01 3.39233513e-01 -5.12125472e-01 5.48074801e+01] [ 5.49201623e-01 -1.61122030e-02 8.35534544e-01 3.60008327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:107.95, Y:54.83, Z:36.01 [[ 2.75978001e-01 -9.40366297e-01 -1.98865208e-01 1.07945765e+02] [ 7.88669252e-01 3.39813179e-01 -5.12374681e-01 5.48329016e+01] [ 5.49396900e-01 -1.54347349e-02 8.35418946e-01 3.60146997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.817105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:107.95, Y:54.85, Z:36.03 [[ 2.76871080e-01 -9.40097475e-01 -1.98894804e-01 1.07952957e+02] [ 7.87847320e-01 3.40591685e-01 -5.13121724e-01 5.48548526e+01] [ 5.50126354e-01 -1.46301727e-02 8.34953264e-01 3.60285818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.847105681 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:107.96, Y:54.88, Z:36.04 [[ 2.83313254e-01 -9.38177434e-01 -1.98888666e-01 1.07957824e+02] [ 7.85039413e-01 3.45993441e-01 -5.13810917e-01 5.48774213e+01] [ 5.50859982e-01 -1.05659983e-02 8.34530790e-01 3.60444138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.877105681 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:107.96, Y:54.90, Z:36.06 [[ 2.95747529e-01 -9.36872587e-01 -1.86556035e-01 1.07955912e+02] [ 7.77563479e-01 3.49541080e-01 -5.22700746e-01 5.48995549e+01] [ 5.54912998e-01 9.52829516e-03 8.31853819e-01 3.60628914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.907105681 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:107.96, Y:54.92, Z:36.08 [[ 3.03546988e-01 -9.31960233e-01 -1.98265856e-01 1.07964151e+02] [ 7.74016420e-01 3.62537210e-01 -5.19100522e-01 5.49226770e+01] [ 5.55659794e-01 4.11037196e-03 8.31399602e-01 3.60765564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.937105681 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:107.97, Y:54.94, Z:36.09 [[ 3.16378980e-01 -9.28998874e-01 -1.92003730e-01 1.07970476e+02] [ 7.66702883e-01 3.69601152e-01 -5.24939689e-01 5.49446608e+01] [ 5.58633180e-01 1.88700699e-02 8.29200151e-01 3.60917532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.967105681 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:107.99, Y:54.97, Z:36.10 [[ 3.20222591e-01 -9.22237080e-01 -2.16647779e-01 1.07986138e+02] [ 7.68031707e-01 3.86613934e-01 -5.10545750e-01 5.49697207e+01] [ 5.54603272e-01 -2.90408106e-03 8.32109835e-01 3.60988537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.997105681 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:108.00, Y:54.99, Z:36.12 [[ 3.23584775e-01 -9.24960965e-01 -1.99349209e-01 1.07997204e+02] [ 7.66199332e-01 3.79766071e-01 -5.18378544e-01 5.49888296e+01] [ 5.55185984e-01 1.49981739e-02 8.31590992e-01 3.61150707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.027105681 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:108.01, Y:55.00, Z:36.13 [[ 3.29269245e-01 -9.27625581e-01 -1.76330787e-01 1.08005629e+02] [ 7.60149367e-01 3.71192577e-01 -5.33281362e-01 5.49994246e+01] [ 5.60138112e-01 4.15554152e-02 8.27356297e-01 3.61332103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.057105681 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:108.02, Y:55.03, Z:36.15 [[ 3.28710185e-01 -9.20595771e-01 -2.10838898e-01 1.08023392e+02] [ 7.63260657e-01 3.90428904e-01 -5.14779992e-01 5.50272203e+01] [ 5.56221884e-01 8.28839036e-03 8.30992490e-01 3.61453771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08710568099997 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:108.04, Y:55.05, Z:36.16 [[ 3.31817429e-01 -9.21859965e-01 -2.00178416e-01 1.08038031e+02] [ 7.61870233e-01 3.87015220e-01 -5.19396734e-01 5.50459347e+01] [ 5.56283149e-01 1.98349124e-02 8.30756062e-01 3.61604817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11710568099997 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:108.06, Y:55.06, Z:36.18 [[ 3.31491366e-01 -9.22011867e-01 -2.00018978e-01 1.08057852e+02] [ 7.61983567e-01 3.86655079e-01 -5.19498695e-01 5.50618893e+01] [ 5.56322315e-01 1.97981578e-02 8.30730711e-01 3.61752228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14710568099997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:108.07, Y:55.08, Z:36.19 [[ 3.29270307e-01 -9.22910260e-01 -1.99543772e-01 1.08071507e+02] [ 7.63383712e-01 3.84567506e-01 -5.18992429e-01 5.50806113e+01] [ 5.55721489e-01 1.85603311e-02 8.31161321e-01 3.61899681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.09, Y:55.10, Z:36.21 [[ 3.24068531e-01 -9.27737551e-01 -1.85155673e-01 1.08088471e+02] [ 7.64444096e-01 3.72099399e-01 -5.26466772e-01 5.50972581e+01] [ 5.57319308e-01 2.90701521e-02 8.29789199e-01 3.62077354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.20710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.11, Y:55.12, Z:36.22 [[ 3.18604566e-01 -9.23738454e-01 -2.12599150e-01 1.08114272e+02] [ 7.68890267e-01 3.83023685e-01 -5.11957629e-01 5.51163993e+01] [ 5.54345459e-01 -3.53379583e-04 8.32286602e-01 3.62190912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.23710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:108.13, Y:55.14, Z:36.23 [[ 3.15426925e-01 -9.27964240e-01 -1.98464666e-01 1.08126250e+02] [ 7.70134897e-01 3.72521739e-01 -5.17802853e-01 5.51365670e+01] [ 5.54434933e-01 1.04843969e-02 8.32161031e-01 3.62347139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.26710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:55.15, Z:36.25 [[ 3.08165037e-01 -9.30289613e-01 -1.98986298e-01 1.08146848e+02] [ 7.71506051e-01 3.66764962e-01 -5.19867172e-01 5.51542382e+01] [ 5.56608232e-01 6.68575296e-03 8.30748203e-01 3.62472959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.16, Y:55.17, Z:36.26 [[ 3.05320414e-01 -9.31234108e-01 -1.98953464e-01 1.08160576e+02] [ 7.72195634e-01 3.64383057e-01 -5.20517906e-01 5.51726021e+01] [ 5.57219299e-01 5.29374666e-03 8.30348498e-01 3.62605419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.18, Y:55.19, Z:36.28 [[ 3.03943618e-01 -9.31852893e-01 -1.98162719e-01 1.08178753e+02] [ 7.73793522e-01 3.62808604e-01 -5.19243202e-01 5.51905096e+01] [ 5.55753419e-01 4.48362955e-03 8.31335091e-01 3.62768661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:108.19, Y:55.21, Z:36.30 [[ 3.00566894e-01 -9.37652350e-01 -1.74549742e-01 1.08190906e+02] [ 7.73275251e-01 3.46703455e-01 -5.30888030e-01 5.52088533e+01] [ 5.58305407e-01 2.45923702e-02 8.29270937e-01 3.62974190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.22, Y:55.23, Z:36.31 [[ 2.96252749e-01 -9.28879514e-01 -2.22299702e-01 1.08217875e+02] [ 7.79346054e-01 3.69644630e-01 -5.05947206e-01 5.52254613e+01] [ 5.52135886e-01 -2.33601446e-02 8.33426822e-01 3.63083676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.23, Y:55.25, Z:36.32 [[ 2.93648910e-01 -9.35580427e-01 -1.96111147e-01 1.08226688e+02] [ 7.80687727e-01 3.53109593e-01 -5.15597021e-01 5.52467286e+01] [ 5.51631209e-01 -1.69706235e-03 8.34086404e-01 3.63246600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.24, Y:55.26, Z:36.34 [[ 2.87689177e-01 -9.37587036e-01 -1.95359890e-01 1.08241653e+02] [ 7.83946370e-01 3.47712005e-01 -5.14319405e-01 5.52647793e+01] [ 5.50148186e-01 -5.18755029e-03 8.35050934e-01 3.63410483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:55.29, Z:36.36 [[ 2.81039519e-01 -9.39592965e-01 -1.95401761e-01 1.08254909e+02] [ 7.85843189e-01 3.42181138e-01 -5.15133527e-01 5.52854802e+01] [ 5.50878635e-01 -8.78226498e-03 8.34539155e-01 3.63557321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:108.26, Y:55.31, Z:36.37 [[ 2.78539699e-01 -9.40330263e-01 -1.95434469e-01 1.08264468e+02] [ 7.86222147e-01 3.40117607e-01 -5.15921263e-01 5.53064134e+01] [ 5.51607081e-01 -9.95035452e-03 8.34044734e-01 3.63707512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:55.33, Z:36.39 [[ 2.73244219e-01 -9.43565446e-01 -1.87141243e-01 1.08271276e+02] [ 7.86384724e-01 3.31153128e-01 -5.21475475e-01 5.53292801e+01] [ 5.54018648e-01 -4.67485590e-03 8.32491131e-01 3.63886645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.567105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:55.35, Z:36.40 [[ 2.71961408e-01 -9.39629192e-01 -2.07687202e-01 1.08282989e+02] [ 7.89514500e-01 3.41262015e-01 -5.10104981e-01 5.53465468e+01] [ 5.50185284e-01 -2.52431887e-02 8.34660970e-01 3.64008003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.597105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:55.37, Z:36.42 [[ 2.70539664e-01 -9.42897741e-01 -1.94299102e-01 1.08288384e+02] [ 7.89953625e-01 3.32781309e-01 -5.15004728e-01 5.53688063e+01] [ 5.50255904e-01 -1.41580741e-02 8.34876032e-01 3.64151227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.627105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:55.39, Z:36.43 [[ 2.70373612e-01 -9.42761678e-01 -1.95188442e-01 1.08293307e+02] [ 7.87882421e-01 3.33183397e-01 -5.17909370e-01 5.53921909e+01] [ 5.53298655e-01 -1.37565152e-02 8.32869352e-01 3.64292839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.657105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:108.30, Y:55.42, Z:36.44 [[ 2.70872335e-01 -9.42968189e-01 -1.93492049e-01 1.08299102e+02] [ 7.86155139e-01 3.32699917e-01 -5.20836695e-01 5.54150572e+01] [ 5.55507223e-01 -1.10345173e-02 8.31438491e-01 3.64432355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.687105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:55.44, Z:36.46 [[ 2.76281354e-01 -9.40225522e-01 -1.99109470e-01 1.08304763e+02] [ 7.83739260e-01 3.40322680e-01 -5.19551003e-01 5.54378305e+01] [ 5.56256582e-01 -1.25076540e-02 8.30916466e-01 3.64573312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.717105681 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:108.30, Y:55.47, Z:36.47 [[ 2.83601017e-01 -9.50786185e-01 -1.24804222e-01 1.08297612e+02] [ 7.82440390e-01 3.04676545e-01 -5.43101499e-01 5.54700950e+01] [ 5.54398321e-01 5.63722726e-02 8.30340092e-01 3.64673605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.747105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:55.48, Z:36.49 [[ 2.86299967e-01 -9.22750117e-01 -2.58001067e-01 1.08321175e+02] [ 7.83372321e-01 3.80476920e-01 -4.91492747e-01 5.54811778e+01] [ 5.51688441e-01 -6.13965370e-02 8.31787430e-01 3.64897538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:55.51, Z:36.51 [[ 2.87987428e-01 -9.39076640e-01 -1.87612112e-01 1.08315923e+02] [ 7.81985767e-01 3.43694410e-01 -5.19973473e-01 5.55053902e+01] [ 5.52776177e-01 3.03582184e-03 8.33324236e-01 3.65063501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:55.53, Z:36.52 [[ 2.87687438e-01 -9.38052730e-01 -1.93113992e-01 1.08324996e+02] [ 7.82034373e-01 3.46486836e-01 -5.18043542e-01 5.55275867e+01] [ 5.52863615e-01 -1.98716044e-03 8.33269389e-01 3.65217812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.33, Y:55.55, Z:36.54 [[ 2.88009333e-01 -9.40446357e-01 -1.80585919e-01 1.08330041e+02] [ 7.80182879e-01 3.39783623e-01 -5.25225442e-01 5.55489026e+01] [ 5.55306491e-01 1.03797867e-02 8.31581001e-01 3.65386470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.34, Y:55.57, Z:36.55 [[ 2.86500032e-01 -9.36463808e-01 -2.02369139e-01 1.08337356e+02] [ 7.83282964e-01 3.50578010e-01 -5.13383733e-01 5.55701717e+01] [ 5.51711456e-01 -1.14278425e-02 8.33956758e-01 3.65510861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.34, Y:55.59, Z:36.57 [[ 2.82876963e-01 -9.38490102e-01 -1.98032703e-01 1.08343674e+02] [ 7.85393713e-01 3.45155980e-01 -5.13832721e-01 5.55949124e+01] [ 5.50579095e-01 -1.01822007e-02 8.34720901e-01 3.65653857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:108.35, Y:55.61, Z:36.58 [[ 2.75565057e-01 -9.45782123e-01 -1.71930435e-01 1.08345348e+02] [ 7.81764536e-01 3.24568213e-01 -5.32446885e-01 5.56124896e+01] [ 5.59381899e-01 1.23146391e-02 8.28818581e-01 3.65780640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.36, Y:55.64, Z:36.59 [[ 2.68789845e-01 -9.41249042e-01 -2.04456013e-01 1.08358521e+02] [ 7.87625188e-01 3.36970851e-01 -5.15846109e-01 5.56388066e+01] [ 5.54435372e-01 -2.23805100e-02 8.31925796e-01 3.65916129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.98710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.36, Y:55.66, Z:36.61 [[ 2.59461622e-01 -9.46061119e-01 -1.94030995e-01 1.08360868e+02] [ 7.89673886e-01 3.23490030e-01 -5.21315023e-01 5.56628345e+01] [ 5.55962966e-01 -1.79599685e-02 8.31013008e-01 3.66074101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.01710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.37, Y:55.69, Z:36.62 [[ 2.55559536e-01 -9.47140228e-01 -1.93945126e-01 1.08365867e+02] [ 7.90693281e-01 3.20195904e-01 -5.21803334e-01 5.56851002e+01] [ 5.56321363e-01 -1.99992899e-02 8.30726531e-01 3.66223410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.04710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:108.37, Y:55.71, Z:36.64 [[ 2.52198227e-01 -9.48182537e-01 -1.93250953e-01 1.08368137e+02] [ 7.92875355e-01 3.16966009e-01 -5.20462506e-01 5.57088585e+01] [ 5.54747443e-01 -2.19641970e-02 8.31728831e-01 3.66385506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.37, Y:55.73, Z:36.65 [[ 2.48866648e-01 -9.49150438e-01 -1.92818146e-01 1.08369937e+02] [ 7.94389738e-01 3.13924776e-01 -5.19996326e-01 5.57322042e+01] [ 5.54085134e-01 -2.37630139e-02 8.32120774e-01 3.66547211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.10710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:108.37, Y:55.75, Z:36.67 [[ 2.45206865e-01 -9.53781519e-01 -1.73707824e-01 1.08369917e+02] [ 7.92178833e-01 3.00411130e-01 -5.31230506e-01 5.57534054e+01] [ 5.58861602e-01 -7.34629395e-03 8.29228402e-01 3.66725511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.38, Y:55.78, Z:36.69 [[ 2.38345595e-01 -9.49314506e-01 -2.04922779e-01 1.08376058e+02] [ 7.95800725e-01 3.11854210e-01 -5.19083961e-01 5.57788023e+01] [ 5.56679965e-01 -3.93563203e-02 8.29794249e-01 3.66857289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.37, Y:55.80, Z:36.71 [[ 2.32051118e-01 -9.57830827e-01 -1.69447296e-01 1.08371312e+02] [ 7.91521595e-01 2.87193644e-01 -5.39456555e-01 5.58009484e+01] [ 5.65372305e-01 -8.93969780e-03 8.24787390e-01 3.67072902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.38, Y:55.82, Z:36.72 [[ 2.32616636e-01 -9.46112336e-01 -2.25301905e-01 1.08381792e+02] [ 8.01705899e-01 3.17681065e-01 -5.06306619e-01 5.58239912e+01] [ 5.50597087e-01 -6.28505237e-02 8.32401741e-01 3.67175061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.38, Y:55.85, Z:36.73 [[ 2.33711141e-01 -9.53412652e-01 -1.90744379e-01 1.08379855e+02] [ 8.01206493e-01 2.99986428e-01 -5.17760851e-01 5.58472591e+01] [ 5.50860471e-01 -3.18191557e-02 8.33990577e-01 3.67348748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:108.38, Y:55.87, Z:36.75 [[ 2.37603651e-01 -9.52607337e-01 -1.89957278e-01 1.08380326e+02] [ 8.01068942e-01 3.02770666e-01 -5.16351115e-01 5.58719128e+01] [ 5.49393352e-01 -2.94819655e-02 8.35043567e-01 3.67495243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.38, Y:55.90, Z:36.77 [[ 2.41867070e-01 -9.51532300e-01 -1.89964742e-01 1.08377514e+02] [ 7.99213178e-01 3.06382945e-01 -5.17095531e-01 5.58976154e+01] [ 5.50235057e-01 -2.67539443e-02 8.34581098e-01 3.67658661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.317105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.37, Y:55.92, Z:36.78 [[ 2.47296776e-01 -9.53604201e-01 -1.71707114e-01 1.08370307e+02] [ 7.93756848e-01 3.01011257e-01 -5.28528419e-01 5.59209016e+01] [ 5.55692695e-01 -5.59032322e-03 8.31368978e-01 3.67842191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.347105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.38, Y:55.94, Z:36.80 [[ 2.50127001e-01 -9.51724955e-01 -1.77921593e-01 1.08375383e+02] [ 7.91219228e-01 3.06835473e-01 -5.28984051e-01 5.59418329e+01] [ 5.58039978e-01 -8.46179154e-03 8.29770921e-01 3.67989458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.377105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.38, Y:55.97, Z:36.81 [[ 2.53340298e-01 -9.43332575e-01 -2.14341658e-01 1.08383187e+02] [ 7.96368161e-01 3.29160974e-01 -5.07396103e-01 5.59693621e+01] [ 5.49196182e-01 -4.21509924e-02 8.34629767e-01 3.68073789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.407105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.38, Y:55.99, Z:36.83 [[ 2.54438564e-01 -9.50311270e-01 -1.79358602e-01 1.08379809e+02] [ 7.93549586e-01 3.11163049e-01 -5.22930791e-01 5.59923424e+01] [ 5.52756793e-01 -9.27618469e-03 8.33290994e-01 3.68281114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.437105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:108.38, Y:56.02, Z:36.84 [[ 2.61653163e-01 -9.44691399e-01 -1.97726533e-01 1.08382483e+02] [ 7.91617482e-01 3.27254249e-01 -5.15990717e-01 5.60181773e+01] [ 5.52158840e-01 -2.15131771e-02 8.33461336e-01 3.68420803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.467105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:108.39, Y:56.04, Z:36.86 [[ 2.66887157e-01 -9.44653272e-01 -1.90791619e-01 1.08385357e+02] [ 7.90862355e-01 3.27814148e-01 -5.16792628e-01 5.60406216e+01] [ 5.50734039e-01 -1.29645944e-02 8.34580097e-01 3.68576057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.497105681 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:108.39, Y:56.06, Z:36.87 [[ 2.78241609e-01 -9.41898073e-01 -1.88174457e-01 1.08387795e+02] [ 7.87709538e-01 3.35868237e-01 -5.16436066e-01 5.60633991e+01] [ 5.49631959e-01 -4.53281301e-03 8.35394615e-01 3.68735678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.527105681 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:108.39, Y:56.09, Z:36.89 [[ 2.88135535e-01 -9.38913847e-01 -1.88198568e-01 1.08391578e+02] [ 7.83589959e-01 3.44148702e-01 -5.17250855e-01 5.60870067e+01] [ 5.50422284e-01 1.56784330e-03 8.34884933e-01 3.68887115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.557105681 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:108.40, Y:56.11, Z:36.90 [[ 2.90729245e-01 -9.39583634e-01 -1.80718291e-01 1.08396574e+02] [ 7.80052057e-01 3.42131499e-01 -5.23893907e-01 5.61104752e+01] [ 5.54071560e-01 1.13416051e-02 8.32391779e-01 3.69047633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58710568099997 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:108.41, Y:56.13, Z:36.91 [[ 2.97898048e-01 -9.33588327e-01 -1.99172259e-01 1.08410779e+02] [ 7.76691550e-01 3.58347166e-01 -5.18013075e-01 5.61345570e+01] [ 5.54983774e-01 -3.80326322e-04 8.31861086e-01 3.69137516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61710568099997 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:108.42, Y:56.15, Z:36.93 [[ 3.03874266e-01 -9.33642190e-01 -1.89664684e-01 1.08421899e+02] [ 7.73163002e-01 3.57990963e-01 -5.23508780e-01 5.61542914e+01] [ 5.56668127e-01 1.24391305e-02 8.30641839e-01 3.69279851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64710568099997 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:108.43, Y:56.18, Z:36.94 [[ 3.05891811e-01 -9.32974542e-01 -1.89706888e-01 1.08431789e+02] [ 7.71777543e-01 3.59670047e-01 -5.24401450e-01 5.61752714e+01] [ 5.57485088e-01 1.39985934e-02 8.30068923e-01 3.69429607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67710568099997 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:108.44, Y:56.19, Z:36.96 [[ 3.07524964e-01 -9.32408623e-01 -1.89848770e-01 1.08443401e+02] [ 7.70350710e-01 3.61079111e-01 -5.25529884e-01 5.61948665e+01] [ 5.58559021e-01 1.53634236e-02 8.29322486e-01 3.69586350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.70710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:108.46, Y:56.21, Z:36.97 [[ 3.03046183e-01 -9.33885828e-01 -1.89790071e-01 1.08460393e+02] [ 7.71675726e-01 3.57335316e-01 -5.26144511e-01 5.62127418e+01] [ 5.59177598e-01 1.29896953e-02 8.28946127e-01 3.69748186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.73710568099997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:108.47, Y:56.23, Z:36.99 [[ 2.98734791e-01 -9.35386978e-01 -1.89231938e-01 1.08474364e+02] [ 7.74015136e-01 3.53470991e-01 -5.25317835e-01 5.62320986e+01] [ 5.58263463e-01 1.04623293e-02 8.29597761e-01 3.69912227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.49, Y:56.25, Z:37.01 [[ 2.89201412e-01 -9.38682796e-01 -1.87715616e-01 1.08491287e+02] [ 7.80272672e-01 3.44753277e-01 -5.21842635e-01 5.62486000e+01] [ 5.54560277e-01 4.44826167e-03 8.32131668e-01 3.70078440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.79710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:108.51, Y:56.27, Z:37.02 [[ 2.81682998e-01 -9.41146828e-01 -1.86808287e-01 1.08507104e+02] [ 7.84388565e-01 3.37997998e-01 -5.20088389e-01 5.62667209e+01] [ 5.52620365e-01 -3.02271112e-05 8.33433099e-01 3.70240913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.82710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.52, Y:56.29, Z:37.04 [[ 2.79683693e-01 -9.41886184e-01 -1.86084522e-01 1.08519454e+02] [ 7.86128861e-01 3.35930065e-01 -5.18799003e-01 5.62870803e+01] [ 5.51160998e-01 -1.18679224e-03 8.34398074e-01 3.70388474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.53, Y:56.31, Z:37.05 [[ 2.77311839e-01 -9.42647702e-01 -1.85777968e-01 1.08533788e+02] [ 7.87123056e-01 3.33780731e-01 -5.18678820e-01 5.63069725e+01] [ 5.50940504e-01 -2.39434436e-03 8.34541088e-01 3.70544688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.54, Y:56.33, Z:37.07 [[ 2.77749685e-01 -9.42462886e-01 -1.86061338e-01 1.08542970e+02] [ 7.85896376e-01 3.34306269e-01 -5.20198236e-01 5.63275828e+01] [ 5.52469002e-01 -1.74003538e-03 8.33531627e-01 3.70692757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:108.55, Y:56.35, Z:37.08 [[ 2.83108320e-01 -9.40663733e-01 -1.87086668e-01 1.08554307e+02] [ 7.81463685e-01 3.39334044e-01 -5.23609507e-01 5.63488366e+01] [ 5.56025349e-01 2.03677084e-03 8.31162838e-01 3.70837266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:108.57, Y:56.37, Z:37.10 [[ 2.93708103e-01 -9.37359598e-01 -1.87330016e-01 1.08568680e+02] [ 7.76574717e-01 3.48253934e-01 -5.25024673e-01 5.63686298e+01] [ 5.57375331e-01 8.72824660e-03 8.30214766e-01 3.70983285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.58, Y:56.39, Z:37.11 [[ 3.02192650e-01 -9.34624320e-01 -1.87501953e-01 1.08582829e+02] [ 7.72539238e-01 3.55354300e-01 -5.26219010e-01 5.63876921e+01] [ 5.58446710e-01 1.41669009e-02 8.29419418e-01 3.71140171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.59, Y:56.41, Z:37.13 [[ 3.04834665e-01 -9.33848437e-01 -1.87090683e-01 1.08593922e+02] [ 7.71902592e-01 3.57316557e-01 -5.25824369e-01 5.64083926e+01] [ 5.57890864e-01 1.58737126e-02 8.29762502e-01 3.71299461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.61, Y:56.43, Z:37.15 [[ 3.08776639e-01 -9.32793351e-01 -1.85885856e-01 1.08610914e+02] [ 7.72465237e-01 3.59964031e-01 -5.23185774e-01 5.64263363e+01] [ 5.54936434e-01 1.79571827e-02 8.31698920e-01 3.71467305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.067105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:108.63, Y:56.44, Z:37.16 [[ 3.11465718e-01 -9.32183278e-01 -1.84454447e-01 1.08627639e+02] [ 7.73978343e-01 3.61478928e-01 -5.19894710e-01 5.64445083e+01] [ 5.51313550e-01 1.91656316e-02 8.34077963e-01 3.71626744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.097105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.64, Y:56.46, Z:37.18 [[ 3.09600165e-01 -9.32892237e-01 -1.84010359e-01 1.08644470e+02] [ 7.75140520e-01 3.59696884e-01 -5.19399004e-01 5.64639630e+01] [ 5.50731252e-01 1.81721318e-02 8.34484788e-01 3.71777377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.127105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.66, Y:56.48, Z:37.19 [[ 3.07004388e-01 -9.33794827e-01 -1.83781192e-01 1.08656505e+02] [ 7.76127104e-01 3.57411843e-01 -5.19503122e-01 5.64849404e+01] [ 5.50794902e-01 1.68521737e-02 8.34470479e-01 3.71928275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.157105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:108.67, Y:56.50, Z:37.21 [[ 3.00130967e-01 -9.36147306e-01 -1.83165562e-01 1.08673966e+02] [ 7.79542407e-01 3.51373714e-01 -5.18507618e-01 5.65042404e+01] [ 5.49759073e-01 1.28348693e-02 8.35224657e-01 3.72060833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.187105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.69, Y:56.52, Z:37.22 [[ 2.95757381e-01 -9.37567206e-01 -1.83017228e-01 1.08686720e+02] [ 7.80967959e-01 3.47644699e-01 -5.18875911e-01 5.65246067e+01] [ 5.50106007e-01 1.05307892e-02 8.35028433e-01 3.72216594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.217105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:108.70, Y:56.54, Z:37.24 [[ 2.88737140e-01 -9.39647589e-01 -1.83557271e-01 1.08703322e+02] [ 7.81917101e-01 3.42073303e-01 -5.21144416e-01 5.65419253e+01] [ 5.52482136e-01 6.94717916e-03 8.33495786e-01 3.72365594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.247105681 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:108.71, Y:56.57, Z:37.24 [[ 2.87162610e-01 -9.48663394e-01 -1.32572249e-01 1.08709666e+02] [ 7.86608275e-01 3.12525568e-01 -5.32517785e-01 5.65722967e+01] [ 5.46612347e-01 4.86367686e-02 8.35972133e-01 3.72410729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.74, Y:56.58, Z:37.27 [[ 2.81531480e-01 -9.31268892e-01 -2.31253705e-01 1.08736307e+02] [ 7.84542220e-01 3.62160188e-01 -5.03322464e-01 5.65783358e+01] [ 5.52479439e-01 -3.97271773e-02 8.32579258e-01 3.72695309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:108.74, Y:56.61, Z:37.28 [[ 2.84186531e-01 -9.48877953e-01 -1.37363190e-01 1.08739361e+02] [ 7.88803955e-01 3.12835917e-01 -5.29076564e-01 5.66079473e+01] [ 5.45001226e-01 4.20038060e-02 8.37382436e-01 3.72754039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:108.76, Y:56.63, Z:37.29 [[ 2.85077015e-01 -9.41542041e-01 -1.79526268e-01 1.08756974e+02] [ 7.88361566e-01 3.36854993e-01 -5.14795838e-01 5.66260693e+01] [ 5.45176243e-01 5.22485082e-03 8.38305174e-01 3.72917329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:108.77, Y:56.65, Z:37.31 [[ 2.85343514e-01 -9.43241709e-01 -1.69923976e-01 1.08768949e+02] [ 7.87456370e-01 3.31794125e-01 -5.19446941e-01 5.66462123e+01] [ 5.46343797e-01 1.44130986e-02 8.37436994e-01 3.73099757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:108.79, Y:56.66, Z:37.33 [[ 2.85741382e-01 -9.39153508e-01 -1.90637223e-01 1.08785677e+02] [ 7.84974099e-01 3.43489887e-01 -5.15587394e-01 5.66595197e+01] [ 5.49697668e-01 -2.32062818e-03 8.35360454e-01 3.73254437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:108.80, Y:56.68, Z:37.34 [[ 2.86119463e-01 -9.36246916e-01 -2.03905287e-01 1.08799389e+02] [ 7.85944266e-01 3.51038073e-01 -5.08983184e-01 5.66768347e+01] [ 5.48112455e-01 -1.46281960e-02 8.36276720e-01 3.73400575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:108.81, Y:56.70, Z:37.36 [[ 2.85576942e-01 -9.44825211e-01 -1.60471591e-01 1.08807586e+02] [ 7.83321412e-01 3.26593075e-01 -5.28908810e-01 5.67012784e+01] [ 5.52135288e-01 2.53433276e-02 8.33369269e-01 3.73584206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.48710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.82, Y:56.71, Z:37.38 [[ 2.87101271e-01 -9.32892135e-01 -2.17451430e-01 1.08822647e+02] [ 7.78965335e-01 3.59490801e-01 -5.13789228e-01 5.67121734e+01] [ 5.57481718e-01 -2.18775856e-02 8.29900901e-01 3.73822429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.51710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.83, Y:56.74, Z:37.39 [[ 2.95459792e-01 -9.44808948e-01 -1.41561166e-01 1.08825079e+02] [ 7.73015926e-01 3.23500087e-01 -5.45705114e-01 5.67410369e+01] [ 5.61382125e-01 5.18048836e-02 8.25933632e-01 3.73886687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.85, Y:56.75, Z:37.41 [[ 2.98533729e-01 -9.27180766e-01 -2.26303866e-01 1.08846140e+02] [ 7.70977168e-01 3.74047541e-01 -5.15444123e-01 5.67500777e+01] [ 5.62558281e-01 -2.05976573e-02 8.26501008e-01 3.74097312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:108.85, Y:56.78, Z:37.42 [[ 3.06463837e-01 -9.40889560e-01 -1.44245456e-01 1.08850543e+02] [ 7.69408030e-01 3.34074771e-01 -5.44431200e-01 5.67769719e+01] [ 5.60438400e-01 5.58648622e-02 8.26309819e-01 3.74173099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.87, Y:56.80, Z:37.44 [[ 3.08957361e-01 -9.34689516e-01 -1.75786400e-01 1.08868234e+02] [ 7.67057148e-01 3.54158999e-01 -5.34971714e-01 5.67953344e+01] [ 5.62288788e-01 3.04452345e-02 8.26380304e-01 3.74408462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.88, Y:56.82, Z:37.46 [[ 3.09879229e-01 -9.31742202e-01 -1.89291659e-01 1.08879338e+02] [ 7.65657566e-01 3.62585014e-01 -5.31319677e-01 5.68153379e+01] [ 5.63687285e-01 1.97123409e-02 8.25753031e-01 3.74590897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.66710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:108.89, Y:56.83, Z:37.47 [[ 3.12047850e-01 -9.30125834e-01 -1.93628698e-01 1.08888655e+02] [ 7.64684260e-01 3.66835210e-01 -5.29801767e-01 5.68349985e+01] [ 5.63812134e-01 1.72586850e-02 8.25722723e-01 3.74747666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:108.90, Y:56.86, Z:37.49 [[ 3.11558697e-01 -9.31798012e-01 -1.86235451e-01 1.08899460e+02] [ 7.65437195e-01 3.62237705e-01 -5.31873806e-01 5.68563239e+01] [ 5.63060458e-01 2.31583687e-02 8.26091164e-01 3.74907288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.72710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:108.91, Y:56.88, Z:37.51 [[ 3.10898437e-01 -9.31247022e-01 -1.90055637e-01 1.08907391e+02] [ 7.65217894e-01 3.63856725e-01 -5.31083665e-01 5.68782686e+01] [ 5.63723103e-01 1.96791069e-02 8.25729372e-01 3.75073265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.92, Y:56.90, Z:37.53 [[ 3.08828442e-01 -9.31912364e-01 -1.90169239e-01 1.08919039e+02] [ 7.65017606e-01 3.62186986e-01 -5.32511643e-01 5.68992515e+01] [ 5.65131007e-01 1.89719249e-02 8.24783008e-01 3.75252963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.93, Y:56.92, Z:37.54 [[ 3.05352519e-01 -9.32450262e-01 -1.93122625e-01 1.08930222e+02] [ 7.65175240e-01 3.60986406e-01 -5.33100054e-01 5.69191127e+01] [ 5.66803927e-01 1.50107938e-02 8.23715961e-01 3.75423427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.817105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:108.94, Y:56.94, Z:37.56 [[ 2.99152287e-01 -9.33914777e-01 -1.95732213e-01 1.08944178e+02] [ 7.68573769e-01 3.57399304e-01 -5.30622369e-01 5.69364850e+01] [ 5.65510628e-01 8.30225031e-03 8.24699219e-01 3.75577261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.847105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.96, Y:56.96, Z:37.57 [[ 2.93569287e-01 -9.37602748e-01 -1.86328102e-01 1.08956184e+02] [ 7.72741693e-01 3.47503152e-01 -5.31142011e-01 5.69561990e+01] [ 5.62749811e-01 1.19434883e-02 8.26540987e-01 3.75746722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.877105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:108.97, Y:56.97, Z:37.60 [[ 2.90630815e-01 -9.32122311e-01 -2.16059546e-01 1.08966409e+02] [ 7.71392908e-01 3.61851946e-01 -5.23465520e-01 5.69688357e+01] [ 5.66115457e-01 -1.45315910e-02 8.24197866e-01 3.75967246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.907105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.97, Y:56.99, Z:37.60 [[ 2.87747463e-01 -9.43153472e-01 -1.66321756e-01 1.08972684e+02] [ 7.65723343e-01 3.30876063e-01 -5.51533129e-01 5.69937457e+01] [ 5.75212273e-01 3.13458082e-02 8.17403377e-01 3.76046285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.937105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.99, Y:57.01, Z:37.62 [[ 2.88334846e-01 -9.36521231e-01 -1.99476815e-01 1.08989387e+02] [ 7.66229102e-01 3.50602518e-01 -5.38489404e-01 5.70102499e+01] [ 5.74243833e-01 2.42031864e-03 8.18680745e-01 3.76203643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.967105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:109.00, Y:57.03, Z:37.64 [[ 2.87223147e-01 -9.38481904e-01 -1.91714840e-01 1.09004145e+02] [ 7.67538150e-01 3.45236252e-01 -5.40089918e-01 5.70304476e+01] [ 5.73051527e-01 7.97787227e-03 8.19480507e-01 3.76367876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.997105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:109.01, Y:57.05, Z:37.65 [[ 2.85671753e-01 -9.40020758e-01 -1.86420557e-01 1.09013115e+02] [ 7.69121139e-01 3.40938385e-01 -5.40567934e-01 5.70492042e+01] [ 5.71703003e-01 1.10449985e-02 8.20386302e-01 3.76540685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.027105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:109.02, Y:57.07, Z:37.67 [[ 2.83932789e-01 -9.40659726e-01 -1.85853305e-01 1.09019980e+02] [ 7.70419747e-01 3.39201376e-01 -5.39810930e-01 5.70696605e+01] [ 5.70820098e-01 1.00849669e-02 8.21013221e-01 3.76700210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.03, Y:57.09, Z:37.68 [[ 2.79393784e-01 -9.42167334e-01 -1.85094105e-01 1.09030364e+02] [ 7.73150298e-01 3.35062324e-01 -5.38490348e-01 5.70896794e+01] [ 5.69366077e-01 7.34529331e-03 8.22051286e-01 3.76841434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:109.04, Y:57.11, Z:37.70 [[ 2.69535989e-01 -9.45172516e-01 -1.84388898e-01 1.09044750e+02] [ 7.77558858e-01 3.26568171e-01 -5.37359704e-01 5.71075386e+01] [ 5.68113169e-01 1.46455839e-03 8.22949137e-01 3.76992986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11710568099997 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:109.05, Y:57.13, Z:37.72 [[ 2.62912058e-01 -9.47145908e-01 -1.83825676e-01 1.09053554e+02] [ 7.80464843e-01 3.20794239e-01 -5.36624343e-01 5.71280050e+01] [ 5.67231768e-01 -2.38446672e-03 8.23554756e-01 3.77150327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:109.06, Y:57.15, Z:37.73 [[ 2.51051784e-01 -9.50546035e-01 -1.82853047e-01 1.09060725e+02] [ 7.85998145e-01 3.10438345e-01 -5.34635342e-01 5.71482878e+01] [ 5.64960102e-01 -9.50099946e-03 8.25063521e-01 3.77303718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:109.07, Y:57.17, Z:37.74 [[ 2.38829673e-01 -9.53683060e-01 -1.82890701e-01 1.09065652e+02] [ 7.89219387e-01 3.00365146e-01 -5.35643108e-01 5.71695631e+01] [ 5.65767750e-01 -1.64134184e-02 8.24401269e-01 3.77446026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.20710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.07, Y:57.19, Z:37.76 [[ 2.33474381e-01 -9.54983225e-01 -1.83021185e-01 1.09072258e+02] [ 7.89986799e-01 2.96036073e-01 -5.36920386e-01 5.71925239e+01] [ 5.66930834e-01 -1.92271654e-02 8.23540980e-01 3.77581204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.23710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:109.08, Y:57.21, Z:37.77 [[ 2.25429537e-01 -9.56856249e-01 -1.83323874e-01 1.09078903e+02] [ 7.91190770e-01 2.89600460e-01 -5.38654564e-01 5.72134081e+01] [ 5.68505664e-01 -2.36155083e-02 8.22340330e-01 3.77719325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.26710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:109.08, Y:57.23, Z:37.79 [[ 2.19457659e-01 -9.58365828e-01 -1.82683542e-01 1.09081138e+02] [ 7.93801870e-01 2.84261782e-01 -5.37655867e-01 5.72342056e+01] [ 5.67200959e-01 -2.70218400e-02 8.23136011e-01 3.77902751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.29710568099998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:109.08, Y:57.26, Z:37.81 [[ 2.17547532e-01 -9.58925790e-01 -1.82028572e-01 1.09083869e+02] [ 7.95191247e-01 2.82271674e-01 -5.36650336e-01 5.72552718e+01] [ 5.65989357e-01 -2.80005711e-02 8.23936901e-01 3.78061311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.32710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:109.08, Y:57.28, Z:37.82 [[ 2.15192244e-01 -9.59652531e-01 -1.80995352e-01 1.09080825e+02] [ 7.97690300e-01 2.79647509e-01 -5.34310262e-01 5.72786637e+01] [ 5.63367095e-01 -2.93988128e-02 8.25683491e-01 3.78228201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:109.07, Y:57.31, Z:37.83 [[ 2.15383979e-01 -9.65590856e-01 -1.45753352e-01 1.09073868e+02] [ 8.01863529e-01 2.60063988e-01 -5.37942007e-01 5.73111438e+01] [ 5.57337081e-01 -1.01020745e-03 8.30285709e-01 3.78300877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:109.08, Y:57.32, Z:37.86 [[ 2.15535708e-01 -9.53676244e-01 -2.09871343e-01 1.09082836e+02] [ 8.01500796e-01 2.95545509e-01 -5.19855102e-01 5.73226737e+01] [ 5.57799994e-01 -5.61647109e-02 8.28072878e-01 3.78584822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:109.08, Y:57.36, Z:37.86 [[ 2.17877157e-01 -9.64652358e-01 -1.48240926e-01 1.09076476e+02] [ 8.00823961e-01 2.63521270e-01 -5.37808073e-01 5.73575683e+01] [ 5.57862463e-01 -1.53879183e-03 8.29931988e-01 3.78616802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:109.08, Y:57.38, Z:37.88 [[ 2.19504896e-01 -9.61072594e-01 -1.67800683e-01 1.09081157e+02] [ 8.01326534e-01 2.75713760e-01 -5.30902730e-01 5.73805970e+01] [ 5.56501021e-01 -1.79273908e-02 8.30653491e-01 3.78782856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47710568099998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:109.07, Y:57.41, Z:37.89 [[ 2.22591538e-01 -9.59747462e-01 -1.71282854e-01 1.09074507e+02] [ 8.00317792e-01 2.80214729e-01 -5.30067106e-01 5.74057965e+01] [ 5.56726538e-01 -1.90922632e-02 8.30476398e-01 3.78922321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:109.08, Y:57.43, Z:37.91 [[ 2.25018107e-01 -9.58407575e-01 -1.75561306e-01 1.09075768e+02] [ 7.99210553e-01 2.84615546e-01 -5.29392560e-01 5.74292803e+01] [ 5.57341316e-01 -2.11875366e-02 8.30013100e-01 3.79069236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:109.07, Y:57.46, Z:37.92 [[ 2.32233515e-01 -9.58315521e-01 -1.66430035e-01 1.09072019e+02] [ 7.95295716e-01 2.85594962e-01 -5.34733805e-01 5.74574469e+01] [ 5.59975284e-01 -8.17798290e-03 8.28468950e-01 3.79228945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.567105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:109.08, Y:57.48, Z:37.94 [[ 2.38224230e-01 -9.54051975e-01 -1.81752703e-01 1.09075081e+02] [ 7.92822515e-01 2.99123755e-01 -5.30996647e-01 5.74781193e+01] [ 5.60964951e-01 -1.76013678e-02 8.27652412e-01 3.79377867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.597105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.07, Y:57.50, Z:37.97 [[ 2.49541142e-01 -9.41216260e-01 -2.27686562e-01 1.09073230e+02] [ 7.82229289e-01 3.34525305e-01 -5.25556999e-01 5.74950470e+01] [ 5.70829709e-01 -4.69550037e-02 8.19724753e-01 3.79654745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.627105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:109.06, Y:57.52, Z:37.98 [[ 2.65865993e-01 -9.46779214e-01 -1.81450802e-01 1.09061193e+02] [ 7.76394101e-01 3.21867947e-01 -5.41860890e-01 5.75229322e+01] [ 5.71425825e-01 3.18505075e-03 8.20647538e-01 3.79798038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.657105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.06, Y:57.55, Z:37.99 [[ 2.75695793e-01 -9.44069855e-01 -1.80897593e-01 1.09058819e+02] [ 7.73852225e-01 3.29619427e-01 -5.40836174e-01 5.75473617e+01] [ 5.70214489e-01 9.11825312e-03 8.21445247e-01 3.79943468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.687105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.06, Y:57.57, Z:38.01 [[ 2.77962239e-01 -9.43451608e-01 -1.80654522e-01 1.09063333e+02] [ 7.73017746e-01 3.31336811e-01 -5.40980113e-01 5.75700148e+01] [ 5.70246051e-01 1.07228917e-02 8.21403957e-01 3.80088278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.717105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:109.07, Y:57.59, Z:38.02 [[ 2.79094980e-01 -9.43076577e-01 -1.80866143e-01 1.09068854e+02] [ 7.71486844e-01 3.32363317e-01 -5.42533571e-01 5.75937403e+01] [ 5.71763974e-01 1.18825463e-02 8.20332105e-01 3.80210552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.747105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.08, Y:57.62, Z:38.03 [[ 2.74048103e-01 -9.44341739e-01 -1.81978893e-01 1.09076183e+02] [ 7.69991402e-01 3.28822238e-01 -5.46799027e-01 5.76159779e+01] [ 5.76203851e-01 9.72705330e-03 8.17248130e-01 3.80327352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.08, Y:57.64, Z:38.05 [[ 2.69996235e-01 -9.45507602e-01 -1.81981889e-01 1.09083154e+02] [ 7.70706573e-01 3.25510334e-01 -5.47772216e-01 5.76376807e+01] [ 5.77159780e-01 7.64179827e-03 8.16595488e-01 3.80473145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.09, Y:57.66, Z:38.06 [[ 2.61666295e-01 -9.48075923e-01 -1.80783831e-01 1.09090940e+02] [ 7.75714208e-01 3.18035075e-01 -5.45088212e-01 5.76563652e+01] [ 5.74280609e-01 2.39462622e-03 8.18655024e-01 3.80648150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:109.10, Y:57.68, Z:38.08 [[ 2.57500216e-01 -9.49402865e-01 -1.79799442e-01 1.09099697e+02] [ 7.78732404e-01 3.14060777e-01 -5.43085326e-01 5.76762518e+01] [ 5.72074717e-01 -1.71062889e-04 8.20201493e-01 3.80817443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.10, Y:57.71, Z:38.08 [[ 2.53805667e-01 -9.60759981e-01 -1.11905950e-01 1.09104285e+02] [ 7.88247937e-01 2.72496917e-01 -5.51734193e-01 5.77060664e+01] [ 5.60578160e-01 5.18236303e-02 8.26478335e-01 3.80843588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:109.12, Y:57.73, Z:38.10 [[ 2.50141873e-01 -9.54636853e-01 -1.61547278e-01 1.09122246e+02] [ 7.87921433e-01 2.97676777e-01 -5.39043923e-01 5.77252461e+01] [ 5.62680067e-01 7.55089411e-03 8.26640264e-01 3.81026881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:109.13, Y:57.75, Z:38.12 [[ 2.47657609e-01 -9.53261082e-01 -1.73086736e-01 1.09131583e+02] [ 7.87032817e-01 3.02132740e-01 -5.37861649e-01 5.77462766e+01] [ 5.65017747e-01 -3.01941106e-03 8.25073226e-01 3.81192431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95710568099997 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:109.14, Y:57.77, Z:38.14 [[ 2.44449225e-01 -9.54999731e-01 -1.67988366e-01 1.09138658e+02] [ 7.87688943e-01 2.96606486e-01 -5.39972889e-01 5.77693355e+01] [ 5.65500403e-01 -3.26624066e-04 8.24747954e-01 3.81362354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.98710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.16, Y:57.77, Z:38.17 [[ 2.35846093e-01 -9.40299383e-01 -2.45384780e-01 1.09155625e+02] [ 7.86169370e-01 3.33044053e-01 -5.20595218e-01 5.77740358e+01] [ 5.71239304e-01 -7.01336491e-02 8.17781712e-01 3.81701771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.01710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.16, Y:57.80, Z:38.18 [[ 2.30561938e-01 -9.56386233e-01 -1.79350401e-01 1.09160409e+02] [ 7.86905335e-01 2.91679855e-01 -5.43785671e-01 5.77969450e+01] [ 5.72382028e-01 -1.57555097e-02 8.19835702e-01 3.81840614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.17, Y:57.82, Z:38.20 [[ 2.27891383e-01 -9.60404577e-01 -1.60276528e-01 1.09165380e+02] [ 7.82938861e-01 2.78606227e-01 -5.56224154e-01 5.78188660e+01] [ 5.78854263e-01 1.27196945e-03 8.15430024e-01 3.82011613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:109.17, Y:57.85, Z:38.20 [[ 2.31241777e-01 -9.65614627e-01 -1.18809227e-01 1.09168415e+02] [ 7.93035413e-01 2.57822159e-01 -5.51926234e-01 5.78548780e+01] [ 5.63579696e-01 3.34084784e-02 8.25385849e-01 3.81990408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:109.19, Y:57.86, Z:38.24 [[ 2.33398049e-01 -9.39840192e-01 -2.49450926e-01 1.09188730e+02] [ 7.85091700e-01 3.33497794e-01 -5.21929348e-01 5.78559590e+01] [ 5.73721512e-01 -7.40245602e-02 8.15698468e-01 3.82370449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:109.18, Y:57.90, Z:38.23 [[ 2.41208839e-01 -9.65337320e-01 -9.97103498e-02 1.09179863e+02] [ 7.91045565e-01 2.55091807e-01 -5.56035147e-01 5.78960319e+01] [ 5.62196772e-01 5.52451623e-02 8.25156204e-01 3.82333162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.20, Y:57.90, Z:38.27 [[ 2.42930107e-01 -9.38679377e-01 -2.44675273e-01 1.09201836e+02] [ 7.83298357e-01 3.38607773e-01 -5.21333348e-01 5.78972900e+01] [ 5.72213812e-01 -6.50061735e-02 8.17524037e-01 3.82731188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.20, Y:57.92, Z:38.29 [[ 2.45698836e-01 -9.52808149e-01 -1.78293898e-01 1.09197710e+02] [ 7.82581288e-01 3.03514202e-01 -5.43549130e-01 5.79223844e+01] [ 5.72012770e-01 -5.98007977e-03 8.20222915e-01 3.82857223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.20, Y:57.95, Z:38.30 [[ 2.53311409e-01 -9.50864445e-01 -1.78017238e-01 1.09201280e+02] [ 7.80272485e-01 3.09605005e-01 -5.43433152e-01 5.79456464e+01] [ 5.71846290e-01 -1.24413533e-03 8.20359843e-01 3.83000191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:109.21, Y:57.97, Z:38.31 [[ 2.62266902e-01 -9.48436552e-01 -1.78000500e-01 1.09208241e+02] [ 7.76704624e-01 3.16935058e-01 -5.44318010e-01 5.79684852e+01] [ 5.72665695e-01 4.50278657e-03 8.19776632e-01 3.83135574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.22, Y:57.99, Z:38.32 [[ 2.68162472e-01 -9.46491744e-01 -1.79561321e-01 1.09215738e+02] [ 7.70313226e-01 3.22597360e-01 -5.50044068e-01 5.79923935e+01] [ 5.78538177e-01 9.18271684e-03 8.15603614e-01 3.83238308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.317105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.22, Y:58.01, Z:38.34 [[ 2.69945074e-01 -9.45851401e-01 -1.80263099e-01 1.09223568e+02] [ 7.67294360e-01 3.24412999e-01 -5.53186742e-01 5.80140962e+01] [ 5.81712147e-01 1.10151768e-02 8.13320136e-01 3.83375641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.347105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.23, Y:58.04, Z:38.35 [[ 2.71310277e-01 -9.49360411e-01 -1.58447289e-01 1.09227941e+02] [ 7.61230193e-01 3.12391110e-01 -5.68278442e-01 5.80357677e+01] [ 5.88998580e-01 3.35649210e-02 8.07436728e-01 3.83534656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.377105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.24, Y:58.06, Z:38.37 [[ 2.73545976e-01 -9.40347004e-01 -2.02287199e-01 1.09243086e+02] [ 7.62865803e-01 3.40194316e-01 -5.49821419e-01 5.80557362e+01] [ 5.85839880e-01 -3.91654978e-03 8.10417359e-01 3.83669277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.407105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.25, Y:58.07, Z:38.38 [[ 2.76266474e-01 -9.45371559e-01 -1.73059096e-01 1.09247514e+02] [ 7.60715870e-01 3.25142967e-01 -5.61777016e-01 5.80748338e+01] [ 5.87356961e-01 2.35513549e-02 8.08985249e-01 3.83808830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.437105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.26, Y:58.10, Z:38.40 [[ 2.72102418e-01 -9.44997023e-01 -1.81496283e-01 1.09260933e+02] [ 7.66378679e-01 3.26880947e-01 -5.53003224e-01 5.80952396e+01] [ 5.81914078e-01 1.13786328e-02 8.13170667e-01 3.83971603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.467105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:109.27, Y:58.12, Z:38.41 [[ 2.65414306e-01 -9.47480753e-01 -1.78424966e-01 1.09272464e+02] [ 7.70572464e-01 3.19690211e-01 -5.51376683e-01 5.81150663e+01] [ 5.79459510e-01 8.85389456e-03 8.14952934e-01 3.84112741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.497105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.28, Y:58.14, Z:38.43 [[ 2.61549828e-01 -9.48657848e-01 -1.77876293e-01 1.09281515e+02] [ 7.72539959e-01 3.16235308e-01 -5.50615331e-01 5.81354002e+01] [ 5.78596319e-01 6.59680097e-03 8.15587385e-01 3.84266230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.527105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.29, Y:58.15, Z:38.44 [[ 2.54836593e-01 -9.50621882e-01 -1.77133702e-01 1.09293328e+02] [ 7.75879129e-01 3.10341078e-01 -5.49272239e-01 5.81542213e+01] [ 5.77122074e-01 2.54032375e-03 8.16653941e-01 3.84409993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.31, Y:58.17, Z:38.46 [[ 2.49312839e-01 -9.52067705e-01 -1.77229209e-01 1.09306505e+02] [ 7.76725707e-01 3.05887119e-01 -5.50572653e-01 5.81732020e+01] [ 5.78394575e-01 -3.93651311e-04 8.15757048e-01 3.84552600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.32, Y:58.19, Z:38.47 [[ 2.46101991e-01 -9.52908846e-01 -1.77196336e-01 1.09315484e+02] [ 7.77186168e-01 3.03250155e-01 -5.51380997e-01 5.81934061e+01] [ 5.79150646e-01 -2.01857997e-03 8.15218041e-01 3.84696839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.32, Y:58.21, Z:38.49 [[ 2.45729140e-01 -9.53056718e-01 -1.76918291e-01 1.09321818e+02] [ 7.77304142e-01 3.02785178e-01 -5.51470223e-01 5.82144969e+01] [ 5.79150637e-01 -2.00701717e-03 8.15218076e-01 3.84850349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.33, Y:58.23, Z:38.50 [[ 2.41494900e-01 -9.54202237e-01 -1.76573795e-01 1.09333059e+02] [ 7.78834052e-01 2.99130193e-01 -5.51306310e-01 5.82344233e+01] [ 5.78876267e-01 -4.38402213e-03 8.15403610e-01 3.84998229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.34, Y:58.25, Z:38.51 [[ 2.39756935e-01 -9.54652021e-01 -1.76510995e-01 1.09341592e+02] [ 7.78818557e-01 2.97680260e-01 -5.52112414e-01 5.82542087e+01] [ 5.79619071e-01 -5.09725795e-03 8.14871616e-01 3.85149369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.35, Y:58.27, Z:38.53 [[ 2.35237341e-01 -9.55754006e-01 -1.76628634e-01 1.09351940e+02] [ 7.79182778e-01 2.94073623e-01 -5.53529496e-01 5.82744216e+01] [ 5.80979856e-01 -7.41518310e-03 8.13884158e-01 3.85307673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.36, Y:58.29, Z:38.55 [[ 2.32610511e-01 -9.60826892e-01 -1.50678581e-01 1.09358131e+02] [ 7.77158273e-01 2.76776739e-01 -5.65172235e-01 5.82929273e+01] [ 5.84737008e-01 1.43638967e-02 8.11095746e-01 3.85479812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.37, Y:58.31, Z:38.57 [[ 2.30674958e-01 -9.52946246e-01 -1.96678711e-01 1.09372919e+02] [ 7.84063071e-01 3.01740287e-01 -5.42400129e-01 5.83113650e+01] [ 5.76224058e-01 -2.90903865e-02 8.16773888e-01 3.85654382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.79710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.38, Y:58.33, Z:38.58 [[ 2.27363557e-01 -9.58064066e-01 -1.74410600e-01 1.09380112e+02] [ 7.85087764e-01 2.86300635e-01 -5.49244161e-01 5.83321184e+01] [ 5.76144960e-01 -1.20495219e-02 8.17258707e-01 3.85791043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.39, Y:58.35, Z:38.59 [[ 2.26727412e-01 -9.58295334e-01 -1.73967621e-01 1.09388503e+02] [ 7.85646524e-01 2.85517610e-01 -5.48852652e-01 5.83542574e+01] [ 5.75633755e-01 -1.22371148e-02 8.17616067e-01 3.85935608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.40, Y:58.37, Z:38.61 [[ 2.25206745e-01 -9.60832439e-01 -1.61502155e-01 1.09395126e+02] [ 7.83000166e-01 2.77128011e-01 -5.56875933e-01 5.83729067e+01] [ 5.79821232e-01 -1.04399742e-03 8.14743057e-01 3.86094020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.40, Y:58.39, Z:38.63 [[ 2.29026570e-01 -9.55982653e-01 -1.83423003e-01 1.09404058e+02] [ 7.87036347e-01 2.92741239e-01 -5.43025189e-01 5.83920500e+01] [ 5.72818138e-01 -1.99933737e-02 8.19438616e-01 3.86266662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.41, Y:58.42, Z:38.64 [[ 2.37547954e-01 -9.55981039e-01 -1.72253370e-01 1.09405672e+02] [ 7.84317627e-01 2.93381347e-01 -5.46601541e-01 5.84155631e+01] [ 5.73076635e-01 -5.25727706e-03 8.19484918e-01 3.86412503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.41, Y:58.44, Z:38.66 [[ 2.42460714e-01 -9.58604636e-01 -1.49298204e-01 1.09408184e+02] [ 7.78009810e-01 2.84057388e-01 -5.60367857e-01 5.84374494e+01] [ 5.79580484e-01 1.97117235e-02 8.14676568e-01 3.86556745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:109.42, Y:58.46, Z:38.67 [[ 2.51780789e-01 -9.48480439e-01 -1.92331201e-01 1.09418562e+02] [ 7.78621844e-01 3.16554742e-01 -5.41794351e-01 5.84585161e+01] [ 5.74764698e-01 -1.33398652e-02 8.18209992e-01 3.86711110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.42, Y:58.48, Z:38.68 [[ 2.57053090e-01 -9.50968768e-01 -1.71994511e-01 1.09420531e+02] [ 7.76859110e-01 3.09198721e-01 -5.48530833e-01 5.84822298e+01] [ 5.74816173e-01 7.38604308e-03 8.18249237e-01 3.86846940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.43, Y:58.50, Z:38.70 [[ 2.69498592e-01 -9.47702937e-01 -1.70966814e-01 1.09427036e+02] [ 7.74620622e-01 3.18812185e-01 -5.46188322e-01 5.85040766e+01] [ 5.72130580e-01 1.47625633e-02 8.20029674e-01 3.86993458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.067105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.44, Y:58.52, Z:38.72 [[ 2.76161903e-01 -9.45872610e-01 -1.70468793e-01 1.09438247e+02] [ 7.72936660e-01 3.23987778e-01 -5.45528038e-01 5.85235363e+01] [ 5.71229834e-01 1.88924817e-02 8.20572697e-01 3.87151536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.097105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.45, Y:58.54, Z:38.73 [[ 2.76558120e-01 -9.45751361e-01 -1.70499178e-01 1.09445992e+02] [ 7.72040902e-01 3.24303390e-01 -5.46607863e-01 5.85443093e+01] [ 5.72248592e-01 1.95365038e-02 8.19847470e-01 3.87300480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.127105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.45, Y:58.57, Z:38.74 [[ 2.74931897e-01 -9.46251133e-01 -1.70356232e-01 1.09454498e+02] [ 7.72237348e-01 3.22881334e-01 -5.47171932e-01 5.85668563e+01] [ 5.72766908e-01 1.88795724e-02 8.19500843e-01 3.87432744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.157105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:109.47, Y:58.59, Z:38.76 [[ 2.70930510e-01 -9.47288851e-01 -1.70998513e-01 1.09469071e+02] [ 7.71313320e-01 3.19920113e-01 -5.50206219e-01 5.85866710e+01] [ 5.75910081e-01 1.71742201e-02 8.17332628e-01 3.87552437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.187105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.48, Y:58.61, Z:38.77 [[ 2.69383368e-01 -9.50852016e-01 -1.52686101e-01 1.09478885e+02] [ 7.68233227e-01 3.07782911e-01 -5.61326455e-01 5.86051204e+01] [ 5.80732564e-01 3.39134748e-02 8.13387709e-01 3.87683079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.217105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.50, Y:58.62, Z:38.79 [[ 2.60900126e-01 -9.49074670e-01 -1.76602365e-01 1.09497267e+02] [ 7.72214852e-01 3.14959779e-01 -5.51801196e-01 5.86231824e+01] [ 5.79323180e-01 7.59003262e-03 8.15062602e-01 3.87864824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.247105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:109.51, Y:58.65, Z:38.80 [[ 2.57427264e-01 -9.50096094e-01 -1.76206176e-01 1.09506280e+02] [ 7.75998347e-01 3.11926539e-01 -5.48204706e-01 5.86451758e+01] [ 5.75810532e-01 4.38713603e-03 8.17571394e-01 3.88014587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.277105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.52, Y:58.67, Z:38.82 [[ 2.51649601e-01 -9.52794584e-01 -1.69867475e-01 1.09520203e+02] [ 7.78623866e-01 3.03557611e-01 -5.49179071e-01 5.86651959e+01] [ 5.74819409e-01 5.93782368e-03 8.18258754e-01 3.88163374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.54, Y:58.68, Z:38.83 [[ 2.46742716e-01 -9.54127394e-01 -1.69584636e-01 1.09537223e+02] [ 7.80197863e-01 2.99383715e-01 -5.49236456e-01 5.86829285e+01] [ 5.74812427e-01 3.21052459e-03 8.18278905e-01 3.88319764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33710568099997 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:109.55, Y:58.70, Z:38.85 [[ 2.43728823e-01 -9.54950407e-01 -1.69310310e-01 1.09547006e+02] [ 7.81116539e-01 2.96760886e-01 -5.49354102e-01 5.87029546e+01] [ 5.74850601e-01 1.64234559e-03 8.18256738e-01 3.88470246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36710568099997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:109.56, Y:58.72, Z:38.86 [[ 2.38407241e-01 -9.56332537e-01 -1.69085974e-01 1.09556900e+02] [ 7.82768966e-01 2.92277598e-01 -5.49405635e-01 5.87236413e+01] [ 5.74834527e-01 -1.37297135e-03 8.18268526e-01 3.88622875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39710568099997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:109.56, Y:58.74, Z:38.88 [[ 2.36576484e-01 -9.56808239e-01 -1.68966155e-01 1.09564927e+02] [ 7.82909680e-01 2.90711764e-01 -5.50035548e-01 5.87439701e+01] [ 5.75398992e-01 -2.15976213e-03 8.17869999e-01 3.88785825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42710568099997 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:109.57, Y:58.76, Z:38.89 [[ 2.36967663e-01 -9.56761202e-01 -1.68684112e-01 1.09574840e+02] [ 7.82782779e-01 2.90869701e-01 -5.50132655e-01 5.87642349e+01] [ 5.75410677e-01 -1.67936844e-03 8.17862905e-01 3.88940458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45710568099997 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:109.58, Y:58.78, Z:38.91 [[ 2.39519466e-01 -9.56159833e-01 -1.68489762e-01 1.09584270e+02] [ 7.81774800e-01 2.92845275e-01 -5.50517762e-01 5.87828016e+01] [ 5.75724402e-01 1.38670361e-04 8.17643806e-01 3.89112603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.48710568099997 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:109.59, Y:58.80, Z:38.93 [[ 2.41071155e-01 -9.55833444e-01 -1.68128300e-01 1.09591944e+02] [ 7.81652766e-01 2.93906420e-01 -5.50125413e-01 5.88032690e+01] [ 5.75242255e-01 1.20141802e-03 8.17982215e-01 3.89281962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.51710568099998 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:109.60, Y:58.82, Z:38.95 [[ 2.45889260e-01 -9.54803991e-01 -1.66996441e-01 1.09601639e+02] [ 7.82294919e-01 2.97209694e-01 -5.47431327e-01 5.88219083e+01] [ 5.72322576e-01 3.96701710e-03 8.20018982e-01 3.89457203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.54710568099998 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:109.61, Y:58.85, Z:38.95 [[ 2.52736295e-01 -9.58833120e-01 -1.29473603e-01 1.09607189e+02] [ 7.85304761e-01 2.81457726e-01 -5.51432662e-01 5.88541559e+01] [ 5.65173245e-01 3.76908107e-02 8.24110797e-01 3.89482415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57710568099998 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:109.62, Y:58.86, Z:38.98 [[ 2.53041738e-01 -9.46200684e-01 -2.01678321e-01 1.09621132e+02] [ 7.79041313e-01 3.22890256e-01 -5.37435126e-01 5.88605741e+01] [ 5.73641448e-01 -2.11222259e-02 8.18834135e-01 3.89806392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.60710568099998 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:109.63, Y:58.89, Z:38.99 [[ 2.59179544e-01 -9.51282373e-01 -1.66996440e-01 1.09628510e+02] [ 7.76298176e-01 3.08050961e-01 -5.49968860e-01 5.88855339e+01] [ 5.74619096e-01 1.29016465e-02 8.18319279e-01 3.89896519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63710568099998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:109.64, Y:58.90, Z:39.00 [[ 2.62098060e-01 -9.50440161e-01 -1.67236679e-01 1.09641515e+02] [ 7.74190416e-01 3.10541430e-01 -5.51537143e-01 5.89047308e+01] [ 5.76136968e-01 1.50837811e-02 8.17213971e-01 3.90049500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.66710568099998 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:109.65, Y:58.94, Z:39.00 [[ 2.63599540e-01 -9.56974511e-01 -1.21305679e-01 1.09646797e+02] [ 7.79586563e-01 2.85404376e-01 -5.57484648e-01 5.89387472e+01] [ 5.68119770e-01 5.23844198e-02 8.21276932e-01 3.90035990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69710568099998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:109.67, Y:58.94, Z:39.04 [[ 2.59697493e-01 -9.43170018e-01 -2.07334344e-01 1.09669194e+02] [ 7.72546589e-01 3.31733671e-01 -5.41409770e-01 5.89388488e+01] [ 5.79421246e-01 -1.95726800e-02 8.14793183e-01 3.90432983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:109.67, Y:58.96, Z:39.05 [[ 2.59309917e-01 -9.51140294e-01 -1.67602232e-01 1.09674500e+02] [ 7.72376345e-01 3.08416843e-01 -5.55260149e-01 5.89649526e+01] [ 5.79821652e-01 1.45324642e-02 8.14613810e-01 3.90515475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75710568099998 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:109.69, Y:59.00, Z:39.06 [[ 2.62389791e-01 -9.54863063e-01 -1.39241259e-01 1.09687854e+02] [ 7.73962301e-01 2.94430709e-01 -5.60618332e-01 5.89956783e+01] [ 5.76310640e-01 3.93330411e-02 8.16283626e-01 3.90556391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78710568099999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:109.70, Y:59.00, Z:39.09 [[ 2.60858161e-01 -9.44710694e-01 -1.98682474e-01 1.09701770e+02] [ 7.69736871e-01 3.27751428e-01 -5.47799371e-01 5.90007342e+01] [ 5.82630388e-01 -1.00352893e-02 8.12675288e-01 3.90865617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.817105681 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:109.71, Y:59.03, Z:39.09 [[ 2.64252847e-01 -9.54322109e-01 -1.39426485e-01 1.09709033e+02] [ 7.72919761e-01 2.96016754e-01 -5.61221102e-01 5.90337620e+01] [ 5.76858281e-01 4.05387880e-02 8.15837686e-01 3.90862406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.847105681 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:109.72, Y:59.05, Z:39.10 [[ 2.61819910e-01 -9.52237761e-01 -1.57141914e-01 1.09724164e+02] [ 7.73945665e-01 3.04431581e-01 -5.55274275e-01 5.90530457e+01] [ 5.76592094e-01 2.37625574e-02 8.16686536e-01 3.91039794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.877105681 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:109.74, Y:59.06, Z:39.14 [[ 2.56036712e-01 -9.45307063e-01 -2.02088495e-01 1.09743054e+02] [ 7.69816091e-01 3.25834390e-01 -5.48830699e-01 5.90588008e+01] [ 5.84660917e-01 -1.50501678e-02 8.11138154e-01 3.91352035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.907105681 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:109.74, Y:59.10, Z:39.13 [[ 2.53728219e-01 -9.59357601e-01 -1.23511070e-01 1.09744071e+02] [ 7.75211734e-01 2.78051248e-01 -5.67216247e-01 5.90985107e+01] [ 5.78505625e-01 4.81715371e-02 8.14254717e-01 3.91263172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.937105681 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:109.76, Y:59.11, Z:39.16 [[ 2.43014377e-01 -9.51340757e-01 -1.89459169e-01 1.09762813e+02] [ 7.72820553e-01 3.07923699e-01 -5.54915659e-01 5.91051513e+01] [ 5.86252851e-01 -1.15654565e-02 8.10045576e-01 3.91615891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.967105681 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:109.77, Y:59.12, Z:39.17 [[ 2.44718129e-01 -9.51347379e-01 -1.87219660e-01 1.09772949e+02] [ 7.76163877e-01 3.07935790e-01 -5.50222851e-01 5.91229698e+01] [ 5.81104701e-01 -1.06636306e-02 8.13758940e-01 3.91717958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.997105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:109.78, Y:59.15, Z:39.18 [[ 2.40595358e-01 -9.56342414e-01 -1.65900756e-01 1.09782690e+02] [ 7.78319931e-01 2.92212598e-01 -5.55724646e-01 5.91456668e+01] [ 5.79941341e-01 4.58090488e-03 8.14645356e-01 3.91845772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.027105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:109.79, Y:59.16, Z:39.20 [[ 2.38343555e-01 -9.56906511e-01 -1.65898400e-01 1.09794375e+02] [ 7.78330266e-01 2.90374390e-01 -5.56672894e-01 5.91643058e+01] [ 5.80856563e-01 3.55565035e-03 8.13998163e-01 3.92019163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05710568099997 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:109.80, Y:59.18, Z:39.22 [[ 2.37156920e-01 -9.57224513e-01 -1.65764372e-01 1.09802188e+02] [ 7.78288267e-01 2.89329075e-01 -5.57275569e-01 5.91848890e+01] [ 5.81398288e-01 3.14929168e-03 8.13612999e-01 3.92167810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08710568099997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:109.81, Y:59.21, Z:39.23 [[ 2.34451765e-01 -9.59014911e-01 -1.59131298e-01 1.09811336e+02] [ 7.78090754e-01 2.83252867e-01 -5.60662636e-01 5.92085610e+01] [ 5.82758225e-01 7.62975296e-03 8.12609770e-01 3.92309093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:109.82, Y:59.23, Z:39.25 [[ 2.34610076e-01 -9.56252821e-01 -1.74753126e-01 1.09824055e+02] [ 7.79622280e-01 2.92473159e-01 -5.53758568e-01 5.92255000e+01] [ 5.80643792e-01 -6.32409070e-03 8.14133154e-01 3.92467853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:109.83, Y:59.25, Z:39.26 [[ 2.33353658e-01 -9.58330803e-01 -1.64766930e-01 1.09831942e+02] [ 7.79854012e-01 2.85656932e-01 -5.56981002e-01 5.92486045e+01] [ 5.80838867e-01 1.47940272e-03 8.14017212e-01 3.92602418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17710568099997 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:109.84, Y:59.27, Z:39.28 [[ 2.31053739e-01 -9.58927270e-01 -1.64537716e-01 1.09840630e+02] [ 7.80388120e-01 2.83651838e-01 -5.57257585e-01 5.92685905e+01] [ 5.81040921e-01 3.53169535e-04 8.13874268e-01 3.92763194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.20710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:109.85, Y:59.29, Z:39.29 [[ 2.25904678e-01 -9.60182809e-01 -1.64365596e-01 1.09850559e+02] [ 7.81601803e-01 2.79361489e-01 -5.57723749e-01 5.92879725e+01] [ 5.81434174e-01 -2.47604225e-03 8.13589682e-01 3.92931378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.23710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.86, Y:59.31, Z:39.31 [[ 2.21836388e-01 -9.61255077e-01 -1.63637693e-01 1.09858447e+02] [ 7.83930368e-01 2.75617430e-01 -5.56316646e-01 5.93088767e+01] [ 5.79863601e-01 -4.86928126e-03 8.14699021e-01 3.93082745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.26710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:109.87, Y:59.33, Z:39.33 [[ 2.18987903e-01 -9.62010866e-01 -1.63031872e-01 1.09867741e+02] [ 7.85576537e-01 2.72934567e-01 -5.55316330e-01 5.93265431e+01] [ 5.78717377e-01 -6.46645503e-03 8.15502534e-01 3.93256941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.29710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:109.87, Y:59.35, Z:39.34 [[ 2.17797708e-01 -9.62324947e-01 -1.62772404e-01 1.09873661e+02] [ 7.86011248e-01 2.71811663e-01 -5.55251959e-01 5.93475307e+01] [ 5.78576250e-01 -7.00833606e-03 8.15598189e-01 3.93425167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.32710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:109.88, Y:59.37, Z:39.36 [[ 2.15181282e-01 -9.63028011e-01 -1.62092768e-01 1.09876145e+02] [ 7.87813477e-01 2.69267083e-01 -5.53936064e-01 5.93707352e+01] [ 5.77102193e-01 -8.50219462e-03 8.16627682e-01 3.93567618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:109.88, Y:59.39, Z:39.37 [[ 2.12710402e-01 -9.63660033e-01 -1.61597111e-01 1.09880849e+02] [ 7.89067448e-01 2.66950976e-01 -5.53271848e-01 5.93925080e+01] [ 5.76304474e-01 -9.82434275e-03 8.17176013e-01 3.93718943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38710568099998 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:109.88, Y:59.41, Z:39.39 [[ 2.07497523e-01 -9.64811611e-01 -1.61503355e-01 1.09884943e+02] [ 7.89989592e-01 2.62638689e-01 -5.54019280e-01 5.94142392e+01] [ 5.76941264e-01 -1.26283411e-02 8.16688009e-01 3.93876727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:109.89, Y:59.44, Z:39.40 [[ 2.03251316e-01 -9.65753414e-01 -1.61273820e-01 1.09887165e+02] [ 7.90968774e-01 2.59033664e-01 -5.54319366e-01 5.94366471e+01] [ 5.77111169e-01 -1.48964151e-02 8.16529727e-01 3.94032066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44710568099998 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:109.89, Y:59.46, Z:39.42 [[ 2.02127016e-01 -9.66075246e-01 -1.60758478e-01 1.09891550e+02] [ 7.91901814e-01 2.57800294e-01 -5.53561672e-01 5.94591277e+01] [ 5.76225812e-01 -1.54151617e-02 8.17145144e-01 3.94183570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:109.89, Y:59.48, Z:39.43 [[ 2.01766648e-01 -9.66283226e-01 -1.59959206e-01 1.09894134e+02] [ 7.93321059e-01 2.57011813e-01 -5.51893672e-01 5.94808840e+01] [ 5.74397004e-01 -1.55452704e-02 8.18429244e-01 3.94342393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:109.90, Y:59.50, Z:39.45 [[ 2.02527071e-01 -9.66148950e-01 -1.59809233e-01 1.09895290e+02] [ 7.92742583e-01 2.57560158e-01 -5.52468970e-01 5.95036169e+01] [ 5.74927806e-01 -1.47976619e-02 8.18070319e-01 3.94495059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:109.90, Y:59.53, Z:39.47 [[ 2.02132853e-01 -9.66279458e-01 -1.59519024e-01 1.09901316e+02] [ 7.92842984e-01 2.57070863e-01 -5.52552779e-01 5.95256201e+01] [ 5.74928093e-01 -1.47844692e-02 8.18070356e-01 3.94653165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.567105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:109.90, Y:59.55, Z:39.48 [[ 2.02240225e-01 -9.66290152e-01 -1.59318029e-01 1.09904117e+02] [ 7.92615468e-01 2.57049039e-01 -5.52889240e-01 5.95474614e+01] [ 5.75203974e-01 -1.44614901e-02 8.17882176e-01 3.94797262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.597105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:109.91, Y:59.57, Z:39.49 [[ 2.02842272e-01 -9.66188731e-01 -1.59167674e-01 1.09905801e+02] [ 7.92044753e-01 2.57466718e-01 -5.53512419e-01 5.95699630e+01] [ 5.75777840e-01 -1.37922050e-02 8.17489849e-01 3.94943764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.627105681 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:109.91, Y:59.59, Z:39.51 [[ 2.03948380e-01 -9.65952689e-01 -1.59186875e-01 1.09910956e+02] [ 7.90898440e-01 2.58403539e-01 -5.54713681e-01 5.95909565e+01] [ 5.76961624e-01 -1.27676941e-02 8.16671458e-01 3.95108941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.657105681 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:109.91, Y:59.61, Z:39.53 [[ 2.05870444e-01 -9.65613145e-01 -1.58772213e-01 1.09914101e+02] [ 7.90729370e-01 2.59732031e-01 -5.54334137e-01 5.96141129e+01] [ 5.76510559e-01 -1.14248368e-02 8.17009822e-01 3.95257139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.687105681 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:109.92, Y:59.64, Z:39.54 [[ 2.06090736e-01 -9.65608028e-01 -1.58517331e-01 1.09917209e+02] [ 7.90593417e-01 2.59767561e-01 -5.54511373e-01 5.96357069e+01] [ 5.76618294e-01 -1.10431011e-02 8.16939039e-01 3.95399663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.717105681 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:109.92, Y:59.66, Z:39.56 [[ 2.09695209e-01 -9.64829971e-01 -1.58527746e-01 1.09918387e+02] [ 7.88795198e-01 2.62736496e-01 -5.55672268e-01 5.96590872e+01] [ 5.77780283e-01 -8.52411241e-03 8.16147832e-01 3.95550497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.747105681 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:109.92, Y:59.69, Z:39.57 [[ 2.10093468e-01 -9.66823645e-01 -1.45302357e-01 1.09919291e+02] [ 7.84728714e-01 2.55402780e-01 -5.64774526e-01 5.96861983e+01] [ 5.83147991e-01 4.63250700e-03 8.12352732e-01 3.95701824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.777105681 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:109.92, Y:59.71, Z:39.58 [[ 2.22841649e-01 -9.64015997e-01 -1.44964678e-01 1.09921346e+02] [ 7.84983864e-01 2.65619615e-01 -5.59684333e-01 5.97116306e+01] [ 5.78050112e-01 1.09260461e-02 8.15928115e-01 3.95763663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:109.93, Y:59.72, Z:39.61 [[ 2.27266631e-01 -9.55309067e-01 -1.89035616e-01 1.09930990e+02] [ 7.78666927e-01 2.94838684e-01 -5.53848325e-01 5.97201676e+01] [ 5.84831339e-01 -2.13245399e-02 8.10874570e-01 3.96089547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83710568099997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:109.92, Y:59.76, Z:39.61 [[ 2.34396026e-01 -9.64667226e-01 -1.20314779e-01 1.09924725e+02] [ 7.77567396e-01 2.60322634e-01 -5.72381927e-01 5.97615851e+01] [ 5.83478746e-01 4.06111997e-02 8.11112374e-01 3.96067136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86710568099997 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:109.94, Y:59.76, Z:39.64 [[ 2.42153488e-01 -9.49460375e-01 -1.99716510e-01 1.09936050e+02] [ 7.72991712e-01 3.13198371e-01 -5.51716044e-01 5.97646738e+01] [ 5.86383408e-01 -2.07792430e-02 8.09767079e-01 3.96407240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89710568099997 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:109.94, Y:59.79, Z:39.65 [[ 2.45371710e-01 -9.56454291e-01 -1.58075657e-01 1.09936282e+02] [ 7.72495531e-01 2.91425204e-01 -5.64200324e-01 5.97935540e+01] [ 5.85699051e-01 1.63260595e-02 8.10364166e-01 3.96475054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92710568099997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:109.94, Y:59.82, Z:39.66 [[ 2.51202229e-01 -9.58390639e-01 -1.35590647e-01 1.09944361e+02] [ 7.72725537e-01 2.82925006e-01 -5.68197752e-01 5.98227795e+01] [ 5.82917392e-01 3.79581865e-02 8.11644313e-01 3.96563264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95710568099997 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:109.96, Y:59.83, Z:39.69 [[ 2.51642171e-01 -9.50222025e-01 -1.83723490e-01 1.09957872e+02] [ 7.68515890e-01 3.11573077e-01 -5.58843040e-01 5.98296996e+01] [ 5.88268259e-01 -5.65945381e-04 8.08665651e-01 3.96871530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.98710568099997 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:109.96, Y:59.85, Z:39.70 [[ 2.52019192e-01 -9.54774983e-01 -1.57769003e-01 1.09961322e+02] [ 7.69484849e-01 2.96576259e-01 -5.65628491e-01 5.98542707e+01] [ 5.86838474e-01 2.11483783e-02 8.09427793e-01 3.96969652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.01710568099998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:109.97, Y:59.88, Z:39.71 [[ 2.51060352e-01 -9.55072016e-01 -1.57499664e-01 1.09971210e+02] [ 7.69698831e-01 2.95640965e-01 -5.65826943e-01 5.98753227e+01] [ 5.86968832e-01 2.08294043e-02 8.09341539e-01 3.97120624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.04710568099998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:109.98, Y:59.89, Z:39.73 [[ 2.48778711e-01 -9.55703827e-01 -1.57287470e-01 1.09983115e+02] [ 7.70195070e-01 2.93669319e-01 -5.66178316e-01 5.98947534e+01] [ 5.87289287e-01 1.97110772e-02 8.09137050e-01 3.97278085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07710568099998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:109.99, Y:59.92, Z:39.74 [[ 2.46455216e-01 -9.57901512e-01 -1.47256645e-01 1.09990514e+02] [ 7.69321271e-01 2.85773776e-01 -5.71382649e-01 5.99178011e+01] [ 5.89410391e-01 2.75325643e-02 8.07364446e-01 3.97433817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:110.01, Y:59.93, Z:39.77 [[ 2.43986866e-01 -9.55018989e-01 -1.68550109e-01 1.10005574e+02] [ 7.72396423e-01 2.96465269e-01 -5.61704647e-01 5.99311718e+01] [ 5.86407857e-01 6.86105474e-03 8.09986883e-01 3.97655162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:110.01, Y:59.95, Z:39.78 [[ 2.43195340e-01 -9.57386510e-01 -1.55779003e-01 1.10013617e+02] [ 7.73848634e-01 2.88332466e-01 -5.63934996e-01 5.99525317e+01] [ 5.84819902e-01 1.65969940e-02 8.10993355e-01 3.97799878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:110.03, Y:59.97, Z:39.80 [[ 2.42787914e-01 -9.57634594e-01 -1.54887101e-01 1.10025460e+02] [ 7.75694355e-01 2.87526986e-01 -5.61806461e-01 5.99712714e+01] [ 5.82539524e-01 1.62547688e-02 8.12639826e-01 3.97958751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:110.03, Y:59.99, Z:39.81 [[ 2.42558044e-01 -9.57726774e-01 -1.54677150e-01 1.10034086e+02] [ 7.75523962e-01 2.87210902e-01 -5.62203240e-01 5.99930383e+01] [ 5.82862059e-01 1.64110820e-02 8.12405377e-01 3.98105511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:110.05, Y:60.02, Z:39.82 [[ 2.42980813e-01 -9.57595087e-01 -1.54828852e-01 1.10045838e+02] [ 7.74180949e-01 2.87607204e-01 -5.63849230e-01 6.00159398e+01] [ 5.84469145e-01 1.71389964e-02 8.11234906e-01 3.98229195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.06, Y:60.04, Z:39.84 [[ 2.45119502e-01 -9.57024398e-01 -1.54986230e-01 1.10060380e+02] [ 7.72287693e-01 2.89389015e-01 -5.65531358e-01 6.00350827e+01] [ 5.86078620e-01 1.89288075e-02 8.10033056e-01 3.98382142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.07, Y:60.07, Z:39.85 [[ 2.48626776e-01 -9.59898750e-01 -1.29534226e-01 1.10071245e+02] [ 7.73677406e-01 2.77269912e-01 -5.69688219e-01 6.00663679e+01] [ 5.82758953e-01 4.14220412e-02 8.11588700e-01 3.98455275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.317105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.09, Y:60.07, Z:39.88 [[ 2.47748767e-01 -9.50727901e-01 -1.86378663e-01 1.10086970e+02] [ 7.68857345e-01 3.09990242e-01 -5.59253460e-01 6.00676859e+01] [ 5.89473436e-01 -4.74424873e-03 8.07773830e-01 3.98802439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.347105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.10, Y:60.10, Z:39.88 [[ 2.54088729e-01 -9.57735036e-01 -1.34842567e-01 1.10098406e+02] [ 7.71320122e-01 2.84769883e-01 -5.69184841e-01 6.01025056e+01] [ 5.83527367e-01 4.06166677e-02 8.11077123e-01 3.98770588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.377105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.11, Y:60.11, Z:39.91 [[ 2.50773196e-01 -9.51809377e-01 -1.76555132e-01 1.10109652e+02] [ 7.68518674e-01 3.06647217e-01 -5.61557239e-01 6.01068421e+01] [ 5.88635585e-01 5.13758797e-03 8.08382183e-01 3.99096313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.407105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:110.12, Y:60.13, Z:39.92 [[ 2.53416419e-01 -9.54960281e-01 -1.54372863e-01 1.10124205e+02] [ 7.67459106e-01 2.95619784e-01 -5.68872097e-01 6.01289946e+01] [ 5.88885930e-01 2.56866705e-02 8.07807871e-01 3.99206081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.437105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.14, Y:60.15, Z:39.94 [[ 2.57776144e-01 -9.53827181e-01 -1.54159554e-01 1.10139148e+02] [ 7.65947294e-01 2.98987864e-01 -5.69149365e-01 6.01483445e+01] [ 5.88961971e-01 2.86350356e-02 8.07653287e-01 3.99353600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.467105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.15, Y:60.17, Z:39.95 [[ 2.60622996e-01 -9.53099543e-01 -1.53873048e-01 1.10149224e+02] [ 7.65056446e-01 3.01102718e-01 -5.69232631e-01 6.01693092e+01] [ 5.88866953e-01 3.06335465e-02 8.07649241e-01 3.99506960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.497105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.16, Y:60.19, Z:39.96 [[ 2.62233289e-01 -9.54799489e-01 -1.39970133e-01 1.10161228e+02] [ 7.62249270e-01 2.93894420e-01 -5.76716673e-01 6.01940144e+01] [ 5.91785225e-01 4.45421786e-02 8.04864114e-01 3.99627032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.527105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:110.17, Y:60.21, Z:39.99 [[ 2.63447327e-01 -9.48994476e-01 -1.73219489e-01 1.10174753e+02] [ 7.62999819e-01 3.14857620e-01 -5.64531625e-01 6.02056503e+01] [ 5.90276870e-01 1.65579089e-02 8.07031011e-01 3.99862577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:110.19, Y:60.23, Z:40.00 [[ 2.61408882e-01 -9.53032366e-01 -1.52953279e-01 1.10186598e+02] [ 7.64658218e-01 3.01175857e-01 -5.69728806e-01 6.02292248e+01] [ 5.89035827e-01 3.19751884e-02 8.07474075e-01 3.99972670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.20, Y:60.25, Z:40.01 [[ 2.54531916e-01 -9.55811859e-01 -1.47095864e-01 1.10201338e+02] [ 7.65610618e-01 2.92090178e-01 -5.73169879e-01 6.02489282e+01] [ 5.90807825e-01 3.32718722e-02 8.06125981e-01 4.00147479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.22, Y:60.26, Z:40.03 [[ 2.49351466e-01 -9.55045324e-01 -1.60350476e-01 1.10216899e+02] [ 7.67770806e-01 2.95875858e-01 -5.68318102e-01 6.02634496e+01] [ 5.90213381e-01 1.85985376e-02 8.07032998e-01 4.00337449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.23, Y:60.29, Z:40.05 [[ 2.46288912e-01 -9.57149245e-01 -1.52338748e-01 1.10225172e+02] [ 7.68659865e-01 2.88640626e-01 -5.70831500e-01 6.02869598e+01] [ 5.90342091e-01 2.34927876e-02 8.06811195e-01 4.00454814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.24, Y:60.31, Z:40.06 [[ 2.40483959e-01 -9.58744692e-01 -1.51578629e-01 1.10239244e+02] [ 7.71837522e-01 2.83573922e-01 -5.69080548e-01 6.03062516e+01] [ 5.88586701e-01 1.98606701e-02 8.08190107e-01 4.00615683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.25, Y:60.33, Z:40.08 [[ 2.37074856e-01 -9.59643804e-01 -1.51258993e-01 1.10249273e+02] [ 7.72953652e-01 2.80642747e-01 -5.69018717e-01 6.03251566e+01] [ 5.88505025e-01 1.79838392e-02 8.08293521e-01 4.00773396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.26, Y:60.35, Z:40.09 [[ 2.31998072e-01 -9.61771998e-01 -1.45504360e-01 1.10261172e+02] [ 7.73157807e-01 2.73098149e-01 -5.72402311e-01 6.03466525e+01] [ 5.90257486e-01 2.02984008e-02 8.06959773e-01 4.00917917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.76710568099998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:110.27, Y:60.36, Z:40.11 [[ 2.29945694e-01 -9.60513667e-01 -1.56647608e-01 1.10273224e+02] [ 7.75331165e-01 2.78089358e-01 -5.67034297e-01 6.03618744e+01] [ 5.88206225e-01 8.93332283e-03 8.08661631e-01 4.01113269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.79710568099998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:110.28, Y:60.39, Z:40.12 [[ 2.27919833e-01 -9.63921208e-01 -1.37508015e-01 1.10280045e+02] [ 7.73757794e-01 2.65035425e-01 -5.75373879e-01 6.03878069e+01] [ 5.91059579e-01 2.47412199e-02 8.06248377e-01 4.01216100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.29, Y:60.40, Z:40.15 [[ 2.23578581e-01 -9.60844732e-01 -1.63676570e-01 1.10292041e+02] [ 7.77082384e-01 2.77086079e-01 -5.65125007e-01 6.04004771e+01] [ 5.88349884e-01 -8.40331753e-04 8.08606027e-01 4.01481818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.30, Y:60.43, Z:40.16 [[ 2.21501364e-01 -9.63621599e-01 -1.49567911e-01 1.10297521e+02] [ 7.78562871e-01 2.67107078e-01 -5.67885257e-01 6.04256257e+01] [ 5.87177147e-01 9.33933671e-03 8.09404581e-01 4.01600180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88710568099998 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:110.30, Y:60.45, Z:40.18 [[ 2.18395489e-01 -9.64462157e-01 -1.48715024e-01 1.10304921e+02] [ 7.81220808e-01 2.64118733e-01 -5.65628274e-01 6.04453661e+01] [ 5.84805489e-01 7.35139188e-03 8.11140245e-01 4.01773023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91710568099998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:110.31, Y:60.47, Z:40.19 [[ 2.19480329e-01 -9.66391897e-01 -1.33847252e-01 1.10310152e+02] [ 7.77806683e-01 2.56142109e-01 -5.73940750e-01 6.04665330e+01] [ 5.88935607e-01 2.18614172e-02 8.07884230e-01 4.01875692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94710568099998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:110.32, Y:60.49, Z:40.21 [[ 2.18398096e-01 -9.63473093e-01 -1.54989903e-01 1.10319938e+02] [ 7.80866702e-01 2.67795828e-01 -5.64386914e-01 6.04850074e+01] [ 5.85277255e-01 2.23457302e-03 8.10830156e-01 4.02119539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.33, Y:60.51, Z:40.22 [[ 2.21951631e-01 -9.65252394e-01 -1.37932191e-01 1.10325454e+02] [ 7.76587861e-01 2.60537646e-01 -5.73612612e-01 6.05085419e+01] [ 5.89617475e-01 2.01977892e-02 8.07430048e-01 4.02192120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00710568099998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:110.33, Y:60.53, Z:40.24 [[ 2.22317298e-01 -9.62499995e-01 -1.55463107e-01 1.10333003e+02] [ 7.77014399e-01 2.71226117e-01 -5.68053710e-01 6.05279877e+01] [ 5.88917348e-01 5.49109377e-03 8.08174613e-01 4.02403717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03710568099999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:110.34, Y:60.55, Z:40.25 [[ 2.22209456e-01 -9.63555573e-01 -1.48941653e-01 1.10339583e+02] [ 7.76594719e-01 2.67277773e-01 -5.70493851e-01 6.05524208e+01] [ 5.89511323e-01 1.11018267e-02 8.07683818e-01 4.02535913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.067105681 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:110.35, Y:60.57, Z:40.27 [[ 2.18092344e-01 -9.64455043e-01 -1.49205226e-01 1.10348101e+02] [ 7.76209050e-01 2.64092203e-01 -5.72498751e-01 6.05737049e+01] [ 5.91553244e-01 9.04314782e-03 8.06215220e-01 4.02698736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.097105681 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:110.35, Y:60.59, Z:40.29 [[ 2.14544862e-01 -9.65276591e-01 -1.49035584e-01 1.10354667e+02] [ 7.76949736e-01 2.61133229e-01 -5.72851241e-01 6.05943964e+01] [ 5.91878037e-01 7.10913326e-03 8.05996185e-01 4.02857027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.127105681 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:110.36, Y:60.62, Z:40.30 [[ 2.06165169e-01 -9.67146649e-01 -1.48738976e-01 1.10362059e+02] [ 7.79306394e-01 2.54209849e-01 -5.72764260e-01 6.06165477e+01] [ 5.91757947e-01 2.17080511e-03 8.06112784e-01 4.03008024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.157105681 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:110.37, Y:60.65, Z:40.31 [[ 2.00025074e-01 -9.70667542e-01 -1.33395998e-01 1.10366315e+02] [ 7.83396915e-01 2.40211046e-01 -5.73225895e-01 6.06458745e+01] [ 5.88454963e-01 1.01575387e-02 8.08466190e-01 4.03059368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.187105681 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:110.38, Y:60.66, Z:40.34 [[ 1.90279505e-01 -9.68714748e-01 -1.59328112e-01 1.10378871e+02] [ 7.83117923e-01 2.47645543e-01 -5.70436678e-01 6.06553765e+01] [ 5.92047319e-01 -1.62302919e-02 8.05739753e-01 4.03388568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.217105681 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:110.38, Y:60.68, Z:40.35 [[ 1.84739200e-01 -9.71546560e-01 -1.48218454e-01 1.10384462e+02] [ 7.84697761e-01 2.36617474e-01 -5.72941179e-01 6.06793815e+01] [ 5.91710108e-01 -1.04619940e-02 8.06082933e-01 4.03515238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.247105681 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:110.39, Y:60.71, Z:40.36 [[ 1.75910852e-01 -9.75725157e-01 -1.30444585e-01 1.10389052e+02] [ 7.90316941e-01 2.18985172e-01 -5.72227776e-01 6.07112924e+01] [ 5.86902467e-01 -2.43149023e-03 8.09653989e-01 4.03553145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.277105681 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:110.40, Y:60.73, Z:40.38 [[ 1.72235675e-01 -9.73862234e-01 -1.48078433e-01 1.10396801e+02] [ 7.92696714e-01 2.26267499e-01 -5.66069729e-01 6.07270867e+01] [ 5.84779267e-01 -1.98838852e-02 8.10948728e-01 4.03796456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30710568099997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:110.40, Y:60.75, Z:40.40 [[ 1.70815156e-01 -9.73800209e-01 -1.50117737e-01 1.10402343e+02] [ 7.93299990e-01 2.26285362e-01 -5.65216826e-01 6.07474955e+01] [ 5.84377710e-01 -2.25407991e-02 8.11168666e-01 4.03984477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33710568099997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:110.40, Y:60.76, Z:40.43 [[ 1.68950148e-01 -9.72319091e-01 -1.61404562e-01 1.10404807e+02] [ 7.91839005e-01 2.31411248e-01 -5.65190078e-01 6.07596617e+01] [ 5.86895934e-01 -3.23174803e-02 8.09017147e-01 4.04255874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36710568099997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:110.41, Y:60.80, Z:40.42 [[ 1.70405492e-01 -9.78502144e-01 -1.16170230e-01 1.10405225e+02] [ 7.95802986e-01 2.06185883e-01 -5.69372452e-01 6.08034299e+01] [ 5.81084827e-01 4.57557719e-03 8.13830135e-01 4.04184834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.41, Y:60.80, Z:40.46 [[ 1.69639691e-01 -9.69567474e-01 -1.76525603e-01 1.10406310e+02] [ 7.92305308e-01 2.40698690e-01 -5.60639314e-01 6.08047840e+01] [ 5.86067125e-01 -4.47554921e-02 8.09025507e-01 4.04597887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.41, Y:60.84, Z:40.46 [[ 1.69622752e-01 -9.74673008e-01 -1.45741722e-01 1.10409633e+02] [ 7.91693265e-01 2.22835036e-01 -5.68828903e-01 6.08353715e+01] [ 5.86898539e-01 -1.88964158e-02 8.09439948e-01 4.04647898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.41, Y:60.87, Z:40.47 [[ 1.70984019e-01 -9.77685357e-01 -1.22048380e-01 1.10414215e+02] [ 7.94028030e-01 2.10073682e-01 -5.70428379e-01 6.08716949e+01] [ 5.83338627e-01 6.24302628e-04 8.12228821e-01 4.04654383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.48710568099997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:110.42, Y:60.87, Z:40.51 [[ 1.67570699e-01 -9.70374215e-01 -1.74051555e-01 1.10415129e+02] [ 7.91801740e-01 2.37652925e-01 -5.62646507e-01 6.08716019e+01] [ 5.87341523e-01 -4.35312554e-02 8.08167659e-01 4.05065592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.51710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.42, Y:60.90, Z:40.51 [[ 1.67431764e-01 -9.75113153e-01 -1.45330463e-01 1.10415903e+02] [ 7.91766601e-01 2.20829567e-01 -5.69508518e-01 6.09012792e+01] [ 5.87428510e-01 -1.97139908e-02 8.09035910e-01 4.05134663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.41, Y:60.94, Z:40.51 [[ 1.67428787e-01 -9.79553474e-01 -1.11546372e-01 1.10413478e+02] [ 7.96968486e-01 2.01080131e-01 -5.69568269e-01 6.09414588e+01] [ 5.80352336e-01 6.46318126e-03 8.14339851e-01 4.05101185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.41, Y:60.95, Z:40.55 [[ 1.65135261e-01 -9.73707289e-01 -1.56921832e-01 1.10407946e+02] [ 7.88115335e-01 2.25933649e-01 -5.72562839e-01 6.09464272e+01] [ 5.92962532e-01 -2.91221882e-02 8.04703258e-01 4.05488114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.40, Y:60.97, Z:40.57 [[ 1.72534605e-01 -9.71672134e-01 -1.61508741e-01 1.10401997e+02] [ 7.91656294e-01 2.34355314e-01 -5.64232132e-01 6.09688195e+01] [ 5.86099072e-01 -3.05098435e-02 8.09664763e-01 4.05703675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.40, Y:61.00, Z:40.58 [[ 1.76834489e-01 -9.76416137e-01 -1.23859156e-01 1.10398223e+02] [ 7.86367241e-01 2.15840100e-01 -5.78826065e-01 6.10017966e+01] [ 5.91908883e-01 4.95762813e-03 8.05989638e-01 4.05753098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.39, Y:61.02, Z:40.61 [[ 1.87378544e-01 -9.69174246e-01 -1.59970504e-01 1.10391607e+02] [ 7.90566695e-01 2.45450222e-01 -5.61033412e-01 6.10152567e+01] [ 5.83003929e-01 -2.13417285e-02 8.12188986e-01 4.06051525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.39, Y:61.04, Z:40.61 [[ 1.92452035e-01 -9.72667583e-01 -1.29923008e-01 1.10386703e+02] [ 7.86994909e-01 2.32072104e-01 -5.71648101e-01 6.10424357e+01] [ 5.86175083e-01 7.76609461e-03 8.10147184e-01 4.06119545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.38, Y:61.07, Z:40.63 [[ 1.96773316e-01 -9.70997907e-01 -1.35806207e-01 1.10376526e+02] [ 7.83050143e-01 2.38995608e-01 -5.74206907e-01 6.10677240e+01] [ 5.90010792e-01 6.64552796e-03 8.07368009e-01 4.06307644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.37, Y:61.09, Z:40.65 [[ 1.99736252e-01 -9.68362838e-01 -1.49595599e-01 1.10370363e+02] [ 7.83600653e-01 2.49520701e-01 -5.68954687e-01 6.10908142e+01] [ 5.88281774e-01 -3.58233267e-03 8.08648082e-01 4.06483585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:110.37, Y:61.12, Z:40.66 [[ 2.00766477e-01 -9.71565195e-01 -1.25514511e-01 1.10366832e+02] [ 7.84070824e-01 2.36173715e-01 -5.73981637e-01 6.11184662e+01] [ 5.87303810e-01 1.68240052e-02 8.09191688e-01 4.06596254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.817105681 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:110.36, Y:61.14, Z:40.69 [[ 2.01914251e-01 -9.65587273e-01 -1.63926366e-01 1.10363687e+02] [ 7.86583326e-01 2.59597875e-01 -5.60263879e-01 6.11356097e+01] [ 5.83538608e-01 -1.58164845e-02 8.11931359e-01 4.06851881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.847105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:110.36, Y:61.17, Z:40.69 [[ 2.01075819e-01 -9.72191274e-01 -1.20052663e-01 1.10358097e+02] [ 7.81741958e-01 2.33109605e-01 -5.78393831e-01 6.11683374e+01] [ 5.90294864e-01 2.24508095e-02 8.06875415e-01 4.06909817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.877105681 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:110.35, Y:61.19, Z:40.71 [[ 2.04985449e-01 -9.65797630e-01 -1.58795160e-01 1.10353443e+02] [ 7.80738322e-01 2.59190545e-01 -5.68566561e-01 6.11867622e+01] [ 5.90278441e-01 -7.42959519e-03 8.07165512e-01 4.07112969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.907105681 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:110.35, Y:61.22, Z:40.71 [[ 2.02352643e-01 -9.67728284e-01 -1.50184477e-01 1.10346570e+02] [ 7.81853682e-01 2.51987820e-01 -5.70269198e-01 6.12233584e+01] [ 5.89710291e-01 -2.02680666e-03 8.07612323e-01 4.07106642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.937105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:110.35, Y:61.24, Z:40.74 [[ 2.06799824e-01 -9.69781872e-01 -1.29448652e-01 1.10347066e+02] [ 7.78163571e-01 2.43231444e-01 -5.79050880e-01 6.12434677e+01] [ 5.93039029e-01 1.90153946e-02 8.04949144e-01 4.07351203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.967105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:110.35, Y:61.26, Z:40.76 [[ 2.00524266e-01 -9.66283946e-01 -1.61509612e-01 1.10345130e+02] [ 7.80023940e-01 2.57217628e-01 -5.70439958e-01 6.12610304e+01] [ 5.92750092e-01 -1.15943103e-02 8.05302986e-01 4.07603435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.997105681 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:110.34, Y:61.29, Z:40.77 [[ 1.93082532e-01 -9.71148820e-01 -1.39961085e-01 1.10336609e+02] [ 7.81136361e-01 2.38465136e-01 -5.77027178e-01 6.12873074e+01] [ 5.93755102e-01 2.08517580e-03 8.04643108e-01 4.07716556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.027105681 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:110.34, Y:61.31, Z:40.79 [[ 1.88184999e-01 -9.71114168e-01 -1.46709504e-01 1.10338568e+02] [ 7.81673861e-01 2.38533887e-01 -5.76270388e-01 6.13118240e+01] [ 5.94619526e-01 -6.23354208e-03 8.03983061e-01 4.07888873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05710568099997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:110.33, Y:61.33, Z:40.80 [[ 1.82552485e-01 -9.70988607e-01 -1.54452955e-01 1.10333573e+02] [ 7.80952201e-01 2.38638964e-01 -5.77204560e-01 6.13346992e+01] [ 5.97317545e-01 -1.52502478e-02 8.01859826e-01 4.08034089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08710568099997 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:110.33, Y:61.36, Z:40.82 [[ 1.75480707e-01 -9.71908890e-01 -1.56842692e-01 1.10334796e+02] [ 7.84742162e-01 2.34290563e-01 -5.73835927e-01 6.13625295e+01] [ 5.94463001e-01 -2.23839394e-02 8.03811358e-01 4.08207266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11710568099997 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:110.33, Y:61.38, Z:40.84 [[ 1.71848698e-01 -9.73048332e-01 -1.53769204e-01 1.10333833e+02] [ 7.83652400e-01 2.29614555e-01 -5.77205398e-01 6.13827437e+01] [ 5.96956398e-01 -2.13096097e-02 8.01990623e-01 4.08365871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14710568099997 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:110.33, Y:61.41, Z:40.85 [[ 1.67795524e-01 -9.72561687e-01 -1.61147223e-01 1.10326395e+02] [ 7.88950188e-01 2.30494144e-01 -5.69587614e-01 6.14117208e+01] [ 5.91102582e-01 -3.15628798e-02 8.05978612e-01 4.08520506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17710568099997 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:110.32, Y:61.43, Z:40.87 [[ 1.68715724e-01 -9.72613278e-01 -1.59869998e-01 1.10321681e+02] [ 7.85892886e-01 2.30633027e-01 -5.73742781e-01 6.14278727e+01] [ 5.94901148e-01 -2.88412659e-02 8.03281274e-01 4.08667337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20710568099997 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:110.32, Y:61.46, Z:40.88 [[ 1.65077241e-01 -9.76206233e-01 -1.40609012e-01 1.10316105e+02] [ 7.91068020e-01 2.16195054e-01 -5.72250894e-01 6.14647465e+01] [ 5.89033863e-01 -1.67656936e-02 8.07934416e-01 4.08826362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.23710568099997 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:110.31, Y:61.48, Z:40.90 [[ 1.62875828e-01 -9.76439083e-01 -1.41556282e-01 1.10308390e+02] [ 7.83435889e-01 2.15203704e-01 -5.83022790e-01 6.14810289e+01] [ 5.99749675e-01 -1.59399525e-02 8.00028903e-01 4.09031213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.26710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:110.31, Y:61.51, Z:40.92 [[ 1.61328088e-01 -9.71018781e-01 -1.76339942e-01 1.10312940e+02] [ 7.96395156e-01 2.33619568e-01 -5.57832101e-01 6.15072227e+01] [ 5.82861907e-01 -5.04422898e-02 8.11004052e-01 4.09205895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.29710568099998 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:110.30, Y:61.55, Z:40.92 [[ 1.58406947e-01 -9.79740278e-01 -1.22540717e-01 1.10300599e+02] [ 8.03088194e-01 2.00046792e-01 -5.61275898e-01 6.15467195e+01] [ 5.74418481e-01 -9.50100191e-03 8.18506652e-01 4.09206389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.32710568099998 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:110.31, Y:61.55, Z:40.96 [[ 1.55506986e-01 -9.68463410e-01 -1.94669466e-01 1.10306294e+02] [ 7.99376597e-01 2.39149439e-01 -5.51184726e-01 6.15542385e+01] [ 5.80357333e-01 -6.99011397e-02 8.11356393e-01 4.09568101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35710568099998 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:110.29, Y:61.59, Z:40.95 [[ 1.49969983e-01 -9.81949384e-01 -1.15258018e-01 1.10292926e+02] [ 8.02936935e-01 1.88984414e-01 -5.65311568e-01 6.15926144e+01] [ 5.76889316e-01 -7.76515403e-03 8.16785419e-01 4.09548943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:110.29, Y:61.61, Z:40.98 [[ 1.42779951e-01 -9.77394087e-01 -1.55931664e-01 1.10291480e+02] [ 8.04684203e-01 2.06362553e-01 -5.56684677e-01 6.16126392e+01] [ 5.76278768e-01 -4.59923359e-02 8.15958018e-01 4.09790248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:110.29, Y:61.63, Z:40.99 [[ 1.40828090e-01 -9.77363741e-01 -1.57884664e-01 1.10289527e+02] [ 8.03905462e-01 2.05967295e-01 -5.57954731e-01 6.16336451e+01] [ 5.77843800e-01 -4.83486448e-02 8.14714030e-01 4.09942136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:110.29, Y:61.64, Z:41.02 [[ 1.30587283e-01 -9.69282514e-01 -2.08418738e-01 1.10285415e+02] [ 7.96243680e-01 2.27785608e-01 -5.60454921e-01 6.16449866e+01] [ 5.90713944e-01 -9.27638171e-02 8.01530979e-01 4.10205275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.27, Y:61.69, Z:41.02 [[ 1.24216942e-01 -9.87225039e-01 -9.97841354e-02 1.10267183e+02] [ 7.98121013e-01 1.59157474e-01 -5.81095300e-01 6.16863276e+01] [ 5.89553221e-01 -7.45793424e-03 8.07695103e-01 4.10203959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.27, Y:61.71, Z:41.04 [[ 1.21488089e-01 -9.80466826e-01 -1.54678532e-01 1.10272117e+02] [ 7.99091260e-01 1.89049860e-01 -5.70712982e-01 6.17050070e+01] [ 5.88807101e-01 -5.42674331e-02 8.06449777e-01 4.10440414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.27, Y:61.71, Z:41.06 [[ 1.28151876e-01 -9.66194565e-01 -2.23707753e-01 1.10270751e+02] [ 7.97012585e-01 2.34572772e-01 -5.56548789e-01 6.17086713e+01] [ 5.90210163e-01 -1.06975123e-01 8.00130169e-01 4.10642571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.567105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.26, Y:61.74, Z:41.07 [[ 1.29026943e-01 -9.83016613e-01 -1.30500522e-01 1.10256920e+02] [ 7.94770952e-01 1.81213558e-01 -5.79224291e-01 6.17399046e+01] [ 5.93035565e-01 -2.89824844e-02 8.04654481e-01 4.10726512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.597105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.25, Y:61.76, Z:41.09 [[ 1.35483268e-01 -9.82158271e-01 -1.30420149e-01 1.10245701e+02] [ 7.92806106e-01 1.86416199e-01 -5.80265007e-01 6.17642975e+01] [ 5.94224505e-01 -2.47816908e-02 8.03917350e-01 4.10869759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.627105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.24, Y:61.79, Z:41.10 [[ 1.47737158e-01 -9.80456568e-01 -1.29917859e-01 1.10236578e+02] [ 7.91065946e-01 1.95985677e-01 -5.79486223e-01 6.17907925e+01] [ 5.93623113e-01 -1.71619462e-02 8.04560170e-01 4.11005391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.657105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.23, Y:61.81, Z:41.12 [[ 1.54777534e-01 -9.79433135e-01 -1.29439753e-01 1.10233508e+02] [ 7.90227416e-01 2.01368673e-01 -5.78784320e-01 6.18135113e+01] [ 5.92945652e-01 -1.27040320e-02 8.05142261e-01 4.11154066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.687105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.22, Y:61.84, Z:41.13 [[ 1.67860812e-01 -9.77354475e-01 -1.28844786e-01 1.10220911e+02] [ 7.88416569e-01 2.11558148e-01 -5.77617922e-01 6.18401193e+01] [ 5.91795625e-01 -4.62395072e-03 8.06074784e-01 4.11302262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.717105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.21, Y:61.87, Z:41.14 [[ 1.77815400e-01 -9.75632452e-01 -1.28541831e-01 1.10212905e+02] [ 7.86302025e-01 2.19405255e-01 -5.77572904e-01 6.18660607e+01] [ 5.91701622e-01 1.62865499e-03 8.06155406e-01 4.11434418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.747105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.21, Y:61.89, Z:41.16 [[ 1.82038030e-01 -9.74907147e-01 -1.28133566e-01 1.10211696e+02] [ 7.85718600e-01 2.22568653e-01 -5.77156371e-01 6.18897481e+01] [ 5.91192386e-01 4.38748213e-03 8.06518638e-01 4.11583172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.21, Y:61.91, Z:41.17 [[ 1.90039894e-01 -9.73402847e-01 -1.27952087e-01 1.10205552e+02] [ 7.83446013e-01 2.28900828e-01 -5.77768773e-01 6.19149170e+01] [ 5.91690107e-01 9.55556402e-03 8.06108869e-01 4.11720478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.20, Y:61.94, Z:41.19 [[ 1.97984098e-01 -9.71788559e-01 -1.28176805e-01 1.10202016e+02] [ 7.79673934e-01 2.35379677e-01 -5.80262841e-01 6.19376553e+01] [ 5.94063005e-01 1.49467016e-02 8.04279641e-01 4.11864409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.20, Y:61.96, Z:41.20 [[ 2.01486194e-01 -9.71103695e-01 -1.27909841e-01 1.10202778e+02] [ 7.78617131e-01 2.38023477e-01 -5.80603296e-01 6.19600324e+01] [ 5.94271551e-01 1.73907546e-02 8.04076418e-01 4.12016962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.20, Y:61.98, Z:41.22 [[ 2.06906640e-01 -9.70002540e-01 -1.27611579e-01 1.10201087e+02] [ 7.77269672e-01 2.42189568e-01 -5.80685861e-01 6.19826797e+01] [ 5.94172954e-01 2.09591497e-02 8.04064186e-01 4.12161217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.20, Y:62.01, Z:41.23 [[ 2.08705481e-01 -9.69640403e-01 -1.27434342e-01 1.10203306e+02] [ 7.76336132e-01 2.43506589e-01 -5.81383480e-01 6.20050748e+01] [ 5.94764013e-01 2.24060348e-02 8.03588040e-01 4.12308593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.21, Y:62.03, Z:41.24 [[ 2.12937335e-01 -9.68731904e-01 -1.27342802e-01 1.10205266e+02] [ 7.74525952e-01 2.46807773e-01 -5.82404904e-01 6.20275207e+01] [ 5.95623405e-01 2.53854429e-02 8.02862590e-01 4.12444841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95710568099997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:110.20, Y:62.07, Z:41.25 [[ 2.13152969e-01 -9.74414218e-01 -7.12933627e-02 1.10203871e+02] [ 7.88665276e-01 2.14672969e-01 -5.76127242e-01 6.20660749e+01] [ 5.76691334e-01 6.65766325e-02 8.14244839e-01 4.12547250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.98710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.23, Y:62.07, Z:41.27 [[ 2.11996342e-01 -9.57484287e-01 -1.95656308e-01 1.10225917e+02] [ 7.74828261e-01 2.86687765e-01 -5.63428160e-01 6.20711218e+01] [ 5.95565880e-01 -3.21553275e-02 8.02662642e-01 4.12749971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.01710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.22, Y:62.09, Z:41.29 [[ 2.04201122e-01 -9.70809048e-01 -1.25824064e-01 1.10222076e+02] [ 7.79154676e-01 2.38993563e-01 -5.79482586e-01 6.20931871e+01] [ 5.92638079e-01 2.02945858e-02 8.05213163e-01 4.12919619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.23, Y:62.11, Z:41.31 [[ 1.99542008e-01 -9.71811327e-01 -1.25561666e-01 1.10228432e+02] [ 7.80185267e-01 2.35093709e-01 -5.79691208e-01 6.21147341e+01] [ 5.92869240e-01 1.77113858e-02 8.05103951e-01 4.13072579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.24, Y:62.14, Z:41.32 [[ 1.89607246e-01 -9.73753882e-01 -1.25906588e-01 1.10235444e+02] [ 7.80242670e-01 2.27273593e-01 -5.82724712e-01 6.21361721e+01] [ 5.96045693e-01 1.22511355e-02 8.02857049e-01 4.13219331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.24, Y:62.16, Z:41.34 [[ 1.80459278e-01 -9.75483633e-01 -1.25960827e-01 1.10241750e+02] [ 7.81037490e-01 2.19957689e-01 -5.84464758e-01 6.21569260e+01] [ 5.97841859e-01 7.09196026e-03 8.01582695e-01 4.13360131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.25, Y:62.18, Z:41.35 [[ 1.75879597e-01 -9.76393004e-01 -1.25391665e-01 1.10246897e+02] [ 7.82966230e-01 2.15956268e-01 -5.83375328e-01 6.21786316e+01] [ 5.96682705e-01 4.42637839e-03 8.02465050e-01 4.13521134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.25, Y:62.20, Z:41.37 [[ 1.66312692e-01 -9.78184299e-01 -1.24481188e-01 1.10252174e+02] [ 7.87253746e-01 2.07733976e-01 -5.80584305e-01 6.21984896e+01] [ 5.93777423e-01 -1.43974246e-03 8.04628050e-01 4.13697480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.26, Y:62.22, Z:41.39 [[ 1.61337335e-01 -9.79070708e-01 -1.24059716e-01 1.10257002e+02] [ 7.88717046e-01 2.03475900e-01 -5.80106008e-01 6.22189294e+01] [ 5.93207962e-01 -4.25525511e-03 8.05038016e-01 4.13865432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.26, Y:62.25, Z:41.39 [[ 1.53905557e-01 -9.85579698e-01 -7.03259404e-02 1.10255784e+02] [ 7.95978335e-01 1.65838232e-01 -5.82165072e-01 6.22499198e+01] [ 5.85432806e-01 3.36205148e-02 8.10023512e-01 4.13935825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:110.27, Y:62.27, Z:41.41 [[ 1.50090129e-01 -9.81503050e-01 -1.18847450e-01 1.10265783e+02] [ 7.97341814e-01 1.91242004e-01 -5.72426875e-01 6.22706071e+01] [ 5.84567348e-01 -8.84641800e-03 8.11296959e-01 4.14125247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.27, Y:62.28, Z:41.44 [[ 1.46891614e-01 -9.71828694e-01 -1.84314523e-01 1.10272338e+02] [ 7.92313924e-01 2.27151799e-01 -5.66251451e-01 6.22807848e+01] [ 5.92166784e-01 -6.28573733e-02 8.03360100e-01 4.14361609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.317105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:110.26, Y:62.32, Z:41.45 [[ 1.47397019e-01 -9.86977510e-01 -6.44167139e-02 1.10257493e+02] [ 7.95484429e-01 1.56998541e-01 -5.85282822e-01 6.23169945e+01] [ 5.87774313e-01 3.50264502e-02 8.08266358e-01 4.14453704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.347105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:110.27, Y:62.34, Z:41.46 [[ 1.47474756e-01 -9.81107135e-01 -1.25219753e-01 1.10272845e+02] [ 7.95524891e-01 1.92890115e-01 -5.74398426e-01 6.23379453e+01] [ 5.87700047e-01 -1.49061626e-02 8.08941569e-01 4.14615804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.377105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:110.28, Y:62.35, Z:41.49 [[ 1.44504377e-01 -9.71793920e-01 -1.86373448e-01 1.10277283e+02] [ 7.90537806e-01 2.26661727e-01 -5.68923931e-01 6.23485020e+01] [ 5.95120544e-01 -6.51232584e-02 8.00993445e-01 4.14854000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.407105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.26, Y:62.38, Z:41.50 [[ 1.45186592e-01 -9.86928455e-01 -6.99505345e-02 1.10262503e+02] [ 7.93849483e-01 1.58396364e-01 -5.87123147e-01 6.23828690e+01] [ 5.90528451e-01 2.97122132e-02 8.06469673e-01 4.14976360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.437105681 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:110.27, Y:62.40, Z:41.52 [[ 1.43833039e-01 -9.81040674e-01 -1.29889389e-01 1.10267428e+02] [ 7.94731689e-01 1.92720647e-01 -5.75552165e-01 6.24035076e+01] [ 5.89672451e-01 -2.04437967e-02 8.07383708e-01 4.15152884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.467105681 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:110.26, Y:62.43, Z:41.53 [[ 1.47397568e-01 -9.79804332e-01 -1.35120051e-01 1.10256883e+02] [ 7.96159683e-01 1.98593085e-01 -5.71568497e-01 6.24252561e+01] [ 5.86859197e-01 -2.33293308e-02 8.09352844e-01 4.15341959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.497105681 meters Centerline goodness : 0.998273 Centerline is valid? [True, True] Translation: X:110.25, Y:62.45, Z:41.55 [[ 1.49892300e-01 -9.78884015e-01 -1.38990590e-01 1.10254227e+02] [ 7.98274828e-01 2.02763493e-01 -5.67136901e-01 6.24456566e+01] [ 5.83343464e-01 -2.59432345e-02 8.11811155e-01 4.15533116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52710568099997 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:110.24, Y:62.47, Z:41.57 [[ 1.53077812e-01 -9.77550460e-01 -1.44783571e-01 1.10244044e+02] [ 7.91279476e-01 2.09015321e-01 -5.74621081e-01 6.24659620e+01] [ 5.91983086e-01 -2.66025307e-02 8.05511223e-01 4.15734160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55710568099997 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:110.24, Y:62.49, Z:41.59 [[ 1.55627384e-01 -9.80421952e-01 -1.20635455e-01 1.10237176e+02] [ 7.90889595e-01 1.96838544e-01 -5.79437863e-01 6.24886605e+01] [ 5.91839308e-01 -5.23292749e-03 8.06038988e-01 4.15898950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58710568099997 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:110.23, Y:62.51, Z:41.61 [[ 1.65972629e-01 -9.78823318e-01 -1.19824867e-01 1.10229554e+02] [ 7.90589529e-01 2.04704183e-01 -5.77117313e-01 6.25136765e+01] [ 5.89424535e-01 1.05339264e-03 8.07822758e-01 4.16052508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61710568099997 meters Centerline goodness : 0.997894 Centerline is valid? [True, True] Translation: X:110.22, Y:62.54, Z:41.62 [[ 1.77924765e-01 -9.78814382e-01 -1.01317243e-01 1.10221586e+02] [ 7.88595054e-01 2.03413785e-01 -5.80293609e-01 6.25424434e+01] [ 5.88609055e-01 2.33503278e-02 8.08080530e-01 4.16206649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64710568099997 meters Centerline goodness : 0.997557 Centerline is valid? [True, True] Translation: X:110.22, Y:62.56, Z:41.63 [[ 1.81412528e-01 -9.73259084e-01 -1.40912205e-01 1.10224010e+02] [ 7.84342891e-01 2.29632231e-01 -5.76259722e-01 6.25643779e+01] [ 5.93207994e-01 -5.98275306e-03 8.05027008e-01 4.16338529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67710568099997 meters Centerline goodness : 0.997116 Centerline is valid? [True, True] Translation: X:110.21, Y:62.59, Z:41.65 [[ 1.86848117e-01 -9.75290383e-01 -1.17883208e-01 1.10212232e+02] [ 7.79065132e-01 2.20205298e-01 -5.86998421e-01 6.25882905e+01] [ 5.98452422e-01 1.78408527e-02 8.00959676e-01 4.16486088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70710568099997 meters Centerline goodness : 0.997278 Centerline is valid? [True, True] Translation: X:110.21, Y:62.61, Z:41.66 [[ 1.88896866e-01 -9.73979793e-01 -1.25225148e-01 1.10213629e+02] [ 7.76319233e-01 2.26206776e-01 -5.88352738e-01 6.26140489e+01] [ 6.01370454e-01 1.39232979e-02 7.98848996e-01 4.16600594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.73710568099997 meters Centerline goodness : 0.996835 Centerline is valid? [True, True] Translation: X:110.21, Y:62.64, Z:41.68 [[ 1.88561439e-01 -9.74371235e-01 -1.22659205e-01 1.10214662e+02] [ 7.76489309e-01 2.24391411e-01 -5.88823274e-01 6.26360173e+01] [ 6.01256132e-01 1.57858026e-02 7.98900414e-01 4.16752887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.76710568099998 meters Centerline goodness : 0.996738 Centerline is valid? [True, True] Translation: X:110.22, Y:62.66, Z:41.69 [[ 1.88171703e-01 -9.74769642e-01 -1.20064794e-01 1.10216087e+02] [ 7.77269108e-01 2.22532729e-01 -5.88499718e-01 6.26567944e+01] [ 6.00370006e-01 1.74163385e-02 7.99532693e-01 4.16922899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.79710568099998 meters Centerline goodness : 0.996812 Centerline is valid? [True, True] Translation: X:110.22, Y:62.68, Z:41.71 [[ 1.83841534e-01 -9.75573974e-01 -1.20240226e-01 1.10217567e+02] [ 7.79946987e-01 2.19225503e-01 -5.86193549e-01 6.26784826e+01] [ 5.98234894e-01 1.39857196e-02 8.01198734e-01 4.17094351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82710568099998 meters Centerline goodness : 0.996935 Centerline is valid? [True, True] Translation: X:110.22, Y:62.70, Z:41.73 [[ 1.77176879e-01 -9.79544784e-01 -9.53958573e-02 1.10218408e+02] [ 7.80231450e-01 1.98879799e-01 -5.93030952e-01 6.27004325e+01] [ 5.99872684e-01 3.06405253e-02 7.99508550e-01 4.17279885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85710568099998 meters Centerline goodness : 0.996983 Centerline is valid? [True, True] Translation: X:110.23, Y:62.72, Z:41.74 [[ 1.72217107e-01 -9.73559841e-01 -1.50074994e-01 1.10231155e+02] [ 7.82208794e-01 2.27759072e-01 -5.79892411e-01 6.27231161e+01] [ 5.98740905e-01 -1.75225866e-02 8.00751078e-01 4.17371495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88710568099998 meters Centerline goodness : 0.997127 Centerline is valid? [True, True] Translation: X:110.23, Y:62.74, Z:41.76 [[ 1.65372880e-01 -9.78961673e-01 -1.19523442e-01 1.10229960e+02] [ 7.84854533e-01 2.04022801e-01 -5.85130805e-01 6.27433325e+01] [ 5.97206140e-01 2.95625133e-03 8.02082345e-01 4.17567501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91710568099998 meters Centerline goodness : 0.997358 Centerline is valid? [True, True] Translation: X:110.23, Y:62.76, Z:41.77 [[ 1.63186175e-01 -9.79387833e-01 -1.19036739e-01 1.10234895e+02] [ 7.86045018e-01 2.01981024e-01 -5.84240444e-01 6.27645049e+01] [ 5.96241145e-01 1.77172828e-03 8.02803437e-01 4.17726666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94710568099998 meters Centerline goodness : 0.997678 Centerline is valid? [True, True] Translation: X:110.24, Y:62.79, Z:41.79 [[ 1.60487107e-01 -9.79907925e-01 -1.18424432e-01 1.10236544e+02] [ 7.87776883e-01 1.99450249e-01 -5.82775412e-01 6.27862433e+01] [ 5.94686027e-01 2.35909889e-04 8.03958005e-01 4.17909431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97710568099998 meters Centerline goodness : 0.997680 Centerline is valid? [True, True] Translation: X:110.24, Y:62.81, Z:41.81 [[ 1.56989380e-01 -9.80545531e-01 -1.17833769e-01 1.10235935e+02] [ 7.89692307e-01 1.96283513e-01 -5.81256263e-01 6.28087493e+01] [ 5.93077057e-01 -1.80136050e-03 8.05143689e-01 4.18078491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00710568099998 meters Centerline goodness : 0.997054 Centerline is valid? [True, True] Translation: X:110.24, Y:62.83, Z:41.82 [[ 1.55106665e-01 -9.80888311e-01 -1.17473588e-01 1.10239475e+02] [ 7.90391964e-01 1.94552191e-01 -5.80887243e-01 6.28303458e+01] [ 5.92640250e-01 -2.75069647e-03 8.05462580e-01 4.18237399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03710568099999 meters Centerline goodness : 0.997195 Centerline is valid? [True, True] Translation: X:110.24, Y:62.85, Z:41.84 [[ 1.51264152e-01 -9.81490392e-01 -1.17455381e-01 1.10240317e+02] [ 7.90460902e-01 1.91450344e-01 -5.81823279e-01 6.28515774e+01] [ 5.93540832e-01 -4.83488149e-03 8.04789354e-01 4.18391364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.067105681 meters Centerline goodness : 0.997302 Centerline is valid? [True, True] Translation: X:110.24, Y:62.88, Z:41.85 [[ 1.49346391e-01 -9.82666074e-01 -1.09831884e-01 1.10241426e+02] [ 7.91190369e-01 1.85384378e-01 -5.82795360e-01 6.28759392e+01] [ 5.93054344e-01 1.40455239e-04 8.05162422e-01 4.18548697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.097105681 meters Centerline goodness : 0.997587 Centerline is valid? [True, True] Translation: X:110.24, Y:62.90, Z:41.87 [[ 1.51903097e-01 -9.80469938e-01 -1.24916571e-01 1.10243755e+02] [ 7.90438277e-01 1.96382960e-01 -5.80207776e-01 6.28973270e+01] [ 5.93407768e-01 -1.06034812e-02 8.04832149e-01 4.18708490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.127105681 meters Centerline goodness : 0.997253 Centerline is valid? [True, True] Translation: X:110.24, Y:62.92, Z:41.89 [[ 1.55717885e-01 -9.81563365e-01 -1.10839075e-01 1.10243200e+02] [ 7.90814181e-01 1.91115176e-01 -5.81453284e-01 6.29202035e+01] [ 5.91916271e-01 2.88956340e-03 8.05994280e-01 4.18893337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.157105681 meters Centerline goodness : 0.996882 Centerline is valid? [True, True] Translation: X:110.24, Y:62.94, Z:41.91 [[ 1.65113200e-01 -9.78638452e-01 -1.22492497e-01 1.10240915e+02] [ 7.88870148e-01 2.05586407e-01 -5.79152932e-01 6.29413908e+01] [ 5.91964121e-01 -1.00488072e-03 8.05963690e-01 4.19069025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.187105681 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:110.24, Y:62.96, Z:41.92 [[ 1.74895374e-01 -9.77755605e-01 -1.15782493e-01 1.10237660e+02] [ 7.88122639e-01 2.09510212e-01 -5.78764354e-01 6.29636506e+01] [ 5.90147705e-01 9.97240417e-03 8.07233694e-01 4.19244757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.217105681 meters Centerline goodness : 0.996830 Centerline is valid? [True, True] Translation: X:110.24, Y:62.99, Z:41.94 [[ 1.79236972e-01 -9.77022624e-01 -1.15329529e-01 1.10240299e+02] [ 7.87881300e-01 2.12755920e-01 -5.77908276e-01 6.29860056e+01] [ 5.89166500e-01 1.27165501e-02 8.07911582e-01 4.19406165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.247105681 meters Centerline goodness : 0.996703 Centerline is valid? [True, True] Translation: X:110.24, Y:63.01, Z:41.95 [[ 1.87104018e-01 -9.75536116e-01 -1.15418256e-01 1.10244279e+02] [ 7.84727945e-01 2.19108046e-01 -5.79822142e-01 6.30101622e+01] [ 5.90926509e-01 1.79151219e-02 8.06526447e-01 4.19529199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27710568099997 meters Centerline goodness : 0.996796 Centerline is valid? [True, True] Translation: X:110.25, Y:63.03, Z:41.97 [[ 1.91370520e-01 -9.74630486e-01 -1.16072130e-01 1.10248728e+02] [ 7.80070956e-01 2.22799845e-01 -5.84678999e-01 6.30345017e+01] [ 5.95706830e-01 2.13458263e-02 8.02918258e-01 4.19669425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30710568099997 meters Centerline goodness : 0.996738 Centerline is valid? [True, True] Translation: X:110.25, Y:63.06, Z:41.98 [[ 1.92230497e-01 -9.74472789e-01 -1.15975083e-01 1.10252020e+02] [ 7.79167989e-01 2.23403739e-01 -5.85651786e-01 6.30560806e+01] [ 5.96610997e-01 2.22160614e-02 8.02223015e-01 4.19823645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33710568099997 meters Centerline goodness : 0.996800 Centerline is valid? [True, True] Translation: X:110.25, Y:63.08, Z:42.00 [[ 1.93466545e-01 -9.74306473e-01 -1.15315186e-01 1.10253689e+02] [ 7.80325662e-01 2.24051535e-01 -5.83860232e-01 6.30776726e+01] [ 5.94695348e-01 2.29740228e-02 8.03622820e-01 4.19996367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36710568099997 meters Centerline goodness : 0.996805 Centerline is valid? [True, True] Translation: X:110.26, Y:63.10, Z:42.02 [[ 1.92205397e-01 -9.74582474e-01 -1.15091642e-01 1.10257164e+02] [ 7.80356622e-01 2.22897744e-01 -5.84260334e-01 6.30991354e+01] [ 5.95063549e-01 2.24854645e-02 8.03364037e-01 4.20159338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39710568099997 meters Centerline goodness : 0.996783 Centerline is valid? [True, True] Translation: X:110.26, Y:63.12, Z:42.04 [[ 1.87012696e-01 -9.78205398e-01 -9.02244495e-02 1.10258044e+02] [ 7.75015670e-01 2.03353717e-01 -5.98329321e-01 6.31188311e+01] [ 6.03636449e-01 4.19698170e-02 7.96154239e-01 4.20351627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42710568099997 meters Centerline goodness : 0.997280 Centerline is valid? [True, True] Translation: X:110.28, Y:63.15, Z:42.04 [[ 1.82219869e-01 -9.72753083e-01 -1.43343497e-01 1.10275836e+02] [ 7.76918473e-01 2.31795949e-01 -5.85378788e-01 6.31460562e+01] [ 6.02655463e-01 -4.69856510e-03 7.97987667e-01 4.20397596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45710568099997 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:110.28, Y:63.16, Z:42.06 [[ 1.74650929e-01 -9.77860566e-01 -1.15263900e-01 1.10278657e+02] [ 7.80025181e-01 2.08846316e-01 -5.89867725e-01 6.31649375e+01] [ 6.00880828e-01 1.31122019e-02 7.99231068e-01 4.20611875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.48710568099997 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:110.28, Y:63.19, Z:42.08 [[ 1.70733615e-01 -9.78625485e-01 -1.14639406e-01 1.10282162e+02] [ 7.82235051e-01 2.05369752e-01 -5.88159494e-01 6.31858788e+01] [ 5.99131336e-01 1.07436349e-02 8.00578676e-01 4.20796935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.51710568099998 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:110.28, Y:63.20, Z:42.10 [[ 1.62412222e-01 -9.80057741e-01 -1.14494957e-01 1.10283725e+02] [ 7.83407946e-01 1.98623801e-01 -5.88914744e-01 6.32049347e+01] [ 5.99911877e-01 5.95069253e-03 8.00043955e-01 4.20998984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.54710568099998 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:110.29, Y:63.23, Z:42.11 [[ 1.56697407e-01 -9.81114462e-01 -1.13403421e-01 1.10288655e+02] [ 7.87809791e-01 1.93414497e-01 -5.84761974e-01 6.32267069e+01] [ 5.95652295e-01 2.29035981e-03 8.03239129e-01 4.21145795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57710568099998 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:110.29, Y:63.25, Z:42.13 [[ 1.53858660e-01 -9.81591756e-01 -1.13159790e-01 1.10294043e+02] [ 7.88098268e-01 1.90989264e-01 -5.85170250e-01 6.32492036e+01] [ 5.96010598e-01 8.52475964e-04 8.02976115e-01 4.21305315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60710568099998 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:110.30, Y:63.27, Z:42.14 [[ 1.51128177e-01 -9.82015853e-01 -1.13159794e-01 1.10299871e+02] [ 7.87534510e-01 1.88797917e-01 -5.86638511e-01 6.32715849e+01] [ 5.97452651e-01 -4.59634172e-04 8.01904058e-01 4.21442726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63710568099998 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:110.30, Y:63.29, Z:42.16 [[ 1.51153760e-01 -9.82026545e-01 -1.13032764e-01 1.10302890e+02] [ 7.87234794e-01 1.88742692e-01 -5.87058409e-01 6.32937756e+01] [ 5.97841049e-01 -2.47238749e-04 8.01614632e-01 4.21596901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66710568099998 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:110.30, Y:63.31, Z:42.18 [[ 1.54361887e-01 -9.81583345e-01 -1.12545744e-01 1.10303390e+02] [ 7.87379882e-01 1.91025340e-01 -5.86124765e-01 6.33147120e+01] [ 5.96829397e-01 1.85906983e-03 8.02366011e-01 4.21766962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69710568099998 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:110.30, Y:63.33, Z:42.20 [[ 1.58097826e-01 -9.81809644e-01 -1.05142285e-01 1.10302939e+02] [ 7.88077471e-01 1.89618496e-01 -5.85643856e-01 6.33344663e+01] [ 5.94927708e-01 9.72875382e-03 8.03720333e-01 4.21962315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72710568099998 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:110.31, Y:63.36, Z:42.21 [[ 1.58960235e-01 -9.80422179e-01 -1.16206688e-01 1.10306383e+02] [ 7.88942095e-01 1.96905148e-01 -5.82064200e-01 6.33572813e+01] [ 5.93550346e-01 8.44714103e-04 8.04796417e-01 4.22099786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75710568099998 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:110.31, Y:63.38, Z:42.22 [[ 1.65288079e-01 -9.79859990e-01 -1.12045758e-01 1.10305185e+02] [ 7.85178126e-01 1.99486164e-01 -5.86259824e-01 6.33778830e+01] [ 5.96804123e-01 8.92588186e-03 8.02337315e-01 4.22246475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78710568099999 meters Centerline goodness : 0.998153 Centerline is valid? [True, True] Translation: X:110.31, Y:63.40, Z:42.24 [[ 1.66857888e-01 -9.80333478e-01 -1.05378925e-01 1.10305094e+02] [ 7.84782777e-01 1.96749062e-01 -5.87712344e-01 6.34024543e+01] [ 5.96887291e-01 1.53648751e-02 8.02177962e-01 4.22432130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.817105681 meters Centerline goodness : 0.997580 Centerline is valid? [True, True] Translation: X:110.30, Y:63.43, Z:42.26 [[ 1.73813283e-01 -9.78482331e-01 -1.11181252e-01 1.10303646e+02] [ 7.83500751e-01 2.05799150e-01 -5.86321826e-01 6.34256575e+01] [ 5.96586554e-01 1.47999273e-02 8.02412267e-01 4.22563848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.847105681 meters Centerline goodness : 0.997233 Centerline is valid? [True, True] Translation: X:110.30, Y:63.45, Z:42.27 [[ 1.77932359e-01 -9.79024512e-01 -9.92526125e-02 1.10300213e+02] [ 7.78953664e-01 2.01763026e-01 -5.93736365e-01 6.34454445e+01] [ 6.01307962e-01 2.83317258e-02 7.98514902e-01 4.22744369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.877105681 meters Centerline goodness : 0.997345 Centerline is valid? [True, True] Translation: X:110.31, Y:63.47, Z:42.28 [[ 1.76956631e-01 -9.76868316e-01 -1.20061001e-01 1.10305883e+02] [ 7.80409846e-01 2.13593903e-01 -5.87654760e-01 6.34714502e+01] [ 5.99705614e-01 1.02926187e-02 8.00154510e-01 4.22849298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.907105681 meters Centerline goodness : 0.997558 Centerline is valid? [True, True] Translation: X:110.31, Y:63.49, Z:42.30 [[ 1.76827047e-01 -9.77971513e-01 -1.10923018e-01 1.10305228e+02] [ 7.80864271e-01 2.07999724e-01 -5.89056114e-01 6.34928117e+01] [ 5.99152056e-01 1.75452318e-02 8.00442989e-01 4.23033474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.937105681 meters Centerline goodness : 0.997053 Centerline is valid? [True, True] Translation: X:110.31, Y:63.51, Z:42.32 [[ 1.76344403e-01 -9.78103927e-01 -1.10523119e-01 1.10307595e+02] [ 7.81484779e-01 2.07388615e-01 -5.88448386e-01 6.35143406e+01] [ 5.98484914e-01 1.73974441e-02 8.00945152e-01 4.23208055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.967105681 meters Centerline goodness : 0.997413 Centerline is valid? [True, True] Translation: X:110.31, Y:63.54, Z:42.34 [[ 1.77271697e-01 -9.77994582e-01 -1.10006104e-01 1.10308586e+02] [ 7.82295218e-01 2.07849045e-01 -5.87207772e-01 6.35360603e+01] [ 5.97150683e-01 1.80380691e-02 8.01926237e-01 4.23378679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.997105681 meters Centerline goodness : 0.997224 Centerline is valid? [True, True] Translation: X:110.31, Y:63.55, Z:42.36 [[ 1.78838805e-01 -9.80251178e-01 -8.44056315e-02 1.10306599e+02] [ 7.78346334e-01 1.93433613e-01 -5.97294251e-01 6.35531795e+01] [ 6.01825279e-01 4.11225762e-02 7.97568347e-01 4.23600709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02710568099997 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:110.32, Y:63.58, Z:42.36 [[ 1.79979318e-01 -9.74515110e-01 -1.33894533e-01 1.10320012e+02] [ 7.80560057e-01 2.24321322e-01 -5.83443177e-01 6.35834226e+01] [ 5.98609591e-01 4.94980976e-04 8.01040769e-01 4.23629548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05710568099997 meters Centerline goodness : 0.997297 Centerline is valid? [True, True] Translation: X:110.31, Y:63.60, Z:42.39 [[ 1.83298938e-01 -9.79490543e-01 -8.36646653e-02 1.10307819e+02] [ 7.76150950e-01 1.96425724e-01 -5.99171627e-01 6.35965644e+01] [ 6.03316834e-01 4.48911137e-02 7.96237141e-01 4.23905541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08710568099997 meters Centerline goodness : 0.997437 Centerline is valid? [True, True] Translation: X:110.31, Y:63.62, Z:42.40 [[ 1.84185186e-01 -9.76574629e-01 -1.11255611e-01 1.10314781e+02] [ 7.76526702e-01 2.13971629e-01 -5.92640214e-01 6.36210004e+01] [ 6.02562941e-01 2.27625959e-02 7.97746680e-01 4.24025097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11710568099997 meters Centerline goodness : 0.997079 Centerline is valid? [True, True] Translation: X:110.32, Y:63.64, Z:42.42 [[ 1.83690528e-01 -9.77810743e-01 -1.00717133e-01 1.10315975e+02] [ 7.77821795e-01 2.07235916e-01 -5.93335091e-01 6.36421413e+01] [ 6.01041633e-01 3.06500545e-02 7.98629782e-01 4.24206035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14710568099997 meters Centerline goodness : 0.997512 Centerline is valid? [True, True] Translation: X:110.32, Y:63.67, Z:42.43 [[ 1.82439529e-01 -9.75739418e-01 -1.21030605e-01 1.10322859e+02] [ 7.81656970e-01 2.18607858e-01 -5.84142950e-01 6.36685898e+01] [ 5.96429544e-01 1.19663487e-02 8.02576231e-01 4.24334230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17710568099997 meters Centerline goodness : 0.997436 Centerline is valid? [True, True] Translation: X:110.32, Y:63.69, Z:42.45 [[ 1.82608660e-01 -9.77151362e-01 -1.08762557e-01 1.10322628e+02] [ 7.81413900e-01 2.11379457e-01 -5.87120978e-01 6.36899543e+01] [ 5.96696233e-01 2.22248011e-02 8.02159375e-01 4.24521767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20710568099997 meters Centerline goodness : 0.997142 Centerline is valid? [True, True] Translation: X:110.32, Y:63.71, Z:42.47 [[ 1.83994089e-01 -9.76883475e-01 -1.08834058e-01 1.10324793e+02] [ 7.79684602e-01 2.12474645e-01 -5.89021601e-01 6.37130549e+01] [ 5.98529946e-01 2.35202533e-02 8.00755082e-01 4.24679340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.23710568099997 meters Centerline goodness : 0.997142 Centerline is valid? [True, True] Translation: X:110.33, Y:63.74, Z:42.48 [[ 1.83649438e-01 -9.76979264e-01 -1.08555986e-01 1.10328662e+02] [ 7.79766320e-01 2.12032169e-01 -5.89072870e-01 6.37355587e+01] [ 5.98529340e-01 2.35345998e-02 8.00755114e-01 4.24848313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.26710568099998 meters Centerline goodness : 0.996948 Centerline is valid? [True, True] Translation: X:110.33, Y:63.76, Z:42.50 [[ 1.83986145e-01 -9.76949965e-01 -1.08249083e-01 1.10331787e+02] [ 7.79894782e-01 2.12123907e-01 -5.88869745e-01 6.37569289e+01] [ 5.98258496e-01 2.39209792e-02 8.00946040e-01 4.25006259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.29710568099998 meters Centerline goodness : 0.996810 Centerline is valid? [True, True] Translation: X:110.34, Y:63.78, Z:42.52 [[ 1.81551905e-01 -9.77454308e-01 -1.07805298e-01 1.10335099e+02] [ 7.81070146e-01 2.09937708e-01 -5.88094878e-01 6.37786084e+01] [ 5.97468269e-01 2.25662450e-02 8.01574970e-01 4.25179875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.32710568099998 meters Centerline goodness : 0.997209 Centerline is valid? [True, True] Translation: X:110.34, Y:63.80, Z:42.53 [[ 1.76829077e-01 -9.78347973e-01 -1.07548695e-01 1.10338652e+02] [ 7.82002826e-01 2.06006347e-01 -5.88245668e-01 6.37997033e+01] [ 5.97664671e-01 1.99155549e-02 8.01498791e-01 4.25340428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35710568099998 meters Centerline goodness : 0.997101 Centerline is valid? [True, True] Translation: X:110.34, Y:63.82, Z:42.55 [[ 1.74461549e-01 -9.78805773e-01 -1.07249371e-01 1.10342046e+02] [ 7.82549296e-01 2.03935444e-01 -5.88240541e-01 6.38213381e+01] [ 5.97645185e-01 1.86974362e-02 8.01542662e-01 4.25499091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38710568099998 meters Centerline goodness : 0.996957 Centerline is valid? [True, True] Translation: X:110.34, Y:63.84, Z:42.57 [[ 1.72073259e-01 -9.79247820e-01 -1.07072404e-01 1.10343791e+02] [ 7.82528937e-01 2.01904459e-01 -5.88967786e-01 6.38421057e+01] [ 5.98363817e-01 1.75583520e-02 8.01032114e-01 4.25651580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41710568099998 meters Centerline goodness : 0.997402 Centerline is valid? [True, True] Translation: X:110.35, Y:63.86, Z:42.58 [[ 1.77220634e-01 -9.79353762e-01 -9.72576761e-02 1.10345625e+02] [ 7.77842189e-01 1.99924645e-01 -5.95811769e-01 6.38607108e+01] [ 6.02954704e-01 2.99390155e-02 7.97213447e-01 4.25805960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44710568099998 meters Centerline goodness : 0.997098 Centerline is valid? [True, True] Translation: X:110.35, Y:63.89, Z:42.60 [[ 1.76026017e-01 -9.78367810e-01 -1.08679662e-01 1.10351194e+02] [ 7.78993311e-01 2.05943322e-01 -5.92247219e-01 6.38877484e+01] [ 6.01817466e-01 1.95901892e-02 7.98393363e-01 4.25953561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47710568099998 meters Centerline goodness : 0.996927 Centerline is valid? [True, True] Translation: X:110.35, Y:63.91, Z:42.61 [[ 1.81271492e-01 -9.77611822e-01 -1.06844616e-01 1.10352749e+02] [ 7.78850479e-01 2.09045832e-01 -5.91347420e-01 6.39091856e+01] [ 6.00443650e-01 2.39784490e-02 7.99307486e-01 4.26130829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50710568099998 meters Centerline goodness : 0.996508 Centerline is valid? [True, True] Translation: X:110.35, Y:63.93, Z:42.63 [[ 1.86596691e-01 -9.77223499e-01 -1.01073769e-01 1.10353797e+02] [ 7.77030932e-01 2.09754768e-01 -5.93486199e-01 6.39260635e+01] [ 6.01169365e-01 3.22051161e-02 7.98472432e-01 4.26300100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53710568099999 meters Centerline goodness : 0.996737 Centerline is valid? [True, True] Translation: X:110.35, Y:63.95, Z:42.65 [[ 1.90605848e-01 -9.76014032e-01 -1.05195149e-01 1.10354882e+02] [ 7.77408223e-01 2.15510170e-01 -5.90924548e-01 6.39520151e+01] [ 5.99421276e-01 3.08541009e-02 7.99838833e-01 4.26478857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.567105681 meters Centerline goodness : 0.996294 Centerline is valid? [True, True] Translation: X:110.36, Y:63.97, Z:42.66 [[ 1.96638121e-01 -9.75062223e-01 -1.02893683e-01 1.10358705e+02] [ 7.75562861e-01 2.18887841e-01 -5.92106715e-01 6.39729526e+01] [ 5.99863066e-01 3.66302328e-02 7.99263741e-01 4.26638644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.597105681 meters Centerline goodness : 0.996230 Centerline is valid? [True, True] Translation: X:110.36, Y:64.00, Z:42.68 [[ 1.96594874e-01 -9.74780724e-01 -1.05607748e-01 1.10363273e+02] [ 7.75759866e-01 2.20511663e-01 -5.91245496e-01 6.39970464e+01] [ 5.99622452e-01 3.43095813e-02 7.99547226e-01 4.26798684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.627105681 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:110.37, Y:64.02, Z:42.70 [[ 1.96938574e-01 -9.74648628e-01 -1.06184978e-01 1.10367172e+02] [ 7.75273216e-01 2.21112041e-01 -5.91659451e-01 6.40196280e+01] [ 6.00138850e-01 3.41981989e-02 7.99164466e-01 4.26961072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.657105681 meters Centerline goodness : 0.996251 Centerline is valid? [True, True] Translation: X:110.37, Y:64.04, Z:42.71 [[ 1.97171055e-01 -9.74638454e-01 -1.05846390e-01 1.10368708e+02] [ 7.75440276e-01 2.21104074e-01 -5.91443461e-01 6.40402313e+01] [ 5.99846609e-01 3.45379775e-02 7.99369235e-01 4.27127377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.687105681 meters Centerline goodness : 0.995901 Centerline is valid? [True, True] Translation: X:110.37, Y:64.06, Z:42.73 [[ 1.96251811e-01 -9.74885635e-01 -1.05276902e-01 1.10372474e+02] [ 7.76818819e-01 2.20093988e-01 -5.90009456e-01 6.40619413e+01] [ 5.98362557e-01 3.40093456e-02 8.00503351e-01 4.27292148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.717105681 meters Centerline goodness : 0.996844 Centerline is valid? [True, True] Translation: X:110.38, Y:64.08, Z:42.75 [[ 1.94388490e-01 -9.75293806e-01 -1.04952877e-01 1.10377172e+02] [ 7.77432662e-01 2.18423853e-01 -5.89821563e-01 6.40834589e+01] [ 5.98173529e-01 3.30607283e-02 8.00684343e-01 4.27461563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.747105681 meters Centerline goodness : 0.995918 Centerline is valid? [True, True] Translation: X:110.38, Y:64.11, Z:42.76 [[ 1.90394010e-01 -9.76079079e-01 -1.04975014e-01 1.10381546e+02] [ 7.76995435e-01 2.15184414e-01 -5.91585802e-01 6.41053999e+01] [ 6.00023512e-01 3.10692867e-02 7.99378812e-01 4.27624607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77710568099997 meters Centerline goodness : 0.996049 Centerline is valid? [True, True] Translation: X:110.39, Y:64.13, Z:42.78 [[ 1.87892187e-01 -9.76609356e-01 -1.04549944e-01 1.10385490e+02] [ 7.78167619e-01 2.12966088e-01 -5.90847360e-01 6.41270923e+01] [ 5.99292652e-01 2.96582218e-02 7.99980441e-01 4.27780678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80710568099997 meters Centerline goodness : 0.996235 Centerline is valid? [True, True] Translation: X:110.39, Y:64.15, Z:42.79 [[ 1.87830421e-01 -9.76655964e-01 -1.04225046e-01 1.10389225e+02] [ 7.78304104e-01 2.12726435e-01 -5.90753913e-01 6.41491031e+01] [ 5.99134755e-01 2.98427750e-02 8.00091841e-01 4.27947833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83710568099997 meters Centerline goodness : 0.996501 Centerline is valid? [True, True] Translation: X:110.39, Y:64.17, Z:42.81 [[ 1.88786828e-01 -9.76466777e-01 -1.04269680e-01 1.10390326e+02] [ 7.76665316e-01 2.13442532e-01 -5.92649367e-01 6.41702967e+01] [ 6.00958002e-01 3.09017503e-02 7.98683017e-01 4.28115175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86710568099997 meters Centerline goodness : 0.996101 Centerline is valid? [True, True] Translation: X:110.39, Y:64.19, Z:42.83 [[ 1.87560080e-01 -9.76715369e-01 -1.04155197e-01 1.10391516e+02] [ 7.76534086e-01 2.12377178e-01 -5.93203800e-01 6.41926082e+01] [ 6.01511455e-01 3.03812915e-02 7.98286256e-01 4.28279595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89710568099997 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:110.39, Y:64.21, Z:42.84 [[ 1.81108117e-01 -9.77908353e-01 -1.04379615e-01 1.10390887e+02] [ 7.75643579e-01 2.07281892e-01 -5.96163782e-01 6.42146228e+01] [ 6.04629546e-01 2.70087218e-02 7.96048768e-01 4.28432058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92710568099997 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:110.39, Y:64.24, Z:42.86 [[ 1.69715864e-01 -9.79941032e-01 -1.04460996e-01 1.10394639e+02] [ 7.76280139e-01 1.98233749e-01 -5.98408328e-01 6.42385215e+01] [ 6.07112569e-01 2.04683901e-02 7.94352172e-01 4.28570769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95710568099997 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:110.40, Y:64.26, Z:42.87 [[ 1.63280552e-01 -9.81065760e-01 -1.04160627e-01 1.10398417e+02] [ 7.77632944e-01 1.92953172e-01 -5.98377872e-01 6.42603862e+01] [ 6.07146165e-01 1.67047337e-02 7.94414556e-01 4.28723962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.98710568099997 meters Centerline goodness : 0.996616 Centerline is valid? [True, True] Translation: X:110.40, Y:64.28, Z:42.89 [[ 1.49262128e-01 -9.83365366e-01 -1.03505431e-01 1.10395842e+02] [ 7.81922191e-01 1.81458555e-01 -5.96381153e-01 6.42810080e+01] [ 6.05242517e-01 8.08392607e-03 7.96000092e-01 4.28909530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.01710568099998 meters Centerline goodness : 0.996447 Centerline is valid? [True, True] Translation: X:110.39, Y:64.30, Z:42.91 [[ 1.42033832e-01 -9.84481724e-01 -1.03063700e-01 1.10393841e+02] [ 7.83902207e-01 1.75445976e-01 -5.95580423e-01 6.43012128e+01] [ 6.04420152e-01 3.80070820e-03 7.96656660e-01 4.29088639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.04710568099998 meters Centerline goodness : 0.996261 Centerline is valid? [True, True] Translation: X:110.39, Y:64.32, Z:42.93 [[ 1.28136871e-01 -9.86380679e-01 -1.03121770e-01 1.10390556e+02] [ 7.84651281e-01 1.64421628e-01 -5.97735640e-01 6.43245507e+01] [ 6.06550335e-01 -4.32265401e-03 7.95033336e-01 4.29257839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07710568099998 meters Centerline goodness : 0.996712 Centerline is valid? [True, True] Translation: X:110.39, Y:64.35, Z:42.94 [[ 1.21669257e-01 -9.87181911e-01 -1.03288270e-01 1.10391688e+02] [ 7.83707863e-01 1.59403144e-01 -6.00327097e-01 6.43476499e+01] [ 6.09096526e-01 -7.90647759e-03 7.93056687e-01 4.29411980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.10710568099998 meters Centerline goodness : 0.996315 Centerline is valid? [True, True] Translation: X:110.39, Y:64.37, Z:42.96 [[ 1.10615224e-01 -9.88469789e-01 -1.03400911e-01 1.10387540e+02] [ 7.83684530e-01 1.50734056e-01 -6.02592567e-01 6.43700547e+01] [ 6.11230586e-01 -1.43777823e-02 7.91321964e-01 4.29554609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13710568099998 meters Centerline goodness : 0.996369 Centerline is valid? [True, True] Translation: X:110.38, Y:64.39, Z:42.97 [[ 1.06372108e-01 -9.88966374e-01 -1.03104247e-01 1.10384950e+02] [ 7.84602014e-01 1.47181014e-01 -6.02276870e-01 6.43907560e+01] [ 6.10806560e-01 -1.68303402e-02 7.91600964e-01 4.29722916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.16710568099998 meters Centerline goodness : 0.994966 Centerline is valid? [True, True] Translation: X:110.37, Y:64.41, Z:42.99 [[ 1.04377268e-01 -9.89245556e-01 -1.02462755e-01 1.10373975e+02] [ 7.86427370e-01 1.45163177e-01 -6.00382914e-01 6.44128830e+01] [ 6.08799949e-01 -1.79131861e-02 7.93121517e-01 4.29914468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19710568099998 meters Centerline goodness : 0.994994 Centerline is valid? [True, True] Translation: X:110.36, Y:64.43, Z:43.01 [[ 1.07568562e-01 -9.88976670e-01 -1.01755343e-01 1.10359329e+02] [ 7.87883226e-01 1.47220796e-01 -5.97968277e-01 6.44347581e+01] [ 6.06357178e-01 -1.58487398e-02 7.95034459e-01 4.30118978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22710568099998 meters Centerline goodness : 0.994170 Centerline is valid? [True, True] Translation: X:110.34, Y:64.46, Z:43.03 [[ 1.14026650e-01 -9.88318837e-01 -1.01112806e-01 1.10344805e+02] [ 7.88531611e-01 1.51944509e-01 -5.95928489e-01 6.44568593e+01] [ 6.04330887e-01 -1.17789146e-02 7.96646368e-01 4.30299415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25710568099998 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:110.34, Y:64.48, Z:43.05 [[ 1.18285354e-01 -9.88972272e-01 -8.91202580e-02 1.10338700e+02] [ 7.90593349e-01 1.48100689e-01 -5.94161882e-01 6.44808326e+01] [ 6.00808398e-01 -1.77234700e-04 7.99393043e-01 4.30487226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28710568099999 meters Centerline goodness : 0.995193 Centerline is valid? [True, True] Translation: X:110.32, Y:64.51, Z:43.07 [[ 1.21561878e-01 -9.88522346e-01 -8.97010696e-02 1.10324425e+02] [ 7.92949198e-01 1.51073431e-01 -5.90261288e-01 6.45073250e+01] [ 5.97037921e-01 6.24879348e-04 8.02212771e-01 4.30659569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.317105681 meters Centerline goodness : 0.995716 Centerline is valid? [True, True] Translation: X:110.32, Y:64.53, Z:43.07 [[ 1.18535107e-01 -9.84240445e-01 -1.31225663e-01 1.10323790e+02] [ 7.89387245e-01 1.73577209e-01 -5.88845252e-01 6.45315138e+01] [ 6.02343097e-01 -3.37890295e-02 7.97521846e-01 4.30737424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.347105681 meters Centerline goodness : 0.996363 Centerline is valid? [True, True] Translation: X:110.31, Y:64.55, Z:43.10 [[ 1.15266025e-01 -9.88330673e-01 -9.95802417e-02 1.10305950e+02] [ 7.87274273e-01 1.52025967e-01 -5.97567841e-01 6.45508706e+01] [ 6.05733409e-01 -9.51769294e-03 7.95610741e-01 4.30985585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.377105681 meters Centerline goodness : 0.997221 Centerline is valid? [True, True] Translation: X:110.29, Y:64.57, Z:43.12 [[ 1.10463268e-01 -9.88857417e-01 -9.97941612e-02 1.10294580e+02] [ 7.85737995e-01 1.48374897e-01 -6.00500370e-01 6.45738706e+01] [ 6.08616193e-01 -1.20788307e-02 7.93372820e-01 4.31153997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.407105681 meters Centerline goodness : 0.997469 Centerline is valid? [True, True] Translation: X:110.29, Y:64.60, Z:43.13 [[ 1.09387695e-01 -9.88975143e-01 -9.98123142e-02 1.10290338e+02] [ 7.84474354e-01 1.47560651e-01 -6.02350266e-01 6.45951509e+01] [ 6.10437811e-01 -1.24104932e-02 7.91966956e-01 4.31315012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.437105681 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:110.28, Y:64.62, Z:43.16 [[ 1.19079848e-01 -9.90793712e-01 -6.44034926e-02 1.10277726e+02] [ 7.86077851e-01 1.33704062e-01 -6.03493857e-01 6.46206299e+01] [ 6.06548927e-01 2.12377978e-02 7.94762452e-01 4.31592156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.467105681 meters Centerline goodness : 0.997990 Centerline is valid? [True, True] Translation: X:110.28, Y:64.65, Z:43.16 [[ 1.24549669e-01 -9.86009368e-01 -1.10783150e-01 1.10281479e+02] [ 7.87191724e-01 1.66163470e-01 -5.93901414e-01 6.46549121e+01] [ 6.04000471e-01 -1.32373543e-02 7.96874020e-01 4.31584476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.497105681 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:110.27, Y:64.67, Z:43.17 [[ 1.35711672e-01 -9.78081180e-01 -1.57922597e-01 1.10270294e+02] [ 7.80200835e-01 2.03746350e-01 -5.91417012e-01 6.46749893e+01] [ 6.10630002e-01 -4.29491511e-02 7.90750511e-01 4.31678470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52710568099997 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:110.25, Y:64.68, Z:43.21 [[ 1.52269246e-01 -9.83274067e-01 -9.99309098e-02 1.10246884e+02] [ 7.77987749e-01 1.81605604e-01 -6.01460279e-01 6.46841588e+01] [ 6.09548307e-01 1.38388796e-02 7.92628126e-01 4.32064215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55710568099997 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:110.25, Y:64.72, Z:43.22 [[ 1.56469115e-01 -9.79248661e-01 -1.28800140e-01 1.10249335e+02] [ 7.78400382e-01 2.02531484e-01 -5.94200172e-01 6.47157801e+01] [ 6.07955806e-01 -7.28410315e-03 7.93937453e-01 4.32157947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58710568099997 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:110.23, Y:64.73, Z:43.25 [[ 1.67504636e-01 -9.82842380e-01 -7.72208042e-02 1.10231341e+02] [ 7.73890818e-01 1.79609446e-01 -6.07316596e-01 6.47263707e+01] [ 6.10766075e-01 4.19678740e-02 7.90698109e-01 4.32483552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61710568099997 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:110.23, Y:64.76, Z:43.27 [[ 1.74497503e-01 -9.83157743e-01 -5.43274772e-02 1.10234110e+02] [ 7.79785175e-01 1.71669747e-01 -6.02050312e-01 6.47585103e+01] [ 6.01236810e-01 6.26925149e-02 7.96607775e-01 4.32663992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64710568099997 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:110.25, Y:64.80, Z:43.25 [[ 1.76336081e-01 -9.74375170e-01 -1.39637440e-01 1.10247716e+02] [ 7.80183227e-01 2.24848696e-01 -5.83744118e-01 6.48045454e+01] [ 6.00183071e-01 -6.00763829e-03 7.99840103e-01 4.32494840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67710568099997 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:110.24, Y:64.81, Z:43.27 [[ 1.72749084e-01 -9.74502792e-01 -1.43185411e-01 1.10240403e+02] [ 7.71018513e-01 2.24252106e-01 -5.96021347e-01 6.48110599e+01] [ 6.12934097e-01 -7.43646042e-03 7.90099040e-01 4.32713485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70710568099997 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:110.23, Y:64.82, Z:43.31 [[ 1.75836311e-01 -9.79484570e-01 -9.84457610e-02 1.10230987e+02] [ 7.73615808e-01 1.99332862e-01 -6.01485654e-01 6.48191609e+01] [ 6.08769393e-01 2.96038218e-02 7.92794702e-01 4.33070217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.73710568099997 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:110.23, Y:64.84, Z:43.33 [[ 1.80233159e-01 -9.78708305e-01 -9.82143669e-02 1.10231006e+02] [ 7.72636179e-01 2.02658654e-01 -6.01633448e-01 6.48392840e+01] [ 6.08727643e-01 3.25503239e-02 7.92711254e-01 4.33258991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.76710568099998 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:110.23, Y:64.86, Z:43.35 [[ 1.86093881e-01 -9.81302203e-01 -4.91432011e-02 1.10230934e+02] [ 7.79507703e-01 1.77903330e-01 -6.00598158e-01 6.48615488e+01] [ 5.98111034e-01 7.34601381e-02 7.98039347e-01 4.33542310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.79710568099998 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:110.25, Y:64.90, Z:43.33 [[ 1.87958533e-01 -9.68986980e-01 -1.60423884e-01 1.10251310e+02] [ 7.67880220e-01 2.46816474e-01 -5.91135853e-01 6.49019801e+01] [ 6.12398202e-01 -1.20772999e-02 7.90457197e-01 4.33314749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.82710568099998 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:110.24, Y:64.91, Z:43.37 [[ 1.95001841e-01 -9.75869150e-01 -9.82531586e-02 1.10242559e+02] [ 7.66532176e-01 2.14130269e-01 -6.05455738e-01 6.49071529e+01] [ 6.11884552e-01 4.27507760e-02 7.89790900e-01 4.33711937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85710568099998 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:110.25, Y:64.94, Z:43.38 [[ 1.91448966e-01 -9.74335411e-01 -1.18396794e-01 1.10250191e+02] [ 7.69215574e-01 2.23870285e-01 -5.98489346e-01 6.49411711e+01] [ 6.09634886e-01 2.35075086e-02 7.92333706e-01 4.33818344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88710568099998 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:110.25, Y:64.95, Z:43.40 [[ 1.95642586e-01 -9.75736827e-01 -9.82935526e-02 1.10253828e+02] [ 7.63583755e-01 2.14459070e-01 -6.09054314e-01 6.49521256e+01] [ 6.15356667e-01 4.41016010e-02 7.87014117e-01 4.34019292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91710568099998 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:110.26, Y:64.97, Z:43.42 [[ 1.95644743e-01 -9.75781368e-01 -9.78460872e-02 1.10261714e+02] [ 7.64998183e-01 2.14283249e-01 -6.07338842e-01 6.49735339e+01] [ 6.13596703e-01 4.39705726e-02 7.88394365e-01 4.34164933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94710568099998 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:110.27, Y:64.99, Z:43.43 [[ 1.96105201e-01 -9.75741606e-01 -9.73194185e-02 1.10265652e+02] [ 7.66067088e-01 2.14401304e-01 -6.05948263e-01 6.49945727e+01] [ 6.12114341e-01 4.42764024e-02 7.89528742e-01 4.34335771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97710568099998 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:110.27, Y:65.01, Z:43.45 [[ 1.97121604e-01 -9.75610231e-01 -9.65802743e-02 1.10268504e+02] [ 7.68125870e-01 2.14908728e-01 -6.03155773e-01 6.50140659e+01] [ 6.09200887e-01 4.47092264e-02 7.91754611e-01 4.34531404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00710568099998 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:110.27, Y:65.04, Z:43.47 [[ 1.96478074e-01 -9.75777586e-01 -9.62001523e-02 1.10271891e+02] [ 7.68767057e-01 2.14203595e-01 -6.02589439e-01 6.50352478e+01] [ 6.08599686e-01 4.44401046e-02 7.92231973e-01 4.34700220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03710568099999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:110.28, Y:65.06, Z:43.49 [[ 1.93198021e-01 -9.76469385e-01 -9.58230952e-02 1.10277079e+02] [ 7.70109290e-01 2.11430243e-01 -6.01854578e-01 6.50582279e+01] [ 6.07952470e-01 4.24828576e-02 7.92836049e-01 4.34852073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.067105681 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:110.28, Y:65.08, Z:43.50 [[ 1.87526170e-01 -9.77587028e-01 -9.56950248e-02 1.10284562e+02] [ 7.70581358e-01 2.06829407e-01 -6.02848213e-01 6.50831603e+01] [ 6.09129138e-01 3.93090143e-02 7.92096266e-01 4.34977180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.097105681 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:110.29, Y:65.10, Z:43.51 [[ 1.82934074e-01 -9.78482796e-01 -9.54282057e-02 1.10288447e+02] [ 7.71475739e-01 2.03040538e-01 -6.02992309e-01 6.51043523e+01] [ 6.09393394e-01 3.66872939e-02 7.92018771e-01 4.35138873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.127105681 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:110.29, Y:65.13, Z:43.53 [[ 1.77734412e-01 -9.79478236e-01 -9.50413754e-02 1.10291279e+02] [ 7.73006734e-01 1.98727545e-01 -6.02468217e-01 6.51258259e+01] [ 6.08991846e-01 3.36117114e-02 7.92463996e-01 4.35320122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.157105681 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:110.29, Y:65.15, Z:43.55 [[ 1.77515695e-01 -9.79544619e-01 -9.47655968e-02 1.10294608e+02] [ 7.73060678e-01 1.98385835e-01 -6.02511617e-01 6.51483774e+01] [ 6.08987164e-01 3.36957119e-02 7.92464026e-01 4.35489192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.187105681 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:110.30, Y:65.17, Z:43.56 [[ 1.67338827e-01 -9.81358787e-01 -9.45126903e-02 1.10299670e+02] [ 7.75484135e-01 1.90214124e-01 -6.02032345e-01 6.51694751e+01] [ 6.08787380e-01 2.74502947e-02 7.92858378e-01 4.35644038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.217105681 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:110.30, Y:65.19, Z:43.58 [[ 1.60853707e-01 -9.82458852e-01 -9.43434618e-02 1.10304456e+02] [ 7.76553881e-01 1.84977948e-01 -6.02285006e-01 6.51917015e+01] [ 6.09171696e-01 2.36169944e-02 7.92686623e-01 4.35800571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.247105681 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:110.30, Y:65.21, Z:43.60 [[ 1.60384848e-01 -9.82584236e-01 -9.38345371e-02 1.10304311e+02] [ 7.77870138e-01 1.84342902e-01 -6.00779280e-01 6.52121167e+01] [ 6.07613980e-01 2.33648094e-02 7.93888743e-01 4.35979407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27710568099997 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:110.31, Y:65.23, Z:43.61 [[ 1.63671514e-01 -9.82086593e-01 -9.33678681e-02 1.10306656e+02] [ 7.78495869e-01 1.86711562e-01 -5.99235325e-01 6.52339772e+01] [ 6.05933840e-01 2.53912531e-02 7.95109719e-01 4.36137289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30710568099997 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:110.31, Y:65.26, Z:43.63 [[ 1.73088701e-01 -9.80522041e-01 -9.28268803e-02 1.10306999e+02] [ 7.78309734e-01 1.93928444e-01 -5.97181477e-01 6.52571340e+01] [ 6.03551373e-01 3.11173014e-02 7.96716671e-01 4.36300508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33710568099997 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:110.31, Y:65.28, Z:43.65 [[ 1.77160039e-01 -9.79822632e-01 -9.25307009e-02 1.10306360e+02] [ 7.77772036e-01 1.96994531e-01 -5.96878392e-01 6.52783851e+01] [ 6.03062999e-01 3.37752076e-02 7.96978202e-01 4.36468326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36710568099997 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:110.30, Y:65.30, Z:43.66 [[ 1.84580678e-01 -9.78488496e-01 -9.21424802e-02 1.10302725e+02] [ 7.76910114e-01 2.02688310e-01 -5.96094056e-01 6.53007940e+01] [ 6.01947380e-01 3.84410199e-02 7.97609955e-01 4.36625449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39710568099997 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:110.30, Y:65.32, Z:43.68 [[ 1.87240707e-01 -9.78031915e-01 -9.16214508e-02 1.10303925e+02] [ 7.77614300e-01 2.04566886e-01 -5.94532076e-01 6.53240599e+01] [ 6.00214059e-01 4.00744561e-02 7.98834852e-01 4.36778726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42710568099997 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:110.30, Y:65.35, Z:43.69 [[ 1.89780418e-01 -9.77619278e-01 -9.07961482e-02 1.10303867e+02] [ 7.79985572e-01 2.06287013e-01 -5.90819918e-01 6.53467793e+01] [ 5.96327008e-01 4.13063654e-02 8.01678167e-01 4.36928131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45710568099997 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:110.31, Y:65.37, Z:43.71 [[ 1.91799356e-01 -9.77251717e-01 -9.05101629e-02 1.10305182e+02] [ 7.79791307e-01 2.07741518e-01 -5.90566660e-01 6.53682077e+01] [ 5.95935001e-01 4.26912667e-02 8.01897082e-01 4.37088239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.48710568099997 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:110.31, Y:65.39, Z:43.73 [[ 1.92707522e-01 -9.77092096e-01 -9.03041961e-02 1.10306798e+02] [ 7.79253987e-01 2.08316583e-01 -5.91073114e-01 6.53898534e+01] [ 5.96344729e-01 4.35343301e-02 8.01547083e-01 4.37256267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.51710568099998 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:110.31, Y:65.41, Z:43.74 [[ 1.97753624e-01 -9.76102486e-01 -9.00968403e-02 1.10306633e+02] [ 7.77897977e-01 2.12193525e-01 -5.91480047e-01 6.54110697e+01] [ 5.96463110e-01 4.68811731e-02 8.01270188e-01 4.37437539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.54710568099998 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:110.31, Y:65.43, Z:43.76 [[ 2.00647790e-01 -9.75540168e-01 -8.97877731e-02 1.10309261e+02] [ 7.77461682e-01 2.14328471e-01 -5.91283891e-01 6.54335551e+01] [ 5.96065262e-01 4.88332531e-02 8.01449634e-01 4.37586877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57710568099998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:110.31, Y:65.46, Z:43.77 [[ 2.07144643e-01 -9.74178887e-01 -8.98142170e-02 1.10314247e+02] [ 7.74522108e-01 2.19388172e-01 -5.93282676e-01 6.54584957e+01] [ 5.97667634e-01 5.33322316e-02 7.99968170e-01 4.37713959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.60710568099998 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:110.32, Y:65.48, Z:43.79 [[ 2.13752752e-01 -9.72744801e-01 -8.98738792e-02 1.10318728e+02] [ 7.71355840e-01 2.24517227e-01 -5.95484831e-01 6.54827005e+01] [ 5.99433007e-01 5.79617797e-02 7.98323558e-01 4.37852617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63710568099998 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:110.32, Y:65.50, Z:43.80 [[ 2.15303402e-01 -9.72416156e-01 -8.97288433e-02 1.10320943e+02] [ 7.70361959e-01 2.25595328e-01 -5.96363312e-01 6.55047174e+01] [ 6.00155727e-01 5.92753627e-02 7.97683856e-01 4.38010077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66710568099998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:110.32, Y:65.53, Z:43.82 [[ 2.17507125e-01 -9.71926830e-01 -8.97155945e-02 1.10322904e+02] [ 7.68441185e-01 2.27190214e-01 -5.98233025e-01 6.55271991e+01] [ 6.01821233e-01 6.11787875e-02 7.96284095e-01 4.38165862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:110.33, Y:65.55, Z:43.83 [[ 2.14577435e-01 -9.72576546e-01 -8.97295187e-02 1.10329245e+02] [ 7.67726275e-01 2.24744169e-01 -6.00072017e-01 6.55512387e+01] [ 6.03782156e-01 5.98742050e-02 7.94897596e-01 4.38295350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72710568099998 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:110.34, Y:65.58, Z:43.84 [[ 2.10921115e-01 -9.73400027e-01 -8.94688250e-02 1.10335482e+02] [ 7.68533878e-01 2.21693838e-01 -6.00172909e-01 6.55750547e+01] [ 6.04043013e-01 5.78293162e-02 7.94850809e-01 4.38437096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75710568099998 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:110.34, Y:65.60, Z:43.86 [[ 2.02409689e-01 -9.75256847e-01 -8.89066973e-02 1.10343438e+02] [ 7.71988227e-01 2.14760850e-01 -5.98257432e-01 6.55966614e+01] [ 6.02548334e-01 5.24581768e-02 7.96356481e-01 4.38585633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78710568099999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:110.35, Y:65.62, Z:43.88 [[ 1.97873994e-01 -9.76227740e-01 -8.84606300e-02 1.10346897e+02] [ 7.73844110e-01 2.10968235e-01 -5.97208253e-01 6.56177804e+01] [ 6.01673646e-01 4.97172448e-02 7.97193213e-01 4.38766318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.817105681 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:110.35, Y:65.64, Z:43.90 [[ 1.91573048e-01 -9.77526266e-01 -8.79895786e-02 1.10349261e+02] [ 7.76269971e-01 2.05767386e-01 -5.95873070e-01 6.56384566e+01] [ 6.00586963e-01 4.58495525e-02 7.98243771e-01 4.38959331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.847105681 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:110.35, Y:65.66, Z:43.91 [[ 1.86167584e-01 -9.78613748e-01 -8.75029324e-02 1.10352549e+02] [ 7.78559392e-01 2.01260541e-01 -5.94423644e-01 6.56606369e+01] [ 5.99322038e-01 4.25361836e-02 7.99377113e-01 4.39106201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.877105681 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:110.36, Y:65.68, Z:43.93 [[ 1.83413602e-01 -9.79178086e-01 -8.70041793e-02 1.10355805e+02] [ 7.80293355e-01 1.98846833e-01 -5.92960553e-01 6.56833833e+01] [ 5.97914485e-01 4.08682477e-02 8.00517367e-01 4.39260437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.907105681 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:110.36, Y:65.71, Z:43.94 [[ 1.80227806e-01 -9.79827856e-01 -8.63441412e-02 1.10358524e+02] [ 7.83075748e-01 1.96048613e-01 -5.90218023e-01 6.57059399e+01] [ 5.95239709e-01 3.87596962e-02 8.02612842e-01 4.39420016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.937105681 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:110.36, Y:65.73, Z:43.96 [[ 1.79155046e-01 -9.80055595e-01 -8.59912827e-02 1.10359589e+02] [ 7.83805656e-01 1.95011931e-01 -5.89592267e-01 6.57275237e+01] [ 5.94602526e-01 3.82279760e-02 8.03110489e-01 4.39599996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.967105681 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:110.36, Y:65.75, Z:43.98 [[ 1.78765220e-01 -9.80158744e-01 -8.56261212e-02 1.10357455e+02] [ 7.84472855e-01 1.94518392e-01 -5.88867502e-01 6.57465244e+01] [ 5.93839487e-01 3.80976611e-02 8.03681051e-01 4.39794776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.997105681 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:110.36, Y:65.77, Z:44.00 [[ 1.79992607e-01 -9.79952840e-01 -8.54113161e-02 1.10358915e+02] [ 7.84385906e-01 1.95381938e-01 -5.88697417e-01 6.57692017e+01] [ 5.93583534e-01 3.89657504e-02 8.03828500e-01 4.39962281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02710568099997 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:110.36, Y:65.79, Z:44.01 [[ 1.86943611e-01 -9.78652484e-01 -8.53897098e-02 1.10359854e+02] [ 7.81713748e-01 2.00838985e-01 -5.90412837e-01 6.57940874e+01] [ 5.94958572e-01 4.36235975e-02 8.02571666e-01 4.40095962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05710568099997 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:110.36, Y:65.82, Z:44.03 [[ 1.99701624e-01 -9.78348119e-01 -5.43527315e-02 1.10355740e+02] [ 7.84035492e-01 1.92816580e-01 -5.90008570e-01 6.58184726e+01] [ 5.87713883e-01 7.52111990e-02 8.05565433e-01 4.40306648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08710568099997 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:110.36, Y:65.85, Z:44.03 [[ 2.09948502e-01 -9.73343123e-01 -9.23297974e-02 1.10360478e+02] [ 7.80176846e-01 2.23698611e-01 -5.84194334e-01 6.58523488e+01] [ 5.89275585e-01 5.06171549e-02 8.06344956e-01 4.40331958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11710568099997 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:110.36, Y:65.88, Z:44.05 [[ 2.13453638e-01 -9.73011877e-01 -8.76665909e-02 1.10360502e+02] [ 7.79891625e-01 2.23755240e-01 -5.84553373e-01 6.58754867e+01] [ 5.88393234e-01 5.64046044e-02 8.06605184e-01 4.40500589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14710568099997 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:110.36, Y:65.90, Z:44.06 [[ 2.13943679e-01 -9.71980802e-01 -9.73726011e-02 1.10361782e+02] [ 7.77284183e-01 2.29763423e-01 -5.85694518e-01 6.58988492e+01] [ 5.91656489e-01 4.96194571e-02 8.04661736e-01 4.40630824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17710568099997 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:110.36, Y:65.92, Z:44.08 [[ 2.15519786e-01 -9.70870843e-01 -1.04694924e-01 1.10362507e+02] [ 7.76047329e-01 2.35367566e-01 -5.85109094e-01 6.59229729e+01] [ 5.92707149e-01 4.48543706e-02 8.04168092e-01 4.40765333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20710568099997 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:110.36, Y:65.94, Z:44.10 [[ 2.08051623e-01 -9.72630152e-01 -1.03465499e-01 1.10360379e+02] [ 7.73008622e-01 2.28314510e-01 -5.91886944e-01 6.59393659e+01] [ 5.99309763e-01 4.31633166e-02 7.99352698e-01 4.40989583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.23710568099997 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:110.36, Y:65.96, Z:44.12 [[ 2.05406011e-01 -9.74985311e-01 -8.49235765e-02 1.10360276e+02] [ 7.75330106e-01 2.15065710e-01 -5.93809707e-01 6.59567573e+01] [ 5.97219891e-01 5.61282774e-02 8.00111254e-01 4.41217260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.26710568099998 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:110.36, Y:65.98, Z:44.14 [[ 1.98839745e-01 -9.76383381e-01 -8.44881637e-02 1.10361093e+02] [ 7.77606739e-01 2.09652268e-01 -5.92767818e-01 6.59765601e+01] [ 5.96481781e-01 5.21672365e-02 8.00929500e-01 4.41413302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.29710568099998 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:110.36, Y:66.00, Z:44.16 [[ 1.94655735e-01 -9.77242711e-01 -8.42960800e-02 1.10360997e+02] [ 7.78247700e-01 2.06182212e-01 -5.93143669e-01 6.59975481e+01] [ 5.97025679e-01 4.98555863e-02 8.00671442e-01 4.41608073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32710568099998 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:110.36, Y:66.02, Z:44.17 [[ 1.91226752e-01 -9.78556822e-01 -7.65432932e-02 1.10363956e+02] [ 7.82719904e-01 1.99081559e-01 -5.89674558e-01 6.60236586e+01] [ 5.92268419e-01 5.28495913e-02 8.04005622e-01 4.41733287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35710568099998 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:110.37, Y:66.05, Z:44.18 [[ 1.80172341e-01 -9.79092634e-01 -9.44221502e-02 1.10368227e+02] [ 7.79616137e-01 2.00675407e-01 -5.93235249e-01 6.60478826e+01] [ 5.99780466e-01 3.32715517e-02 7.99472574e-01 4.41837625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38710568099998 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:110.37, Y:66.07, Z:44.20 [[ 1.77114157e-01 -9.80586736e-01 -8.41440945e-02 1.10367791e+02] [ 7.80599632e-01 1.92032182e-01 -5.94800686e-01 6.60677806e+01] [ 5.99412038e-01 3.96647728e-02 7.99457263e-01 4.42046397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41710568099998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:110.36, Y:66.09, Z:44.22 [[ 1.72582009e-01 -9.81409300e-01 -8.39716411e-02 1.10363303e+02] [ 7.81106079e-01 1.88296253e-01 -5.95330005e-01 6.60867977e+01] [ 6.00073949e-01 3.71524888e-02 7.99081315e-01 4.42247387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44710568099998 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:110.36, Y:66.11, Z:44.24 [[ 1.70565682e-01 -9.81782999e-01 -8.37227069e-02 1.10363207e+02] [ 7.81669744e-01 1.86551129e-01 -5.95139553e-01 6.61082443e+01] [ 5.99916461e-01 3.60668769e-02 7.99249285e-01 4.42423029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47710568099998 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:110.36, Y:66.13, Z:44.26 [[ 1.67330264e-01 -9.82352867e-01 -8.35669046e-02 1.10362057e+02] [ 7.81805995e-01 1.83853427e-01 -5.95799718e-01 6.61314463e+01] [ 6.00649623e-01 3.43622170e-02 7.98773603e-01 4.42584029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50710568099998 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:110.36, Y:66.15, Z:44.27 [[ 1.66263410e-01 -9.82544017e-01 -8.34489839e-02 1.10362509e+02] [ 7.81296433e-01 1.82892850e-01 -5.96763009e-01 6.61535384e+01] [ 6.01608147e-01 3.40214594e-02 7.98066525e-01 4.42737095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53710568099999 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:110.36, Y:66.18, Z:44.29 [[ 1.64177865e-01 -9.82897590e-01 -8.34143682e-02 1.10358227e+02] [ 7.81099969e-01 1.81181530e-01 -5.97541707e-01 6.61761594e+01] [ 6.02435446e-01 3.29481610e-02 7.97487274e-01 4.42905876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.567105681 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:110.35, Y:66.20, Z:44.31 [[ 1.60998956e-01 -9.83449170e-01 -8.31087570e-02 1.10352349e+02] [ 7.82059999e-01 1.78488905e-01 -5.97096197e-01 6.61981508e+01] [ 6.02047751e-01 3.11358298e-02 7.97852785e-01 4.43071895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.597105681 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:110.35, Y:66.22, Z:44.32 [[ 1.55935556e-01 -9.84276452e-01 -8.29696860e-02 1.10348316e+02] [ 7.82547419e-01 1.74357641e-01 -5.97677966e-01 6.62221576e+01] [ 6.02746746e-01 2.82715325e-02 7.97431552e-01 4.43218981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.627105681 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:110.35, Y:66.25, Z:44.34 [[ 1.51786345e-01 -9.84934866e-01 -8.28505606e-02 1.10347156e+02] [ 7.82605408e-01 1.70957299e-01 -5.98583643e-01 6.62451956e+01] [ 6.03729808e-01 2.60175265e-02 7.96764336e-01 4.43383257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.657105681 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:110.34, Y:66.27, Z:44.36 [[ 1.39945432e-01 -9.86695559e-01 -8.27475060e-02 1.10340143e+02] [ 7.83798393e-01 1.61457438e-01 -5.99659549e-01 6.62675415e+01] [ 6.05041614e-01 1.90622524e-02 7.95965625e-01 4.43565047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.687105681 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:110.34, Y:66.29, Z:44.37 [[ 1.33816159e-01 -9.87567551e-01 -8.24837392e-02 1.10337398e+02] [ 7.84890721e-01 1.56430096e-01 -5.99563325e-01 6.62889877e+01] [ 6.05012224e-01 1.54905398e-02 7.96065482e-01 4.43736488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.717105681 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:110.32, Y:66.31, Z:44.41 [[ 1.26807997e-01 -9.91568684e-01 -2.66697576e-02 1.10322461e+02] [ 7.94171763e-01 1.17599518e-01 -5.96205975e-01 6.63092750e+01] [ 5.94315525e-01 5.44233169e-02 8.02388409e-01 4.44057829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.747105681 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:110.34, Y:66.36, Z:44.39 [[ 1.20376460e-01 -9.87607136e-01 -1.00705770e-01 1.10335328e+02] [ 7.92512441e-01 1.56695860e-01 -5.89381403e-01 6.63552554e+01] [ 5.97857456e-01 -8.86292871e-03 8.01553436e-01 4.43891632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77710568099997 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:110.32, Y:66.37, Z:44.41 [[ 1.13478984e-01 -9.90478286e-01 -7.79441134e-02 1.10321368e+02] [ 7.96522005e-01 1.37587893e-01 -5.88746352e-01 6.63747094e+01] [ 5.93864644e-01 4.72613632e-03 8.04551085e-01 4.44149295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80710568099997 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:110.32, Y:66.40, Z:44.42 [[ 1.12224407e-01 -9.88750600e-01 -9.88834305e-02 1.10318683e+02] [ 7.97658638e-01 1.48982038e-01 -5.84418557e-01 6.64047098e+01] [ 5.92576054e-01 -1.32891965e-02 8.05404878e-01 4.44195053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83710568099997 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:110.32, Y:66.42, Z:44.45 [[ 1.13104841e-01 -9.90632930e-01 -7.65094267e-02 1.10316766e+02] [ 7.97408169e-01 1.36442000e-01 -5.87812719e-01 6.64170529e+01] [ 5.92745736e-01 5.47522252e-03 8.05371042e-01 4.44543321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86710568099997 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:110.32, Y:66.44, Z:44.47 [[ 1.14393408e-01 -9.90045951e-01 -8.19948944e-02 1.10318985e+02] [ 7.97114099e-01 1.40732830e-01 -5.87199612e-01 6.64437015e+01] [ 5.92893972e-01 1.81247861e-03 8.05278494e-01 4.44684318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89710568099997 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:110.33, Y:66.47, Z:44.46 [[ 1.11425389e-01 -9.81382531e-01 -1.56437564e-01 1.10334429e+02] [ 7.87399401e-01 1.83224099e-01 -5.88583989e-01 6.64749464e+01] [ 6.06289177e-01 -5.75956438e-02 7.93155833e-01 4.44593979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92710568099997 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:110.32, Y:66.48, Z:44.51 [[ 1.15823371e-01 -9.89993858e-01 -8.06046372e-02 1.10322428e+02] [ 7.86114856e-01 1.40968099e-01 -6.01790186e-01 6.64765224e+01] [ 6.07131270e-01 6.33686511e-03 7.94576280e-01 4.45065653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95710568099997 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:110.33, Y:66.50, Z:44.52 [[ 1.18899371e-01 -9.89660637e-01 -8.02169751e-02 1.10326517e+02] [ 7.86480575e-01 1.43185885e-01 -6.00787906e-01 6.64986563e+01] [ 6.06062080e-01 8.34421171e-03 7.95373578e-01 4.45210817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.98710568099997 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:110.32, Y:66.51, Z:44.56 [[ 1.23591311e-01 -9.92183800e-01 -1.72190531e-02 1.10318608e+02] [ 7.96133613e-01 1.09498659e-01 -5.95131342e-01 6.65134722e+01] [ 5.92365139e-01 5.98443957e-02 8.03443956e-01 4.45584341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.01710568099998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:110.33, Y:66.56, Z:44.55 [[ 1.24951366e-01 -9.87998087e-01 -9.08126428e-02 1.10333175e+02] [ 7.94584184e-01 1.54461370e-01 -5.87177707e-01 6.65573960e+01] [ 5.94157497e-01 1.21036674e-03 8.04347813e-01 4.45454518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.04710568099998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:110.33, Y:66.58, Z:44.57 [[ 1.24333874e-01 -9.88509329e-01 -8.59674002e-02 1.10334646e+02] [ 7.94141356e-01 1.51079797e-01 -5.88654739e-01 6.65777731e+01] [ 5.94878638e-01 4.91945607e-03 8.03800476e-01 4.45654852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07710568099998 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:110.34, Y:66.60, Z:44.59 [[ 1.25804215e-01 -9.89073231e-01 -7.68598925e-02 1.10335752e+02] [ 7.96008798e-01 1.46877836e-01 -5.87194086e-01 6.65988151e+01] [ 5.92066967e-01 1.26903401e-02 8.05788845e-01 4.45869796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10710568099998 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:110.35, Y:66.63, Z:44.58 [[ 1.21814279e-01 -9.80642148e-01 -1.53304462e-01 1.10352576e+02] [ 7.86755523e-01 1.89564187e-01 -5.87436095e-01 6.66302832e+01] [ 6.05125630e-01 -4.90550278e-02 7.94617251e-01 4.45794487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13710568099998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:110.33, Y:66.62, Z:44.65 [[ 1.24684786e-01 -9.92044535e-01 -1.73592764e-02 1.10331983e+02] [ 7.97702023e-01 1.10632311e-01 -5.92816982e-01 6.66213291e+01] [ 5.90021344e-01 6.00677287e-02 8.05150099e-01 4.46487079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16710568099998 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:110.36, Y:66.67, Z:44.62 [[ 1.21308428e-01 -9.82227539e-01 -1.43224746e-01 1.10360878e+02] [ 7.88778974e-01 1.82983179e-01 -5.86809071e-01 6.66722390e+01] [ 6.02587749e-01 -4.17877820e-02 7.96957832e-01 4.46165889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19710568099998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:110.35, Y:66.67, Z:44.67 [[ 1.19613264e-01 -9.89781134e-01 -7.76271514e-02 1.10349581e+02] [ 7.88855010e-01 1.42223886e-01 -5.97896428e-01 6.66699512e+01] [ 6.02827040e-01 1.02797759e-02 7.97805670e-01 4.46665533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22710568099998 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:110.35, Y:66.69, Z:44.68 [[ 1.17899534e-01 -9.89969772e-01 -7.78431083e-02 1.10354633e+02] [ 7.86494087e-01 1.40948025e-01 -6.01299182e-01 6.66927501e+01] [ 6.06239847e-01 9.66974925e-03 7.95223078e-01 4.46821782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25710568099998 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:110.36, Y:66.71, Z:44.70 [[ 1.19208684e-01 -9.89823258e-01 -7.77123392e-02 1.10356828e+02] [ 7.85605216e-01 1.41896283e-01 -6.02237404e-01 6.67129477e+01] [ 6.07135681e-01 1.07407090e-02 7.94525583e-01 4.46993717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.28710568099999 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:110.35, Y:66.73, Z:44.73 [[ 1.22891334e-01 -9.92145903e-01 -2.33286717e-02 1.10349952e+02] [ 7.92929807e-01 1.12297161e-01 -5.98875337e-01 6.67283820e+01] [ 5.96791456e-01 5.50985901e-02 8.00502407e-01 4.47315515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.317105681 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:110.36, Y:66.77, Z:44.72 [[ 1.24299931e-01 -9.89585862e-01 -7.25902825e-02 1.10362155e+02] [ 7.90874333e-01 1.42988814e-01 -5.95039485e-01 6.67716115e+01] [ 5.99222260e-01 1.65535756e-02 8.00411558e-01 4.47218176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.347105681 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:110.38, Y:66.80, Z:44.72 [[ 1.22379964e-01 -9.83009895e-01 -1.36801647e-01 1.10380309e+02] [ 7.80567414e-01 1.80461476e-01 -5.98454817e-01 6.68025802e+01] [ 6.12974434e-01 -3.35440285e-02 7.89390360e-01 4.47218594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.377105681 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:110.37, Y:66.80, Z:44.77 [[ 1.25318029e-01 -9.89090043e-01 -7.74356456e-02 1.10370450e+02] [ 7.80628129e-01 1.46473895e-01 -6.07589600e-01 6.68029504e+01] [ 6.12303124e-01 1.56934877e-02 7.90467329e-01 4.47667681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.407105681 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:110.37, Y:66.82, Z:44.78 [[ 1.31771442e-01 -9.88279996e-01 -7.70644991e-02 1.10372769e+02] [ 7.81065506e-01 1.51383674e-01 -6.05821475e-01 6.68243725e+01] [ 6.10387551e-01 1.96375473e-02 7.91859460e-01 4.47843729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.437105681 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:110.37, Y:66.85, Z:44.80 [[ 1.36408376e-01 -9.87689259e-01 -7.65681595e-02 1.10374515e+02] [ 7.81860018e-01 1.54799795e-01 -6.03930407e-01 6.68459179e+01] [ 6.08348311e-01 2.25155833e-02 7.93350730e-01 4.48024964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.467105681 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:110.38, Y:66.87, Z:44.82 [[ 1.44284909e-01 -9.86620591e-01 -7.59056937e-02 1.10377223e+02] [ 7.83140642e-01 1.60743324e-01 -6.00709846e-01 6.68679797e+01] [ 6.04874037e-01 2.72285319e-02 7.95855519e-01 4.48197671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.497105681 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:110.38, Y:66.89, Z:44.84 [[ 1.47637322e-01 -9.86155064e-01 -7.55076844e-02 1.10380330e+02] [ 7.83500924e-01 1.63206069e-01 -5.99574917e-01 6.68894235e+01] [ 6.03597153e-01 2.93592947e-02 7.96748711e-01 4.48370854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52710568099997 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:110.38, Y:66.91, Z:44.86 [[ 1.52432808e-01 -9.85464674e-01 -7.49907659e-02 1.10384369e+02] [ 7.84342438e-01 1.66789709e-01 -5.97484840e-01 6.69093707e+01] [ 6.01307891e-01 3.22578518e-02 7.98365989e-01 4.48551980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55710568099997 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:110.39, Y:66.93, Z:44.87 [[ 1.56144291e-01 -9.84895842e-01 -7.48274016e-02 1.10389375e+02] [ 7.83869040e-01 1.69653538e-01 -5.97299762e-01 6.69310030e+01] [ 6.00972786e-01 3.46100644e-02 7.98519790e-01 4.48701580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58710568099997 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:110.39, Y:66.95, Z:44.88 [[ 1.59358741e-01 -9.84386454e-01 -7.47536007e-02 1.10394780e+02] [ 7.82422970e-01 1.72112589e-01 -5.98491063e-01 6.69536384e+01] [ 6.02012531e-01 3.68858477e-02 7.97634219e-01 4.48847761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61710568099997 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:110.40, Y:66.98, Z:44.90 [[ 1.58968455e-01 -9.84450399e-01 -7.47424998e-02 1.10398238e+02] [ 7.81574502e-01 1.71739669e-01 -5.99705582e-01 6.69751485e+01] [ 6.03216652e-01 3.69174379e-02 7.96722520e-01 4.49015024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64710568099997 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:110.40, Y:67.00, Z:44.92 [[ 1.55294605e-01 -9.85028483e-01 -7.48496727e-02 1.10403136e+02] [ 7.79966870e-01 1.68758456e-01 -6.02637757e-01 6.69972730e+01] [ 6.06246871e-01 3.52061274e-02 7.94496860e-01 4.49180395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67710568099997 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:110.41, Y:67.02, Z:44.93 [[ 1.51660357e-01 -9.85598623e-01 -7.47963318e-02 1.10408658e+02] [ 7.79336378e-01 1.65779668e-01 -6.04278009e-01 6.70188578e+01] [ 6.07975284e-01 3.33535165e-02 7.93255064e-01 4.49327620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70710568099997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:110.41, Y:67.04, Z:44.95 [[ 1.49161602e-01 -9.85988611e-01 -7.46811625e-02 1.10412443e+02] [ 7.79590987e-01 1.63724547e-01 -6.04509856e-01 6.70406170e+01] [ 6.08266973e-01 3.19488971e-02 7.93089250e-01 4.49501084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.73710568099997 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:110.42, Y:67.06, Z:44.97 [[ 1.43820037e-01 -9.86793707e-01 -7.45250059e-02 1.10416508e+02] [ 7.79876098e-01 1.59376831e-01 -6.05303475e-01 6.70614644e+01] [ 6.09187220e-01 2.89344974e-02 7.92498408e-01 4.49675458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.76710568099998 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:110.42, Y:67.08, Z:44.98 [[ 1.41128414e-01 -9.87194076e-01 -7.43681912e-02 1.10419934e+02] [ 7.79728869e-01 1.57127190e-01 -6.06080800e-01 6.70828896e+01] [ 6.10004640e-01 2.75481965e-02 7.91918832e-01 4.49845720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.79710568099998 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:110.43, Y:67.10, Z:45.00 [[ 1.36134470e-01 -9.87897932e-01 -7.43308967e-02 1.10425357e+02] [ 7.79160980e-01 1.53104699e-01 -6.07838069e-01 6.71045041e+01] [ 6.11862381e-01 2.48319790e-02 7.90574348e-01 4.50008331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.82710568099998 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:110.42, Y:67.12, Z:45.02 [[ 1.35538409e-01 -9.89522426e-01 -4.97464319e-02 1.10422465e+02] [ 7.84654765e-01 1.37862539e-01 -6.04409481e-01 6.71220031e+01] [ 6.04934905e-01 4.28869248e-02 7.95119156e-01 4.50186377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85710568099998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:110.43, Y:67.15, Z:45.02 [[ 1.25757454e-01 -9.86988492e-01 -1.00193706e-01 1.10434311e+02] [ 7.80128113e-01 1.60776800e-01 -6.04608095e-01 6.71517754e+01] [ 6.12850056e-01 -2.12995198e-03 7.90196351e-01 4.50183897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88710568099998 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:110.43, Y:67.16, Z:45.07 [[ 1.23286183e-01 -9.91512445e-01 -4.12745611e-02 1.10431161e+02] [ 7.81966053e-01 1.22670945e-01 -6.11130862e-01 6.71588187e+01] [ 6.11007044e-01 4.30686859e-02 7.90452706e-01 4.50678536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91710568099998 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:110.43, Y:67.18, Z:45.08 [[ 1.21427026e-01 -9.92155641e-01 -2.97096351e-02 1.10429936e+02] [ 7.87916412e-01 1.14548250e-01 -6.05034235e-01 6.71843898e+01] [ 6.03691316e-01 5.00587984e-02 7.95644966e-01 4.50790489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94710568099998 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:110.45, Y:67.22, Z:45.07 [[ 1.14136107e-01 -9.87202920e-01 -1.11370303e-01 1.10448997e+02] [ 7.82010676e-01 1.58416541e-01 -6.02796401e-01 6.72233293e+01] [ 6.12725266e-01 -1.82919315e-02 7.90084270e-01 4.50725197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97710568099998 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:110.44, Y:67.23, Z:45.11 [[ 1.09138177e-01 -9.91346718e-01 -7.29420486e-02 1.10443477e+02] [ 7.84356354e-01 1.30963296e-01 -6.06328067e-01 6.72317896e+01] [ 6.10634071e-01 8.96098069e-03 7.91862193e-01 4.51074585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00710568099998 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:110.45, Y:67.25, Z:45.12 [[ 1.06019048e-01 -9.91714777e-01 -7.25380052e-02 1.10446316e+02] [ 7.85729733e-01 1.28259657e-01 -6.05126637e-01 6.72532475e+01] [ 6.09416727e-01 7.15968246e-03 7.92817754e-01 4.51238190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03710568099999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:110.43, Y:67.27, Z:45.16 [[ 9.91849841e-02 -9.94947863e-01 -1.55270105e-02 1.10434732e+02] [ 7.94472549e-01 8.85759637e-02 -6.00805849e-01 6.72681793e+01] [ 5.99145816e-01 4.72551349e-02 7.99244170e-01 4.51554795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.067105681 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:110.45, Y:67.31, Z:45.14 [[ 1.00246646e-01 -9.92100337e-01 -7.54157232e-02 1.10451552e+02] [ 7.96685950e-01 1.25444248e-01 -5.91231966e-01 6.73129714e+01] [ 5.96021901e-01 -8.13625357e-04 8.02967765e-01 4.51447293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.097105681 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:110.46, Y:67.34, Z:45.15 [[ 8.85595807e-02 -9.88428121e-01 -1.23154578e-01 1.10459599e+02] [ 7.85584822e-01 1.45323583e-01 -6.01446209e-01 6.73372045e+01] [ 6.12383611e-01 -4.34845430e-02 7.89363926e-01 4.51538468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.127105681 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:110.44, Y:67.34, Z:45.21 [[ 8.77095995e-02 -9.96064951e-01 -1.27137269e-02 1.10435681e+02] [ 7.92022138e-01 7.74716834e-02 -6.05556828e-01 6.73361208e+01] [ 6.04158886e-01 4.30435937e-02 7.95700502e-01 4.52079029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.157105681 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:110.46, Y:67.39, Z:45.18 [[ 8.70417720e-02 -9.87737810e-01 -1.29606127e-01 1.10462248e+02] [ 7.83277613e-01 1.48243849e-01 -6.03738306e-01 6.73872113e+01] [ 6.15548463e-01 -4.89671260e-02 7.86576322e-01 4.51833994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.187105681 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:110.44, Y:67.39, Z:45.23 [[ 9.02833069e-02 -9.95080859e-01 -4.07799962e-02 1.10436730e+02] [ 7.89399258e-01 9.64671128e-02 -6.06253171e-01 6.73868029e+01] [ 6.07204855e-01 2.25428423e-02 7.94225462e-01 4.52260445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.217105681 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:110.44, Y:67.41, Z:45.24 [[ 9.25211030e-02 -9.94687844e-01 -4.51213799e-02 1.10436013e+02] [ 7.89318638e-01 1.00891789e-01 -6.05637627e-01 6.74140497e+01] [ 6.06972762e-01 2.04191151e-02 7.94460274e-01 4.52439187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24710568099997 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:110.44, Y:67.44, Z:45.26 [[ 9.32672679e-02 -9.93471787e-01 -6.56888487e-02 1.10441001e+02] [ 7.89871779e-01 1.13996420e-01 -6.02583927e-01 6.74394386e+01] [ 6.06138425e-01 4.31558880e-03 7.95347462e-01 4.52556070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27710568099997 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:110.44, Y:67.46, Z:45.27 [[ 9.99790254e-02 -9.92951293e-01 -6.36547288e-02 1.10441902e+02] [ 7.92279692e-01 1.18148497e-01 -5.98609908e-01 6.74606877e+01] [ 6.01911193e-01 9.41608627e-03 7.98507516e-01 4.52745159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30710568099997 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:110.45, Y:67.49, Z:45.29 [[ 1.07354214e-01 -9.92510358e-01 -5.82946193e-02 1.10447222e+02] [ 7.93452515e-01 1.20859084e-01 -5.96511683e-01 6.74853208e+01] [ 5.99089458e-01 1.77840304e-02 8.00484572e-01 4.52920875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33710568099997 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:110.47, Y:67.52, Z:45.28 [[ 1.07727137e-01 -9.84862693e-01 -1.35795211e-01 1.10465152e+02] [ 7.84345711e-01 1.68124450e-01 -5.97106334e-01 6.75177529e+01] [ 6.10898248e-01 -4.21858357e-02 7.90584396e-01 4.52802463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36710568099997 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:110.44, Y:67.50, Z:45.36 [[ 1.16060386e-01 -9.93075261e-01 1.82075075e-02 1.10438008e+02] [ 7.94917968e-01 8.18797387e-02 -6.01166477e-01 6.74981303e+01] [ 5.95512730e-01 8.42450880e-02 7.98916362e-01 4.53632138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39710568099997 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:110.47, Y:67.55, Z:45.33 [[ 1.23652152e-01 -9.85059647e-01 -1.19865078e-01 1.10467847e+02] [ 7.81803391e-01 1.71097916e-01 -5.99590662e-01 6.75542721e+01] [ 6.11141231e-01 -1.95702491e-02 7.91279598e-01 4.53276703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42710568099997 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:110.45, Y:67.55, Z:45.40 [[ 1.31938359e-01 -9.90859472e-01 -2.81029559e-02 1.10454387e+02] [ 7.80854316e-01 1.21355739e-01 -6.12812632e-01 6.75456182e+01] [ 6.10621656e-01 5.89091784e-02 7.89728373e-01 4.54007480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45710568099997 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:110.47, Y:67.59, Z:45.38 [[ 1.42465032e-01 -9.85374303e-01 -9.34943701e-02 1.10471772e+02] [ 7.81895368e-01 1.69955972e-01 -5.99795466e-01 6.75882436e+01] [ 6.06912966e-01 1.23470653e-02 7.94672387e-01 4.53763501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.48710568099997 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:110.47, Y:67.60, Z:45.41 [[ 1.45619304e-01 -9.87967509e-01 -5.21077748e-02 1.10469094e+02] [ 7.82736787e-01 1.47262006e-01 -6.04679273e-01 6.75984408e+01] [ 6.05076971e-01 4.72663026e-02 7.94762704e-01 4.54111516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.51710568099998 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:110.46, Y:67.61, Z:45.47 [[ 1.48114748e-01 -9.87906901e-01 4.58473061e-02 1.10459368e+02] [ 7.88750465e-01 9.00353627e-02 -6.08084153e-01 6.76077373e+01] [ 5.96602652e-01 1.26228315e-01 7.92547593e-01 4.54682805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.54710568099998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:110.49, Y:67.67, Z:45.42 [[ 1.46511430e-01 -9.81449546e-01 -1.23657552e-01 1.10490945e+02] [ 7.72859822e-01 1.91595093e-01 -6.04961995e-01 6.76737038e+01] [ 6.17431855e-01 -6.93610705e-03 7.86593793e-01 4.54151759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57710568099998 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:110.49, Y:67.68, Z:45.46 [[ 1.46441751e-01 -9.84977648e-01 -9.15087251e-02 1.10488867e+02] [ 7.68835623e-01 1.71536707e-01 -6.16008882e-01 6.76803909e+01] [ 6.22452085e-01 1.98542515e-02 7.82406039e-01 4.54566954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.60710568099998 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:110.49, Y:67.70, Z:45.48 [[ 1.41917945e-01 -9.87235505e-01 -7.22866180e-02 1.10491877e+02] [ 7.69534864e-01 1.55966296e-01 -6.19266185e-01 6.76970010e+01] [ 6.22635841e-01 3.22579119e-02 7.81846556e-01 4.54796657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63710568099998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:110.50, Y:67.72, Z:45.50 [[ 1.31831908e-01 -9.88640731e-01 -7.21793126e-02 1.10495780e+02] [ 7.70037282e-01 1.47990855e-01 -6.20597527e-01 6.77177341e+01] [ 6.24229871e-01 2.62337946e-02 7.80800138e-01 4.54956927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.66710568099998 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:110.50, Y:67.74, Z:45.51 [[ 1.25436642e-01 -9.89477444e-01 -7.21112732e-02 1.10498763e+02] [ 7.70211436e-01 1.42938650e-01 -6.21564869e-01 6.77398104e+01] [ 6.25331906e-01 2.24260828e-02 7.80036588e-01 4.55130937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69710568099998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:110.51, Y:67.76, Z:45.53 [[ 1.13530288e-01 -9.90910534e-01 -7.21608487e-02 1.10505375e+02] [ 7.69732967e-01 1.33646975e-01 -6.24219229e-01 6.77625862e+01] [ 6.28189488e-01 1.53232047e-02 7.77909485e-01 4.55286903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72710568099998 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:110.51, Y:67.78, Z:45.55 [[ 1.09592219e-01 -9.91373343e-01 -7.18918680e-02 1.10508527e+02] [ 7.70288353e-01 1.30418810e-01 -6.24216939e-01 6.77825518e+01] [ 6.28208085e-01 1.30318509e-02 7.77936227e-01 4.55465881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75710568099998 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:110.51, Y:67.80, Z:45.57 [[ 1.08210724e-01 -9.91541119e-01 -7.16704158e-02 1.10506725e+02] [ 7.70349383e-01 1.29203583e-01 -6.24394317e-01 6.77999248e+01] [ 6.28372714e-01 1.23549007e-02 7.77814302e-01 4.55685049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.78710568099999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:110.50, Y:67.82, Z:45.59 [[ 1.13946399e-01 -9.90931311e-01 -7.12134539e-02 1.10503961e+02] [ 7.71178587e-01 1.33412044e-01 -6.22482782e-01 6.78197410e+01] [ 6.26338411e-01 1.60113807e-02 7.79386830e-01 4.55887933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.817105681 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:110.50, Y:67.84, Z:45.61 [[ 1.18811780e-01 -9.90392824e-01 -7.07517922e-02 1.10504057e+02] [ 7.71981761e-01 1.36953010e-01 -6.20715744e-01 6.78418912e+01] [ 6.24442089e-01 1.91292490e-02 7.80836826e-01 4.56061622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.847105681 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:110.50, Y:67.86, Z:45.62 [[ 1.30495953e-01 -9.88955518e-01 -7.02694146e-02 1.10501721e+02] [ 7.71913391e-01 1.45823232e-01 -6.18777264e-01 6.78635004e+01] [ 6.22190102e-01 2.65060264e-02 7.82417349e-01 4.56230704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.877105681 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:110.50, Y:67.89, Z:45.64 [[ 1.35782694e-01 -9.88264317e-01 -6.99764255e-02 1.10501406e+02] [ 7.71562729e-01 1.49786875e-01 -6.18267617e-01 6.78851996e+01] [ 6.21493375e-01 2.99588411e-02 7.82846379e-01 4.56395908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.907105681 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:110.50, Y:67.90, Z:45.66 [[ 1.44283583e-01 -9.88954419e-01 -3.39323550e-02 1.10496767e+02] [ 7.78315065e-01 1.34594730e-01 -6.13278010e-01 6.79020717e+01] [ 6.11071114e-01 6.20758855e-02 7.89137933e-01 4.56637554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.937105681 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:110.51, Y:67.93, Z:45.67 [[ 1.46018022e-01 -9.87157551e-01 -6.47974355e-02 1.10506123e+02] [ 7.76818068e-01 1.54969326e-01 -6.10359073e-01 6.79340193e+01] [ 6.12562182e-01 3.87876060e-02 7.89470135e-01 4.56674534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.967105681 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:110.51, Y:67.96, Z:45.68 [[ 1.45679790e-01 -9.87023657e-01 -6.75403550e-02 1.10509008e+02] [ 7.76400150e-01 1.56370573e-01 -6.10533415e-01 6.79569537e+01] [ 6.13172248e-01 3.65040381e-02 7.89105348e-01 4.56840154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99710568099997 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:110.52, Y:67.98, Z:45.69 [[ 1.42066484e-01 -9.84288132e-01 -1.04852220e-01 1.10517287e+02] [ 7.69269297e-01 1.76447086e-01 -6.14077499e-01 6.79845175e+01] [ 6.22930063e-01 6.58023803e-03 7.82249856e-01 4.56932900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02710568099997 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:110.51, Y:67.99, Z:45.73 [[ 1.42847934e-01 -9.89143892e-01 -3.44794079e-02 1.10513313e+02] [ 7.73608222e-01 1.33314977e-01 -6.19481586e-01 6.79925575e+01] [ 6.17353048e-01 6.18181114e-02 7.84253616e-01 4.57291560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05710568099997 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:110.53, Y:68.03, Z:45.73 [[ 1.39994036e-01 -9.87577814e-01 -7.13563616e-02 1.10525563e+02] [ 7.70833628e-01 1.53933844e-01 -6.18158466e-01 6.80277488e+01] [ 6.21463746e-01 3.15346154e-02 7.82808010e-01 4.57272555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08710568099997 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:110.53, Y:68.05, Z:45.74 [[ 1.32907171e-01 -9.85855413e-01 -1.02101855e-01 1.10533807e+02] [ 7.64361884e-01 1.67531825e-01 -6.22642753e-01 6.80523178e+01] [ 6.30941038e-01 4.71092047e-03 7.75816482e-01 4.57403269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11710568099997 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:110.53, Y:68.06, Z:45.77 [[ 1.29130259e-01 -9.89175839e-01 -6.96888529e-02 1.10530126e+02] [ 7.64207580e-01 1.44053393e-01 -6.28677497e-01 6.80622541e+01] [ 6.31911506e-01 2.79245383e-02 7.74537326e-01 4.57737414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14710568099997 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:110.53, Y:68.08, Z:45.80 [[ 1.29552488e-01 -9.90897260e-01 -3.65892387e-02 1.10527968e+02] [ 7.70213567e-01 1.23802260e-01 -6.25654907e-01 6.80790372e+01] [ 6.24489564e-01 5.28736216e-02 7.79241404e-01 4.57961134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17710568099997 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:110.54, Y:68.12, Z:45.79 [[ 1.20256871e-01 -9.87546258e-01 -1.01442958e-01 1.10542351e+02] [ 7.64935904e-01 1.57309296e-01 -6.24601352e-01 6.81150602e+01] [ 6.32780648e-01 -2.48475657e-03 7.74327113e-01 4.57932373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20710568099997 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:110.53, Y:68.12, Z:45.83 [[ 1.21482471e-01 -9.91885404e-01 -3.74880484e-02 1.10534941e+02] [ 7.72267261e-01 1.18176288e-01 -6.24209614e-01 6.81224897e+01] [ 6.23574604e-01 4.68797338e-02 7.80356972e-01 4.58282664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.23710568099997 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:110.54, Y:68.15, Z:45.84 [[ 1.09747758e-01 -9.92520623e-01 -5.34625385e-02 1.10540730e+02] [ 7.73691216e-01 1.19069764e-01 -6.22273488e-01 6.81520058e+01] [ 6.23985042e-01 2.69296236e-02 7.80972127e-01 4.58403049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.26710568099998 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:110.55, Y:68.18, Z:45.85 [[ 1.04489564e-01 -9.92110209e-01 -6.92767199e-02 1.10545312e+02] [ 7.73359986e-01 1.24852155e-01 -6.21551504e-01 6.81771608e+01] [ 6.25296940e-01 1.13698026e-02 7.80304084e-01 4.58536108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.29710568099998 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:110.55, Y:68.20, Z:45.86 [[ 9.10390828e-02 -9.90153077e-01 -1.06342700e-01 1.10551735e+02] [ 7.72864122e-01 1.37592356e-01 -6.19475094e-01 6.82024090e+01] [ 6.28007113e-01 -2.57920132e-02 7.77780070e-01 4.58648886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.32710568099998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:110.55, Y:68.21, Z:45.90 [[ 8.85043370e-02 -9.93784703e-01 -6.75199664e-02 1.10545539e+02] [ 7.74425206e-01 1.11283181e-01 -6.22801456e-01 6.82105742e+01] [ 6.26444397e-01 2.83146604e-03 7.79460968e-01 4.58995833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.35710568099998 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:110.54, Y:68.23, Z:45.93 [[ 8.93716047e-02 -9.95912480e-01 -1.30785605e-02 1.10538836e+02] [ 7.83924298e-01 7.84360297e-02 -6.15881875e-01 6.82275127e+01] [ 6.14390276e-01 4.47897501e-02 7.87729945e-01 4.59282270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38710568099998 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:110.55, Y:68.27, Z:45.93 [[ 8.60047491e-02 -9.94983100e-01 -5.11059083e-02 1.10547020e+02] [ 7.82464034e-01 9.92102838e-02 -6.14741698e-01 6.82678469e+01] [ 6.16727832e-01 1.28821704e-02 7.87071045e-01 4.59319846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41710568099998 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:110.55, Y:68.30, Z:45.93 [[ 8.26049541e-02 -9.92474811e-01 -9.03889936e-02 1.10551440e+02] [ 7.79576914e-01 1.20853633e-01 -6.14535788e-01 6.82983677e+01] [ 6.20835128e-01 -1.97014722e-02 7.83693560e-01 4.59344235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44710568099998 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:110.55, Y:68.31, Z:45.96 [[ 8.06615770e-02 -9.93930064e-01 -7.48113478e-02 1.10547148e+02] [ 7.78149181e-01 1.09697852e-01 -6.18425609e-01 6.83123544e+01] [ 6.22878449e-01 -8.33120421e-03 7.82274267e-01 4.59607250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47710568099998 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:110.55, Y:68.34, Z:45.97 [[ 8.38303506e-02 -9.92709854e-01 -8.66003312e-02 1.10552368e+02] [ 7.80087681e-01 1.19452437e-01 -6.14161481e-01 6.83370123e+01] [ 6.20028775e-01 -1.60704792e-02 7.84414468e-01 4.59695728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50710568099998 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:110.55, Y:68.35, Z:46.00 [[ 8.42099247e-02 -9.95161832e-01 -5.06124186e-02 1.10548788e+02] [ 7.77128845e-01 9.73819711e-02 -6.21761619e-01 6.83480973e+01] [ 6.23682169e-01 1.30261288e-02 7.81569493e-01 4.60043193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53710568099999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:110.57, Y:68.38, Z:46.00 [[ 8.42275660e-02 -9.88444167e-01 -1.26031129e-01 1.10568118e+02] [ 7.68149443e-01 1.44972940e-01 -6.23641949e-01 6.83820329e+01] [ 6.34706350e-01 -4.42828982e-02 7.71483554e-01 4.59987668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.567105681 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:110.55, Y:68.38, Z:46.05 [[ 9.88799545e-02 -9.94827966e-01 -2.32394749e-02 1.10552605e+02] [ 7.73021305e-01 9.14980508e-02 -6.27746899e-01 6.83778115e+01] [ 6.26626537e-01 4.41069755e-02 7.78070535e-01 4.60526098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.597105681 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:110.56, Y:68.41, Z:46.05 [[ 1.13985131e-01 -9.91420275e-01 -6.39783383e-02 1.10562504e+02] [ 7.68125862e-01 1.28787946e-01 -6.27213142e-01 6.84088515e+01] [ 6.30071465e-01 2.23495557e-02 7.76215464e-01 4.60544079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.627105681 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:110.56, Y:68.43, Z:46.08 [[ 1.20804790e-01 -9.90913570e-01 -5.91312028e-02 1.10563639e+02] [ 7.66148077e-01 1.30948483e-01 -6.29181706e-01 6.84282101e+01] [ 6.31207832e-01 3.07049066e-02 7.75005730e-01 4.60780191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.657105681 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:110.57, Y:68.46, Z:46.09 [[ 1.34175772e-01 -9.88122445e-01 -7.49059103e-02 1.10569345e+02] [ 7.62028910e-01 1.51205662e-01 -6.29641794e-01 6.84551631e+01] [ 6.33489387e-01 2.74022044e-02 7.73266006e-01 4.60910915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.687105681 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:110.57, Y:68.47, Z:46.11 [[ 1.40121309e-01 -9.87559111e-01 -7.13654036e-02 1.10572511e+02] [ 7.62893163e-01 1.53626817e-01 -6.28007025e-01 6.84747206e+01] [ 6.31157699e-01 3.35529876e-02 7.74928484e-01 4.61089877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.717105681 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:110.57, Y:68.48, Z:46.14 [[ 1.42655285e-01 -9.88567243e-01 -4.88290521e-02 1.10570766e+02] [ 7.62062142e-01 1.41182580e-01 -6.31924656e-01 6.84845959e+01] [ 6.31593827e-01 5.29366201e-02 7.73490111e-01 4.61393378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74710568099997 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:110.58, Y:68.51, Z:46.15 [[ 1.41519760e-01 -9.87370634e-01 -7.12136847e-02 1.10578974e+02] [ 7.65250992e-01 1.54750731e-01 -6.24854488e-01 6.85134553e+01] [ 6.27983342e-01 3.39329143e-02 7.77486643e-01 4.61516352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77710568099997 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:110.58, Y:68.53, Z:46.18 [[ 1.38908354e-01 -9.88983126e-01 -5.11551102e-02 1.10583848e+02] [ 7.64192910e-01 1.39902963e-01 -6.29631922e-01 6.85303444e+01] [ 6.29852098e-01 4.83687615e-02 7.75207583e-01 4.61750235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80710568099997 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:110.59, Y:68.56, Z:46.19 [[ 1.33162232e-01 -9.89345227e-01 -5.88544184e-02 1.10590460e+02] [ 7.62208930e-01 1.40185291e-01 -6.31969645e-01 6.85572212e+01] [ 6.33486675e-01 3.92951254e-02 7.72755152e-01 4.61879022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83710568099997 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:110.60, Y:68.59, Z:46.19 [[ 1.18729482e-01 -9.88733403e-01 -9.11568311e-02 1.10603675e+02] [ 7.60716884e-01 1.49580660e-01 -6.31613370e-01 6.85855463e+01] [ 6.38132536e-01 5.64658790e-03 7.69905827e-01 4.61936289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86710568099997 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:110.60, Y:68.60, Z:46.23 [[ 1.13207919e-01 -9.92656637e-01 -4.26235597e-02 1.10599511e+02] [ 7.67468709e-01 1.14610332e-01 -6.30758474e-01 6.85963446e+01] [ 6.31011686e-01 3.86946060e-02 7.74807705e-01 4.62281263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89710568099997 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:110.61, Y:68.62, Z:46.24 [[ 1.02543314e-01 -9.93090024e-01 -5.70707750e-02 1.10608550e+02] [ 7.69545008e-01 1.15553516e-01 -6.28050846e-01 6.86247249e+01] [ 6.30305759e-01 2.04838854e-02 7.76076711e-01 4.62392782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92710568099997 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:110.61, Y:68.65, Z:46.25 [[ 9.66056619e-02 -9.92717537e-01 -7.19669252e-02 1.10613750e+02] [ 7.67239951e-01 1.20333083e-01 -6.29970481e-01 6.86490701e+01] [ 6.34042746e-01 5.64281512e-03 7.73277411e-01 4.62516505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95710568099997 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:110.61, Y:68.67, Z:46.28 [[ 8.99968967e-02 -9.94069487e-01 -6.10443517e-02 1.10612993e+02] [ 7.64090696e-01 1.08229732e-01 -6.35965198e-01 6.86665772e+01] [ 6.38800413e-01 1.05914732e-02 7.69299586e-01 4.62753468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.98710568099997 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:110.61, Y:68.69, Z:46.29 [[ 8.59825933e-02 -9.94379082e-01 -6.17837726e-02 1.10612394e+02] [ 7.62156582e-01 1.05588485e-01 -6.38724053e-01 6.86874824e+01] [ 6.41657492e-01 7.83024147e-03 7.66951335e-01 4.62945862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.01710568099998 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:110.61, Y:68.71, Z:46.32 [[ 8.87512397e-02 -9.95461317e-01 -3.43508946e-02 1.10606412e+02] [ 7.66932911e-01 9.03006654e-02 -6.35342191e-01 6.87081473e+01] [ 6.35560483e-01 3.00425755e-02 7.71466342e-01 4.63214490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.04710568099998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:110.62, Y:68.74, Z:46.31 [[ 8.94175914e-02 -9.90748895e-01 -1.02083896e-01 1.10618484e+02] [ 7.61965443e-01 1.34052767e-01 -6.33591761e-01 6.87446026e+01] [ 6.41414966e-01 -2.11301521e-02 7.66903096e-01 4.63132172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07710568099998 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:110.61, Y:68.75, Z:46.35 [[ 9.90245272e-02 -9.92896972e-01 -6.59525994e-02 1.10605731e+02] [ 7.62547466e-01 1.18298631e-01 -6.36024211e-01 6.87527975e+01] [ 6.39308615e-01 1.26900092e-02 7.68845536e-01 4.63477561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.10710568099998 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:110.60, Y:68.77, Z:46.37 [[ 1.03584188e-01 -9.92371228e-01 -6.68555334e-02 1.10604284e+02] [ 7.62407650e-01 1.22388241e-01 -6.35417732e-01 6.87741225e+01] [ 6.38752606e-01 1.48480594e-02 7.69268902e-01 4.63663318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13710568099998 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:110.59, Y:68.79, Z:46.40 [[ 1.13383241e-01 -9.93295566e-01 -2.25423926e-02 1.10593852e+02] [ 7.69130766e-01 1.02112715e-01 -6.30881018e-01 6.87882355e+01] [ 6.28953182e-01 5.41932868e-02 7.75552050e-01 4.64032377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.16710568099998 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:110.61, Y:68.83, Z:46.39 [[ 1.13399192e-01 -9.87978044e-01 -1.05071442e-01 1.10607250e+02] [ 7.64009686e-01 1.54318268e-01 -6.26478309e-01 6.88284881e+01] [ 6.35161257e-01 -9.23346549e-03 7.72324362e-01 4.63876910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19710568099998 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:110.59, Y:68.83, Z:46.43 [[ 1.15568400e-01 -9.91801891e-01 -5.45248008e-02 1.10594310e+02] [ 7.66838002e-01 1.23975792e-01 -6.29753509e-01 6.88309873e+01] [ 6.31350477e-01 3.09679160e-02 7.74879064e-01 4.64295847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22710568099998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:110.60, Y:68.86, Z:46.44 [[ 1.16273954e-01 -9.88647220e-01 -9.51684946e-02 1.10600610e+02] [ 7.60492223e-01 1.50251496e-01 -6.31724676e-01 6.88602015e+01] [ 6.38852054e-01 1.07822567e-03 7.69328857e-01 4.64361792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25710568099998 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:110.60, Y:68.87, Z:46.47 [[ 1.14662228e-01 -9.91418352e-01 -6.27871348e-02 1.10600569e+02] [ 7.62674275e-01 1.28353376e-01 -6.33919049e-01 6.88717248e+01] [ 6.36537920e-01 2.48004377e-02 7.70846557e-01 4.64667880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.28710568099999 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:110.60, Y:68.89, Z:46.49 [[ 1.16517107e-01 -9.92945650e-01 -2.19704357e-02 1.10596454e+02] [ 7.69289180e-01 1.04219464e-01 -6.30343130e-01 6.88879647e+01] [ 6.28186216e-01 5.65441395e-02 7.76005695e-01 4.64927301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.317105681 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:110.61, Y:68.92, Z:46.49 [[ 1.21219613e-01 -9.90654075e-01 -6.25324669e-02 1.10608767e+02] [ 7.65736178e-01 1.33412377e-01 -6.29165514e-01 6.89226139e+01] [ 6.31627985e-01 2.83838281e-02 7.74751861e-01 4.64945574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.347105681 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:110.62, Y:68.95, Z:46.51 [[ 1.24610249e-01 -9.87776047e-01 -9.36523681e-02 1.10618327e+02] [ 7.58635470e-01 1.55685150e-01 -6.32640781e-01 6.89471218e+01] [ 6.39487693e-01 7.78551678e-03 7.68761911e-01 4.65087622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.377105681 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:110.61, Y:68.95, Z:46.56 [[ 1.38059220e-01 -9.90376322e-01 9.71554168e-03 1.10605164e+02] [ 7.68203571e-01 1.00886253e-01 -6.32206641e-01 6.89493204e+01] [ 6.25142324e-01 9.47454696e-02 7.74738905e-01 4.65623907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.407105681 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:110.64, Y:69.01, Z:46.51 [[ 1.42262320e-01 -9.77850995e-01 -1.53521542e-01 1.10639678e+02] [ 7.51500825e-01 2.07645014e-01 -6.26202889e-01 6.90136678e+01] [ 6.44211101e-01 -2.62864896e-02 7.64395891e-01 4.65147651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.437105681 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:110.62, Y:69.00, Z:46.58 [[ 1.52238800e-01 -9.87284729e-01 -4.57407076e-02 1.10621612e+02] [ 7.50636963e-01 1.45606056e-01 -6.44471122e-01 6.89988186e+01] [ 6.42936621e-01 6.37788445e-02 7.63259301e-01 4.65814501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.467105681 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:110.63, Y:69.03, Z:46.59 [[ 1.55557364e-01 -9.85825052e-01 -6.28559698e-02 1.10630531e+02] [ 7.48542520e-01 1.59157899e-01 -6.43702461e-01 6.90273018e+01] [ 6.44582037e-01 5.30822921e-02 7.62690152e-01 4.65899172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49710568099997 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:110.63, Y:69.05, Z:46.61 [[ 1.55105644e-01 -9.85913894e-01 -6.25782071e-02 1.10634068e+02] [ 7.48624016e-01 1.58634253e-01 -6.43736947e-01 6.90482413e+01] [ 6.44596247e-01 5.29996847e-02 7.62683887e-01 4.66071771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52710568099997 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:110.64, Y:69.07, Z:46.62 [[ 1.50536812e-01 -9.86627489e-01 -6.24889206e-02 1.10640948e+02] [ 7.47712448e-01 1.54978793e-01 -6.45683877e-01 6.90690062e+01] [ 6.46733920e-01 5.04754488e-02 7.61043669e-01 4.66234784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55710568099997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:110.65, Y:69.09, Z:46.64 [[ 1.45750935e-01 -9.87351417e-01 -6.24006749e-02 1.10646302e+02] [ 7.47842534e-01 1.51248709e-01 -6.46417336e-01 6.90908061e+01] [ 6.47679094e-01 4.75500524e-02 7.60428027e-01 4.66409772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58710568099997 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:110.66, Y:69.11, Z:46.66 [[ 1.35390049e-01 -9.88851025e-01 -6.19934354e-02 1.10655553e+02] [ 7.50557222e-01 1.43206633e-01 -6.45101323e-01 6.91096798e+01] [ 6.46786976e-01 4.08106790e-02 7.61578030e-01 4.66585530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61710568099997 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:110.66, Y:69.13, Z:46.68 [[ 1.22917524e-01 -9.90498013e-01 -6.16844231e-02 1.10663136e+02] [ 7.53365078e-01 1.33589147e-01 -6.43890518e-01 6.91282395e+01] [ 6.46012648e-01 3.26745379e-02 7.62627060e-01 4.66789640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64710568099997 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:110.66, Y:69.14, Z:46.70 [[ 1.18751862e-01 -9.92600141e-01 -2.53565787e-02 1.10662839e+02] [ 7.59945932e-01 1.07294287e-01 -6.41069510e-01 6.91434395e+01] [ 6.39046302e-01 5.68585693e-02 7.67063835e-01 4.67039688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67710568099997 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:110.68, Y:69.18, Z:46.71 [[ 1.05902069e-01 -9.92528330e-01 -6.05992175e-02 1.10677603e+02] [ 7.60833272e-01 1.20117471e-01 -6.37733899e-01 6.91759840e+01] [ 6.40247987e-01 2.14314384e-02 7.67869266e-01 4.67063614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70710568099997 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:110.68, Y:69.20, Z:46.72 [[ 9.91256773e-02 -9.92827405e-01 -6.68419360e-02 1.10681774e+02] [ 7.60695668e-01 1.18910820e-01 -6.38124062e-01 6.91975157e+01] [ 6.41495285e-01 1.24081087e-02 7.67026621e-01 4.67240027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.73710568099997 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:110.68, Y:69.21, Z:46.74 [[ 8.86929027e-02 -9.94101444e-01 -6.24170561e-02 1.10684412e+02] [ 7.60956322e-01 1.08059573e-01 -6.39741045e-01 6.92146958e+01] [ 6.42712257e-01 9.24383680e-03 7.66051895e-01 4.67447185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.76710568099998 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:110.69, Y:69.23, Z:46.77 [[ 8.52422076e-02 -9.94867033e-01 -5.45284662e-02 1.10685744e+02] [ 7.60693766e-01 1.00327880e-01 -6.41310620e-01 6.92331101e+01] [ 6.43489519e-01 1.31872687e-02 7.65341319e-01 4.67659833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.79710568099998 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:110.69, Y:69.25, Z:46.79 [[ 7.99946112e-02 -9.95464157e-01 -5.14973172e-02 1.10687410e+02] [ 7.59540287e-01 9.43298474e-02 -6.43584052e-01 6.92535946e+01] [ 6.45522590e-01 1.23689689e-02 7.63641011e-01 4.67852390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.82710568099998 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:110.69, Y:69.28, Z:46.80 [[ 7.74649520e-02 -9.95289372e-01 -5.82944887e-02 1.10689119e+02] [ 7.58878389e-01 9.67840622e-02 -6.44000338e-01 6.92763569e+01] [ 6.46608669e-01 5.64902761e-03 7.62800968e-01 4.68012007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85710568099998 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:110.69, Y:69.30, Z:46.82 [[ 7.73977560e-02 -9.95622381e-01 -5.23990543e-02 1.10690023e+02] [ 7.58733874e-01 9.29148143e-02 -6.44740061e-01 6.92960649e+01] [ 6.46786283e-01 1.01444964e-02 7.62603825e-01 4.68220196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88710568099998 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:110.69, Y:69.32, Z:46.85 [[ 7.76956939e-02 -9.96375035e-01 -3.46434540e-02 1.10687671e+02] [ 7.60522462e-01 8.17010996e-02 -6.44151004e-01 6.93161708e+01] [ 6.44646387e-01 2.37006343e-02 7.64113418e-01 4.68456369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91710568099998 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:110.70, Y:69.35, Z:46.85 [[ 7.70779267e-02 -9.93026608e-01 -8.92028577e-02 1.10697421e+02] [ 7.56264239e-01 1.16533126e-01 -6.43804653e-01 6.93489637e+01] [ 6.49710238e-01 -1.78378034e-02 7.59972644e-01 4.68494732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94710568099998 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:110.68, Y:69.36, Z:46.89 [[ 8.12944345e-02 -9.96357510e-01 -2.57473633e-02 1.10682593e+02] [ 7.61630169e-01 7.87640848e-02 -6.43207358e-01 6.93556828e+01] [ 6.42892449e-01 3.26792098e-02 7.65259020e-01 4.68891937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97710568099998 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:110.69, Y:69.39, Z:46.89 [[ 8.15379300e-02 -9.93661954e-01 -7.73788610e-02 1.10690641e+02] [ 7.58265389e-01 1.12232432e-01 -6.42212957e-01 6.93908849e+01] [ 6.46826999e-01 -6.30899707e-03 7.62610668e-01 4.68871975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.00710568099998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:110.68, Y:69.41, Z:46.91 [[ 8.38380255e-02 -9.94981396e-01 -5.46187480e-02 1.10682850e+02] [ 7.57077183e-01 9.92396430e-02 -6.45744247e-01 6.94064695e+01] [ 6.47923857e-01 1.27873147e-02 7.61597768e-01 4.69132920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03710568099999 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:110.68, Y:69.43, Z:46.93 [[ 8.83069369e-02 -9.93093132e-01 -7.72522827e-02 1.10682474e+02] [ 7.55063366e-01 1.17320773e-01 -6.45069879e-01 6.94330889e+01] [ 6.49677765e-01 -1.36622345e-03 7.60208482e-01 4.69262123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.067105681 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:110.68, Y:69.45, Z:46.95 [[ 9.13242676e-02 -9.94013335e-01 -5.99780647e-02 1.10676991e+02] [ 7.55847559e-01 1.08404712e-01 -6.45711148e-01 6.94469404e+01] [ 6.48347396e-01 1.36348239e-02 7.61222533e-01 4.69518378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.097105681 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:110.66, Y:69.46, Z:46.98 [[ 9.50085470e-02 -9.95439465e-01 -8.58175829e-03 1.10664387e+02] [ 7.64659798e-01 7.84964001e-02 -6.39635606e-01 6.94624252e+01] [ 6.37392163e-01 5.42087240e-02 7.68630370e-01 4.69824697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.127105681 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:110.68, Y:69.50, Z:46.97 [[ 9.22042120e-02 -9.92866832e-01 -7.55899240e-02 1.10675533e+02] [ 7.61541845e-01 1.19222793e-01 -6.37055684e-01 6.95039036e+01] [ 6.41523501e-01 1.17432716e-03 7.67102483e-01 4.69729307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.157105681 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:110.67, Y:69.52, Z:47.01 [[ 8.73894316e-02 -9.95083225e-01 -4.66096821e-02 1.10668068e+02] [ 7.65095319e-01 9.70084347e-02 -6.36567763e-01 6.95168279e+01] [ 6.37959435e-01 1.99684454e-02 7.69811029e-01 4.70053801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.187105681 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:110.68, Y:69.55, Z:47.01 [[ 8.24166997e-02 -9.91242270e-01 -1.03180664e-01 1.10677985e+02] [ 7.59484167e-01 1.29506489e-01 -6.37504407e-01 6.95480960e+01] [ 6.45283881e-01 -2.58230715e-02 7.63506308e-01 4.70098818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.217105681 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:110.66, Y:69.54, Z:47.06 [[ 7.77280246e-02 -9.96919041e-01 -1.05251947e-02 1.10657519e+02] [ 7.68214094e-01 6.66185879e-02 -6.36717417e-01 6.95428955e+01] [ 6.35456890e-01 4.14051842e-02 7.71025390e-01 4.70614780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24710568099997 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:110.66, Y:69.58, Z:47.06 [[ 7.44778019e-02 -9.96458274e-01 -3.90379856e-02 1.10663986e+02] [ 7.69397966e-01 8.23229631e-02 -6.33442736e-01 6.95821768e+01] [ 6.34412978e-01 1.71416758e-02 7.72804203e-01 4.70646176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27710568099997 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:110.67, Y:69.61, Z:47.07 [[ 7.01703847e-02 -9.95425481e-01 -6.48400208e-02 1.10669870e+02] [ 7.68788119e-01 9.53840908e-02 -6.32350143e-01 6.96101460e+01] [ 6.35642152e-01 -5.47598480e-03 7.71964422e-01 4.70729516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30710568099997 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:110.67, Y:69.63, Z:47.09 [[ 7.46695413e-02 -9.95226010e-01 -6.28462269e-02 1.10668660e+02] [ 7.65425478e-01 9.75951776e-02 -6.36080985e-01 6.96286310e+01] [ 6.39177830e-01 -6.08227847e-04 7.69058731e-01 4.70940264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33710568099997 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:110.67, Y:69.65, Z:47.11 [[ 8.56761608e-02 -9.94240268e-01 -6.43885544e-02 1.10671270e+02] [ 7.59923186e-01 1.07006004e-01 -6.41144653e-01 6.96488954e+01] [ 6.44341793e-01 6.00045690e-03 7.64714096e-01 4.71126761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36710568099997 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:110.67, Y:69.67, Z:47.13 [[ 9.37173003e-02 -9.92911163e-01 -7.31060230e-02 1.10673460e+02] [ 7.54063888e-01 1.18735522e-01 -6.45979511e-01 6.96684815e+01] [ 6.50080549e-01 5.41284396e-03 7.59846024e-01 4.71293236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39710568099997 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:110.68, Y:69.69, Z:47.15 [[ 1.08587874e-01 -9.90714975e-01 -8.18077734e-02 1.10681243e+02] [ 7.43584453e-01 1.35567024e-01 -6.54754720e-01 6.96905589e+01] [ 6.59765743e-01 1.02674346e-02 7.51401188e-01 4.71494006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42710568099997 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:110.68, Y:69.70, Z:47.18 [[ 1.16823392e-01 -9.91391988e-01 -5.91119473e-02 1.10679828e+02] [ 7.42300673e-01 1.26703149e-01 -6.57978741e-01 6.97037646e+01] [ 6.59804522e-01 3.29884698e-02 7.50712831e-01 4.71775797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45710568099997 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:110.68, Y:69.72, Z:47.20 [[ 1.18070562e-01 -9.92378509e-01 -3.52737513e-02 1.10675944e+02] [ 7.47141969e-01 1.12179321e-01 -6.55129512e-01 6.97186144e+01] [ 6.54093434e-01 5.09970094e-02 7.54692709e-01 4.71984626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.48710568099997 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:110.69, Y:69.75, Z:47.21 [[ 1.16109074e-01 -9.90757544e-01 -7.01296721e-02 1.10688474e+02] [ 7.42919024e-01 1.33493957e-01 -6.55934972e-01 6.97487563e+01] [ 6.59234410e-01 2.40593348e-02 7.51552487e-01 4.72109170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.51710568099998 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:110.69, Y:69.76, Z:47.24 [[ 1.08314747e-01 -9.93573555e-01 -3.28558501e-02 1.10686715e+02] [ 7.50415809e-01 1.03394810e-01 -6.52828942e-01 6.97583715e+01] [ 6.52030697e-01 4.60554525e-02 7.56792485e-01 4.72382788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.54710568099998 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:110.70, Y:69.79, Z:47.25 [[ 1.02826351e-01 -9.91947721e-01 -7.39355120e-02 1.10698593e+02] [ 7.47685212e-01 1.26100906e-01 -6.51970387e-01 6.97896275e+01] [ 6.56043875e-01 1.17592466e-02 7.54631138e-01 4.72469436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57710568099998 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:110.69, Y:69.80, Z:47.28 [[ 9.30257819e-02 -9.95307747e-01 -2.66212828e-02 1.10694345e+02] [ 7.57033866e-01 8.80718766e-02 -6.47412597e-01 6.97957958e+01] [ 6.46719359e-01 4.00728504e-02 7.61674627e-01 4.72787223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.60710568099998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:110.70, Y:69.82, Z:47.28 [[ 9.08263968e-02 -9.94364223e-01 -5.46841684e-02 1.10702968e+02] [ 7.57817534e-01 1.04637326e-01 -6.44021440e-01 6.98243719e+01] [ 6.46113883e-01 1.70535252e-02 7.63050475e-01 4.72820181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63710568099998 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:110.71, Y:69.84, Z:47.31 [[ 8.45381817e-02 -9.95766524e-01 -3.60877509e-02 1.10705902e+02] [ 7.57171419e-01 8.77408250e-02 -6.47296678e-01 6.98430153e+01] [ 6.47722732e-01 2.73966707e-02 7.61383402e-01 4.73074874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.66710568099998 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:110.71, Y:69.87, Z:47.32 [[ 8.42850421e-02 -9.95333764e-01 -4.69758393e-02 1.10711293e+02] [ 7.56184363e-01 9.45925962e-02 -6.47485482e-01 6.98687199e+01] [ 6.48907729e-01 1.90509460e-02 7.60628569e-01 4.73197962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69710568099998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:110.72, Y:69.90, Z:47.34 [[ 8.67769557e-02 -9.93406095e-01 -7.49272276e-02 1.10722901e+02] [ 7.50177214e-01 1.14648323e-01 -6.51221859e-01 6.98950177e+01] [ 6.55518045e-01 3.02351493e-04 7.55179450e-01 4.73356958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72710568099998 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:110.72, Y:69.91, Z:47.36 [[ 8.92682133e-02 -9.94367594e-01 -5.71338186e-02 1.10721790e+02] [ 7.49698753e-01 1.04847240e-01 -6.53420872e-01 6.99084331e+01] [ 6.55730864e-01 1.54965613e-02 7.54835671e-01 4.73627058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75710568099998 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:110.72, Y:69.92, Z:47.39 [[ 9.76360526e-02 -9.94927824e-01 -2.42038638e-02 1.10717282e+02] [ 7.54472950e-01 8.98556946e-02 -6.50151153e-01 6.99222676e+01] [ 6.49028327e-01 4.52170317e-02 7.59419285e-01 4.73875598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.78710568099999 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:110.73, Y:69.96, Z:47.39 [[ 1.06024829e-01 -9.91141121e-01 -7.99875844e-02 1.10732925e+02] [ 7.46770962e-01 1.32482033e-01 -6.51752746e-01 6.99584595e+01] [ 6.56575865e-01 9.36956797e-03 7.54201793e-01 4.73906199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.817105681 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:110.73, Y:69.97, Z:47.42 [[ 1.09344894e-01 -9.92396357e-01 -5.65080944e-02 1.10731841e+02] [ 7.46956783e-01 1.19543284e-01 -6.54037437e-01 6.99716233e+01] [ 6.55819533e-01 2.93065495e-02 7.54348637e-01 4.74178837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.847105681 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:110.73, Y:69.99, Z:47.44 [[ 1.12544926e-01 -9.93306830e-01 -2.59842376e-02 1.10729281e+02] [ 7.52544282e-01 1.02283685e-01 -6.50549883e-01 6.99891316e+01] [ 6.48853406e-01 5.36617989e-02 7.59018885e-01 4.74377373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.877105681 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:110.74, Y:70.02, Z:47.44 [[ 1.12811876e-01 -9.90642569e-01 -7.68165478e-02 1.10744415e+02] [ 7.44856501e-01 1.35482582e-01 -6.53324776e-01 7.00238176e+01] [ 6.57618639e-01 1.64854884e-02 7.53170601e-01 4.74429299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.907105681 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:110.74, Y:70.04, Z:47.47 [[ 1.11940389e-01 -9.92138106e-01 -5.59582754e-02 1.10743810e+02] [ 7.45243629e-01 1.21067040e-01 -6.55709314e-01 7.00371034e+01] [ 6.57328900e-01 3.16978074e-02 7.52936894e-01 4.74706934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.937105681 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:110.74, Y:70.05, Z:47.50 [[ 1.07180259e-01 -9.94232675e-01 3.71204436e-03 1.10736832e+02] [ 7.57128764e-01 7.91989594e-02 -6.48447037e-01 7.00494896e+01] [ 6.44413242e-01 7.23112172e-02 7.61250722e-01 4.75027949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.967105681 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:110.76, Y:70.10, Z:47.48 [[ 9.92927765e-02 -9.88639131e-01 -1.12843314e-01 1.10763497e+02] [ 7.46931870e-01 1.48979413e-01 -6.47995306e-01 7.00980646e+01] [ 6.57444847e-01 -1.99450143e-02 7.53238654e-01 4.74846722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99710568099997 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:110.75, Y:70.09, Z:47.53 [[ 9.70300788e-02 -9.95067497e-01 -2.06358876e-02 1.10748169e+02] [ 7.55051649e-01 8.71026678e-02 -6.49853932e-01 7.00935427e+01] [ 6.48445967e-01 4.74742173e-02 7.59778933e-01 4.75308897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02710568099997 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:110.75, Y:70.12, Z:47.54 [[ 9.30615562e-02 -9.94614266e-01 -4.56290302e-02 1.10753239e+02] [ 7.53650839e-01 1.00315653e-01 -6.49574617e-01 7.01215090e+01] [ 6.50653487e-01 2.60620678e-02 7.58927407e-01 4.75408934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05710568099997 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:110.75, Y:70.14, Z:47.56 [[ 9.17211196e-02 -9.95005988e-01 -3.93740996e-02 1.10752238e+02] [ 7.53462741e-01 9.51991679e-02 -6.50562078e-01 7.01416825e+01] [ 6.51061544e-01 3.00033651e-02 7.58431713e-01 4.75629354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08710568099997 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:110.76, Y:70.17, Z:47.58 [[ 9.25424722e-02 -9.94620787e-01 -4.65336549e-02 1.10755583e+02] [ 7.52625538e-01 1.00471515e-01 -6.50738253e-01 7.01667020e+01] [ 6.51913100e-01 2.51985096e-02 7.57874887e-01 4.75752758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11710568099997 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:110.77, Y:70.20, Z:47.59 [[ 9.54806341e-02 -9.91899092e-01 -8.37832908e-02 1.10766186e+02] [ 7.46972863e-01 1.27028017e-01 -6.52606639e-01 7.01961691e+01] [ 6.57962758e-01 -2.72548848e-04 7.53050420e-01 4.75870980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14710568099997 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:110.76, Y:70.21, Z:47.62 [[ 9.79233078e-02 -9.93707041e-01 -5.43814482e-02 1.10761080e+02] [ 7.47388678e-01 1.09512056e-01 -6.55299377e-01 7.02054886e+01] [ 6.57131029e-01 2.35250039e-02 7.53409175e-01 4.76192036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17710568099997 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:110.76, Y:70.23, Z:47.64 [[ 1.01722116e-01 -9.93048159e-01 -5.92280689e-02 1.10762084e+02] [ 7.48742386e-01 1.15625553e-01 -6.52698684e-01 7.02256631e+01] [ 6.55009505e-01 2.20473257e-02 7.55298924e-01 4.76376289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20710568099997 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:110.76, Y:70.24, Z:47.66 [[ 9.96495287e-02 -9.94922835e-01 -1.40898544e-02 1.10756002e+02] [ 7.56312338e-01 8.49371233e-02 -6.48673517e-01 7.02369196e+01] [ 6.46576846e-01 5.39836795e-02 7.60936360e-01 4.76649968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.23710568099997 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:110.76, Y:70.27, Z:47.67 [[ 9.75708845e-02 -9.94339347e-01 -4.20616835e-02 1.10764278e+02] [ 7.56078578e-01 1.01541276e-01 -6.46555916e-01 7.02682440e+01] [ 6.47166985e-01 3.12830948e-02 7.61706152e-01 4.76695015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.26710568099998 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:110.77, Y:70.29, Z:47.69 [[ 8.90113077e-02 -9.94971599e-01 -4.59184433e-02 1.10768360e+02] [ 7.57083008e-01 9.75425600e-02 -6.45995950e-01 7.02906799e+01] [ 6.47226626e-01 2.27368711e-02 7.61958482e-01 4.76860027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.29710568099998 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:110.77, Y:70.31, Z:47.71 [[ 7.92104119e-02 -9.96053070e-01 -4.00498750e-02 1.10772450e+02] [ 7.58754287e-01 8.62994519e-02 -6.45634832e-01 7.03122001e+01] [ 6.46542839e-01 2.07529867e-02 7.62595352e-01 4.77056177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.32710568099998 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:110.78, Y:70.33, Z:47.72 [[ 7.41824050e-02 -9.96306310e-01 -4.32516791e-02 1.10776139e+02] [ 7.58504027e-01 8.45275101e-02 -6.46163092e-01 7.03348246e+01] [ 6.47432322e-01 1.51273594e-02 7.61972802e-01 4.77215375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35710568099998 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:110.78, Y:70.35, Z:47.74 [[ 6.92719760e-02 -9.96766574e-01 -4.07159816e-02 1.10778060e+02] [ 7.57422104e-01 7.91125660e-02 -6.48114926e-01 7.03540298e+01] [ 6.49240440e-01 1.40570171e-02 7.60453319e-01 4.77423523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38710568099998 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:110.78, Y:70.37, Z:47.76 [[ 6.98886742e-02 -9.96638730e-01 -4.27412484e-02 1.10778261e+02] [ 7.56841662e-01 8.08873971e-02 -6.48573764e-01 7.03745546e+01] [ 6.49850961e-01 1.29796030e-02 7.59950827e-01 4.77617828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41710568099998 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:110.78, Y:70.39, Z:47.78 [[ 7.77055522e-02 -9.96243563e-01 -3.82179201e-02 1.10775191e+02] [ 7.55983386e-01 8.38700648e-02 -6.49195604e-01 7.03940191e+01] [ 6.49962281e-01 2.15539902e-02 7.59660752e-01 4.77834608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44710568099998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:110.79, Y:70.42, Z:47.80 [[ 8.44311035e-02 -9.93670270e-01 -7.40998142e-02 1.10785189e+02] [ 7.48703886e-01 1.12335623e-01 -6.53317074e-01 7.04239749e+01] [ 6.57505802e-01 -3.18537394e-04 7.53449413e-01 4.77976918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47710568099998 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:110.77, Y:70.43, Z:47.82 [[ 9.90474916e-02 -9.94711893e-01 -2.71632948e-02 1.10768621e+02] [ 7.53489505e-01 9.28019663e-02 -6.50877377e-01 7.04313968e+01] [ 6.49956275e-01 4.40005140e-02 7.58696774e-01 4.78232021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.50710568099998 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:110.77, Y:70.45, Z:47.84 [[ 1.05324340e-01 -9.94148113e-01 -2.40065027e-02 1.10769918e+02] [ 7.52368543e-01 9.54484903e-02 -6.51790734e-01 7.04542215e+01] [ 6.50267913e-01 5.05876916e-02 7.58018817e-01 4.78438176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53710568099999 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:110.77, Y:70.48, Z:47.85 [[ 1.07966503e-01 -9.93236649e-01 -4.27105774e-02 1.10773621e+02] [ 7.51108486e-01 1.09641139e-01 -6.51010647e-01 7.04819034e+01] [ 6.51290470e-01 3.82070660e-02 7.57866046e-01 4.78537575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.567105681 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:110.78, Y:70.51, Z:47.87 [[ 1.09742162e-01 -9.93113085e-01 -4.10250834e-02 1.10775840e+02] [ 7.50159715e-01 1.09831844e-01 -6.52071597e-01 7.05052795e+01] [ 6.52086696e-01 4.07843822e-02 7.57046614e-01 4.78715529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.597105681 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:110.78, Y:70.53, Z:47.89 [[ 1.08758271e-01 -9.93319182e-01 -3.85829114e-02 1.10778507e+02] [ 7.49609764e-01 1.07442615e-01 -6.53101283e-01 7.05276367e+01] [ 6.52883481e-01 4.21080391e-02 7.56287031e-01 4.78901710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.627105681 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:110.78, Y:70.55, Z:47.91 [[ 1.07760849e-01 -9.93166375e-01 -4.48123985e-02 1.10781163e+02] [ 7.49986551e-01 1.10798833e-01 -6.52107194e-01 7.05508752e+01] [ 6.52616099e-01 3.66629287e-02 7.56801200e-01 4.79052026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.657105681 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:110.78, Y:70.57, Z:47.92 [[ 1.07039007e-01 -9.93251451e-01 -4.46565404e-02 1.10783637e+02] [ 7.50082791e-01 1.10152285e-01 -6.52106035e-01 7.05719347e+01] [ 6.52624285e-01 3.63046800e-02 7.56811411e-01 4.79239831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.687105681 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:110.79, Y:70.59, Z:47.94 [[ 1.05482252e-01 -9.93487457e-01 -4.30832662e-02 1.10785825e+02] [ 7.49090206e-01 1.07878600e-01 -6.53625329e-01 7.05937905e+01] [ 6.54016328e-01 3.66726190e-02 7.55591002e-01 4.79422870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.717105681 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:110.79, Y:70.62, Z:47.96 [[ 1.03431810e-01 -9.93658964e-01 -4.40876762e-02 1.10788121e+02] [ 7.48170690e-01 1.06932770e-01 -6.54832804e-01 7.06157105e+01] [ 6.55394903e-01 3.47454349e-02 7.54486763e-01 4.79604617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74710568099997 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:110.79, Y:70.64, Z:47.98 [[ 9.71357814e-02 -9.94073772e-01 -4.88054834e-02 1.10791188e+02] [ 7.46675980e-01 1.05208625e-01 -6.56815138e-01 7.06391267e+01] [ 6.58057460e-01 2.73583695e-02 7.52470530e-01 4.79766167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77710568099997 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:110.79, Y:70.66, Z:48.00 [[ 9.71421201e-02 -9.94261745e-01 -4.47994475e-02 1.10792178e+02] [ 7.46419897e-01 1.02554079e-01 -6.57525664e-01 7.06589334e+01] [ 6.58346980e-01 3.04342380e-02 7.52099070e-01 4.79973827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80710568099997 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:110.80, Y:70.68, Z:48.02 [[ 9.42012760e-02 -9.94584002e-01 -4.39179094e-02 1.10795282e+02] [ 7.46896244e-01 9.97711397e-02 -6.57412900e-01 7.06804911e+01] [ 6.58234092e-01 2.91270124e-02 7.52249624e-01 4.80152113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83710568099997 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:110.80, Y:70.71, Z:48.03 [[ 8.90332538e-02 -9.93020020e-01 -7.73583789e-02 1.10803029e+02] [ 7.40933947e-01 1.17935782e-01 -6.61141465e-01 7.07069891e+01] [ 6.65650032e-01 1.54612681e-03 7.46262450e-01 4.80290786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86710568099997 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:110.80, Y:70.71, Z:48.06 [[ 8.46635090e-02 -9.95676633e-01 -3.82116818e-02 1.10795302e+02] [ 7.37843491e-01 8.84202423e-02 -6.69155321e-01 7.07126851e+01] [ 6.69641003e-01 2.84587969e-02 7.42139491e-01 4.80644943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89710568099997 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:110.79, Y:70.74, Z:48.08 [[ 7.56595825e-02 -9.96677694e-01 -3.01529651e-02 1.10793427e+02] [ 7.44289100e-01 7.65720865e-02 -6.63453429e-01 7.07381447e+01] [ 6.63558109e-01 2.77540862e-02 7.47609756e-01 4.80763198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92710568099997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:110.80, Y:70.77, Z:48.09 [[ 7.16261420e-02 -9.96032425e-01 -5.28119626e-02 1.10798437e+02] [ 7.44368465e-01 8.86221035e-02 -6.61862305e-01 7.07664613e+01] [ 6.63916624e-01 8.09508384e-03 7.47762787e-01 4.80871662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95710568099997 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:110.79, Y:70.78, Z:48.12 [[ 6.36547222e-02 -9.97676534e-01 -2.42819000e-02 1.10790399e+02] [ 7.46575737e-01 6.37516153e-02 -6.62238930e-01 7.07820427e+01] [ 6.62248250e-01 2.40263577e-02 7.48899185e-01 4.81151118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.98710568099997 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:110.80, Y:70.81, Z:48.12 [[ 5.82025293e-02 -9.95647576e-01 -7.27899058e-02 1.10799403e+02] [ 7.42650745e-01 9.19087815e-02 -6.63342029e-01 7.08133599e+01] [ 6.67144914e-01 -1.54492939e-02 7.44767737e-01 4.81152351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.01710568099998 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:110.79, Y:70.83, Z:48.14 [[ 5.23840503e-02 -9.97721015e-01 -4.25286670e-02 1.10792722e+02] [ 7.47923437e-01 6.74168151e-02 -6.60352562e-01 7.08302259e+01] [ 6.61714775e-01 2.78375502e-03 7.49750496e-01 4.81428831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.04710568099998 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:110.79, Y:70.85, Z:48.17 [[ 4.98334203e-02 -9.97997171e-01 -3.89650664e-02 1.10791579e+02] [ 7.46585649e-01 6.31374111e-02 -6.62286597e-01 7.08506778e+01] [ 6.63420304e-01 3.91324692e-03 7.48236718e-01 4.81652549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07710568099998 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:110.79, Y:70.87, Z:48.18 [[ 5.20776406e-02 -9.97999641e-01 -3.58418140e-02 1.10787382e+02] [ 7.47692564e-01 6.27576525e-02 -6.61072845e-01 7.08743594e+01] [ 6.61999810e-01 7.62845622e-03 7.49465181e-01 4.81841579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.10710568099998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:110.79, Y:70.90, Z:48.20 [[ 5.92838930e-02 -9.96992137e-01 -4.99209217e-02 1.10786711e+02] [ 7.45350137e-01 7.74757363e-02 -6.62156087e-01 7.08950911e+01] [ 6.64032073e-01 2.04662482e-03 7.47701289e-01 4.81967108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13710568099998 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:110.79, Y:70.92, Z:48.21 [[ 6.45670294e-02 -9.96069597e-01 -6.06337946e-02 1.10788662e+02] [ 7.46719476e-01 8.85324834e-02 -6.59220771e-01 7.09216885e+01] [ 6.61997828e-01 -2.71250843e-03 7.49500846e-01 4.82133505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.16710568099998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:110.79, Y:70.94, Z:48.23 [[ 6.52485786e-02 -9.95899766e-01 -6.26600345e-02 1.10789926e+02] [ 7.46308790e-01 9.03863642e-02 -6.59434224e-01 7.09408244e+01] [ 6.62394001e-01 -3.73658869e-03 7.49146331e-01 4.82305796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19710568099998 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:110.79, Y:70.95, Z:48.26 [[ 6.61093089e-02 -9.97291620e-01 -3.22332878e-02 1.10787424e+02] [ 7.47932665e-01 7.09105631e-02 -6.59976076e-01 7.09549738e+01] [ 6.60474290e-01 1.95222334e-02 7.50594827e-01 4.82615390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22710568099998 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:110.80, Y:70.98, Z:48.27 [[ 6.25057411e-02 -9.95987906e-01 -6.40400143e-02 1.10798225e+02] [ 7.47779571e-01 8.92319556e-02 -6.57923530e-01 7.09838845e+01] [ 6.60998295e-01 -6.76381660e-03 7.50356919e-01 4.82664256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25710568099998 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:110.80, Y:71.00, Z:48.29 [[ 5.72180667e-02 -9.97289003e-01 -4.62680949e-02 1.10798884e+02] [ 7.47990209e-01 7.35174755e-02 -6.59625522e-01 7.09980854e+01] [ 6.61238793e-01 3.13441513e-03 7.50168937e-01 4.82935022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.28710568099999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:110.80, Y:71.02, Z:48.31 [[ 5.32297642e-02 -9.97436222e-01 -4.78286009e-02 1.10803673e+02] [ 7.47619244e-01 7.15584256e-02 -6.60261205e-01 7.10204237e+01] [ 6.61990981e-01 -6.12034216e-04 7.49511552e-01 4.83118490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.317105681 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:110.81, Y:71.04, Z:48.33 [[ 5.20381897e-02 -9.97666910e-01 -4.41900804e-02 1.10805518e+02] [ 7.47250586e-01 6.82556851e-02 -6.61027778e-01 7.10401748e+01] [ 6.62501765e-01 1.37762543e-03 7.49059085e-01 4.83336878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.347105681 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:110.81, Y:71.06, Z:48.35 [[ 4.95516789e-02 -9.97347396e-01 -5.33179463e-02 1.10808274e+02] [ 7.46021998e-01 7.24536083e-02 -6.61968015e-01 7.10628927e+01] [ 6.64075154e-01 -6.97473433e-03 7.47633295e-01 4.83493839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.377105681 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:110.81, Y:71.08, Z:48.37 [[ 4.85971434e-02 -9.97601618e-01 -4.92882302e-02 1.10809959e+02] [ 7.45554685e-01 6.90684678e-02 -6.62855760e-01 7.10823217e+01] [ 6.64670241e-01 -4.53417462e-03 7.47123091e-01 4.83702070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.407105681 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:110.82, Y:71.11, Z:48.38 [[ 4.59718072e-02 -9.97304009e-01 -5.71953356e-02 1.10815324e+02] [ 7.43761908e-01 7.23942873e-02 -6.64512823e-01 7.11050845e+01] [ 6.66861918e-01 -1.19908566e-02 7.45084828e-01 4.83843831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.437105681 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:110.82, Y:71.12, Z:48.41 [[ 4.54211744e-02 -9.97939182e-01 -4.53244436e-02 1.10815022e+02] [ 7.42106876e-01 6.40804105e-02 -6.67211425e-01 7.11199571e+01] [ 6.68740833e-01 -3.33005469e-03 7.43488136e-01 4.84097250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.467105681 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:110.82, Y:71.14, Z:48.43 [[ 4.42454646e-02 -9.98000423e-01 -4.51386100e-02 1.10815809e+02] [ 7.41722440e-01 6.30845630e-02 -6.67733600e-01 7.11390075e+01] [ 6.69245965e-01 -3.93613659e-03 7.43030514e-01 4.84288736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49710568099997 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:110.83, Y:71.17, Z:48.44 [[ 4.68842662e-02 -9.95927075e-01 -7.70138052e-02 1.10828281e+02] [ 7.35432310e-01 8.65894532e-02 -6.72042844e-01 7.11667757e+01] [ 6.75974247e-01 -2.51302051e-02 7.36496633e-01 4.84441547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52710568099997 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:110.82, Y:71.18, Z:48.47 [[ 5.00700561e-02 -9.98274549e-01 -3.06743379e-02 1.10815904e+02] [ 7.46506724e-01 5.78102274e-02 -6.62861742e-01 7.11778492e+01] [ 6.63491297e-01 1.02909251e-02 7.48113224e-01 4.84680340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55710568099997 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:110.81, Y:71.19, Z:48.49 [[ 5.24735158e-02 -9.98471969e-01 -1.73279554e-02 1.10814614e+02] [ 7.40138148e-01 5.05341875e-02 -6.70553367e-01 7.11934694e+01] [ 6.70404395e-01 2.23612119e-02 7.41658900e-01 4.84943170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58710568099997 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:110.82, Y:71.22, Z:48.51 [[ 6.15736023e-02 -9.97417462e-01 -3.69742784e-02 1.10819122e+02] [ 7.37498148e-01 7.04267000e-02 -6.71667002e-01 7.12212583e+01] [ 6.72536373e-01 1.40884951e-02 7.39929957e-01 4.85062936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61710568099997 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:110.82, Y:71.24, Z:48.52 [[ 6.70619779e-02 -9.96585424e-01 -4.81682839e-02 1.10823405e+02] [ 7.35762432e-01 8.20031435e-02 -6.72256743e-01 7.12428642e+01] [ 6.73911222e-01 9.64245314e-03 7.38749408e-01 4.85220444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64710568099997 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:110.82, Y:71.26, Z:48.55 [[ 7.71713943e-02 -9.96881151e-01 -1.65089645e-02 1.10821868e+02] [ 7.39574019e-01 6.83414527e-02 -6.69596682e-01 7.12584213e+01] [ 6.68636558e-01 3.94641083e-02 7.42541405e-01 4.85524110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67710568099997 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:110.84, Y:71.29, Z:48.55 [[ 8.12681541e-02 -9.94572031e-01 -6.49766238e-02 1.10835128e+02] [ 7.37594585e-01 1.03859664e-01 -6.67208662e-01 7.12915844e+01] [ 6.70335524e-01 6.29641049e-03 7.42031428e-01 4.85520752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70710568099997 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:110.83, Y:71.30, Z:48.58 [[ 8.15299553e-02 -9.95633648e-01 -4.54588279e-02 1.10834491e+02] [ 7.36543736e-01 9.09162144e-02 -6.70251868e-01 7.13028880e+01] [ 6.71458258e-01 2.11631899e-02 7.40740122e-01 4.85810877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.73710568099997 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:110.84, Y:71.32, Z:48.60 [[ 8.08815915e-02 -9.95734824e-01 -4.43883797e-02 1.10839045e+02] [ 7.36416012e-01 8.97099636e-02 -6.70554681e-01 7.13199252e+01] [ 6.71676727e-01 2.15472162e-02 7.40530953e-01 4.86018332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.76710568099998 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:110.84, Y:71.33, Z:48.62 [[ 8.16772205e-02 -9.95891877e-01 -3.90922037e-02 1.10839665e+02] [ 7.36080517e-01 8.67204867e-02 -6.71315895e-01 7.13349868e+01] [ 6.71948141e-01 2.60562069e-02 7.40139696e-01 4.86242359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.79710568099998 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:110.84, Y:71.35, Z:48.65 [[ 9.05020069e-02 -9.95309009e-01 -3.41959561e-02 1.10840251e+02] [ 7.34256396e-01 8.98836288e-02 -6.72895592e-01 7.13515289e+01] [ 6.72812702e-01 3.57898020e-02 7.38946655e-01 4.86487944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.82710568099998 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:110.84, Y:71.37, Z:48.67 [[ 9.78835030e-02 -9.94761044e-01 -2.94836497e-02 1.10842535e+02] [ 7.33935154e-01 9.21636424e-02 -6.72937629e-01 7.13717584e+01] [ 6.72129459e-01 4.42304055e-02 7.39111400e-01 4.86706488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.85710568099998 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:110.85, Y:71.40, Z:48.69 [[ 1.15966046e-01 -9.92612181e-01 -3.56782073e-02 1.10850391e+02] [ 7.31002578e-01 1.09611025e-01 -6.73513662e-01 7.13992303e+01] [ 6.72448590e-01 5.20238550e-02 7.38313221e-01 4.86850883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88710568099998 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:110.86, Y:71.42, Z:48.70 [[ 1.20763225e-01 -9.91713762e-01 -4.38184540e-02 1.10856906e+02] [ 7.29006461e-01 1.18560282e-01 -6.74160990e-01 7.14241820e+01] [ 6.73769860e-01 4.94699192e-02 7.37283462e-01 4.86997751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91710568099998 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:110.86, Y:71.45, Z:48.72 [[ 1.25263654e-01 -9.90837177e-01 -5.05045116e-02 1.10863214e+02] [ 7.24149147e-01 1.26107906e-01 -6.78015346e-01 7.14471504e+01] [ 6.78171830e-01 4.83578807e-02 7.33310633e-01 4.87155458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94710568099998 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:110.87, Y:71.47, Z:48.74 [[ 1.26758236e-01 -9.90734273e-01 -4.87642269e-02 1.10866201e+02] [ 7.23814035e-01 1.25998188e-01 -6.78393469e-01 7.14661144e+01] [ 6.78251865e-01 5.06957278e-02 7.33078680e-01 4.87359363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97710568099998 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:110.87, Y:71.48, Z:48.76 [[ 1.23471760e-01 -9.91239321e-01 -4.68970441e-02 1.10870966e+02] [ 7.24862826e-01 1.22365404e-01 -6.77938487e-01 7.14846692e+01] [ 6.77737861e-01 4.97123341e-02 7.33621207e-01 4.87578589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.00710568099998 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:110.88, Y:71.51, Z:48.77 [[ 1.18655259e-01 -9.91727838e-01 -4.89573852e-02 1.10877002e+02] [ 7.25871045e-01 1.20278928e-01 -6.77232756e-01 7.15052516e+01] [ 6.77519118e-01 4.48204796e-02 7.34138249e-01 4.87738514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03710568099999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:110.89, Y:71.53, Z:48.79 [[ 1.08403630e-01 -9.93063066e-01 -4.55455915e-02 1.10889414e+02] [ 7.27649776e-01 1.10480331e-01 -6.76993279e-01 7.15291012e+01] [ 6.77328913e-01 4.02472891e-02 7.34578586e-01 4.87911758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.067105681 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:110.90, Y:71.55, Z:48.81 [[ 9.62808608e-02 -9.94035345e-01 -5.12223446e-02 1.10898870e+02] [ 7.27896761e-01 1.05416231e-01 -6.77535035e-01 7.15523791e+01] [ 6.78893439e-01 2.79490777e-02 7.33704673e-01 4.88067821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.097105681 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:110.90, Y:71.57, Z:48.83 [[ 9.10646257e-02 -9.94652575e-01 -4.87184628e-02 1.10903971e+02] [ 7.28562565e-01 9.98948145e-02 -6.77655971e-01 7.15728299e+01] [ 6.78898978e-01 2.62160391e-02 7.33763516e-01 4.88265452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.127105681 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:110.92, Y:71.60, Z:48.84 [[ 7.97972701e-02 -9.94264326e-01 -7.12098746e-02 1.10917598e+02] [ 7.26879756e-01 1.06924371e-01 -6.78390005e-01 7.15969801e+01] [ 6.82113052e-01 2.37265424e-03 7.31242883e-01 4.88383972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.157105681 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:110.92, Y:71.61, Z:48.86 [[ 7.48232464e-02 -9.95697207e-01 -5.46676684e-02 1.10919892e+02] [ 7.27159667e-01 9.19934022e-02 -6.80276439e-01 7.16122982e+01] [ 6.82378415e-01 1.11483681e-02 7.30914094e-01 4.88631827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.187105681 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:110.92, Y:71.63, Z:48.89 [[ 6.91942581e-02 -9.96952833e-01 -3.60167105e-02 1.10923220e+02] [ 7.29382411e-01 7.51881727e-02 -6.79961791e-01 7.16283116e+01] [ 6.80597864e-01 2.07794965e-02 7.32362451e-01 4.88869402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.217105681 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:110.93, Y:71.65, Z:48.90 [[ 6.40379178e-02 -9.95319461e-01 -7.23762138e-02 1.10931977e+02] [ 7.26154396e-01 9.62229813e-02 -6.80764960e-01 7.16543050e+01] [ 6.84542868e-01 -8.96153528e-03 7.28917522e-01 4.88981849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24710568099997 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:110.93, Y:71.67, Z:48.93 [[ 6.49119907e-02 -9.97262425e-01 -3.54131262e-02 1.10928548e+02] [ 7.29301824e-01 7.16327548e-02 -6.80431920e-01 7.16670712e+01] [ 6.81105926e-01 1.83413329e-02 7.31955131e-01 4.89261276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27710568099997 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:110.94, Y:71.70, Z:48.93 [[ 6.42578174e-02 -9.95337796e-01 -7.19277681e-02 1.10940640e+02] [ 7.26574725e-01 9.60711876e-02 -6.80337781e-01 7.16973647e+01] [ 6.84076094e-01 -8.54387740e-03 7.29360610e-01 4.89330022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30710568099997 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:110.94, Y:71.71, Z:48.96 [[ 6.53130770e-02 -9.97107880e-01 -3.88597179e-02 1.10935446e+02] [ 7.27600921e-01 7.42377946e-02 -6.81971883e-01 7.17094115e+01] [ 6.82884398e-01 1.62673156e-02 7.30345311e-01 4.89609655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33710568099997 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:110.94, Y:71.73, Z:48.98 [[ 6.76655157e-02 -9.96375261e-01 -5.15530567e-02 1.10936018e+02] [ 7.26731265e-01 8.46245568e-02 -6.81689337e-01 7.17325957e+01] [ 6.83581046e-01 8.66164240e-03 7.29823218e-01 4.89767733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36710568099997 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:110.93, Y:71.75, Z:49.00 [[ 7.12892919e-02 -9.96515579e-01 -4.32959392e-02 1.10933108e+02] [ 7.28547510e-01 8.16681789e-02 -6.80109429e-01 7.17520735e+01] [ 6.81275541e-01 1.69413709e-02 7.31831010e-01 4.89979797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39710568099997 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:110.94, Y:71.78, Z:49.01 [[ 7.23257683e-02 -9.94946865e-01 -6.96399312e-02 1.10940212e+02] [ 7.25616817e-01 1.00394493e-01 -6.80735765e-01 7.17779171e+01] [ 6.84287380e-01 -1.29716804e-03 7.29211285e-01 4.90121774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42710568099997 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:110.93, Y:71.79, Z:49.04 [[ 7.19070050e-02 -9.96785050e-01 -3.53404316e-02 1.10933057e+02] [ 7.31021504e-01 7.67739681e-02 -6.78021621e-01 7.17880274e+01] [ 6.78555041e-01 2.29198887e-02 7.34191892e-01 4.90410300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45710568099997 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:110.94, Y:71.81, Z:49.05 [[ 6.94247619e-02 -9.95488901e-01 -6.46687809e-02 1.10939135e+02] [ 7.30235547e-01 9.48777377e-02 -6.76575392e-01 7.18135433e+01] [ 6.79658921e-01 -2.52357119e-04 7.33528246e-01 4.90544494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.48710568099997 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:110.93, Y:71.83, Z:49.08 [[ 6.59786774e-02 -9.97107836e-01 -3.77197246e-02 1.10930875e+02] [ 7.36781408e-01 7.41759295e-02 -6.72049915e-01 7.18263930e+01] [ 6.72904132e-01 1.65497727e-02 7.39544545e-01 4.90811699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.51710568099998 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:110.93, Y:71.85, Z:49.10 [[ 6.76553493e-02 -9.96736162e-01 -4.40429024e-02 1.10931711e+02] [ 7.38147982e-01 7.97047580e-02 -6.69913956e-01 7.18506269e+01] [ 6.71237894e-01 1.28130832e-02 7.41131240e-01 4.90967087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.54710568099998 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:110.94, Y:71.87, Z:49.11 [[ 7.28496274e-02 -9.95389055e-01 -6.23984109e-02 1.10936160e+02] [ 7.36069794e-01 9.58765001e-02 -6.70081305e-01 7.18740089e+01] [ 6.72974138e-01 2.88558800e-03 7.39660383e-01 4.91130618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57710568099998 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:110.92, Y:71.89, Z:49.14 [[ 8.59075237e-02 -9.95522018e-01 -3.94437376e-02 1.10924936e+02] [ 7.36223424e-01 9.01060533e-02 -6.70713030e-01 7.18864057e+01] [ 6.71263709e-01 2.85798920e-02 7.40667417e-01 4.91384354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.60710568099998 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:110.92, Y:71.91, Z:49.16 [[ 1.02436007e-01 -9.93570866e-01 -4.82058034e-02 1.10919999e+02] [ 7.31630287e-01 1.08086469e-01 -6.73078330e-01 7.19083539e+01] [ 6.73961414e-01 3.36786304e-02 7.37998484e-01 4.91550463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63710568099998 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:110.92, Y:71.93, Z:49.17 [[ 1.13999431e-01 -9.92411599e-01 -4.60798045e-02 1.10918243e+02] [ 7.26760957e-01 1.14928047e-01 -6.77207542e-01 7.19287225e+01] [ 6.77364481e-01 4.37122714e-02 7.34347736e-01 4.91739496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.66710568099998 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:110.92, Y:71.95, Z:49.20 [[ 1.14014770e-01 -9.92639607e-01 -4.08318831e-02 1.10918776e+02] [ 7.26911707e-01 1.11367718e-01 -6.77640467e-01 7.19476941e+01] [ 6.77200120e-01 4.75798483e-02 7.34258916e-01 4.91954386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69710568099998 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:110.92, Y:71.97, Z:49.21 [[ 1.18336627e-01 -9.91914150e-01 -4.58558776e-02 1.10923801e+02] [ 7.23937896e-01 1.17790639e-01 -6.79734719e-01 7.19716541e+01] [ 6.79639879e-01 4.72407065e-02 7.32023190e-01 4.92143851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72710568099998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:110.92, Y:71.99, Z:49.23 [[ 1.15251479e-01 -9.92294675e-01 -4.54793876e-02 1.10923969e+02] [ 7.21237392e-01 1.15075630e-01 -6.83062386e-01 7.19946041e+01] [ 6.83032738e-01 4.59225152e-02 7.28942660e-01 4.92261668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75710568099998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:110.93, Y:72.02, Z:49.24 [[ 1.12913569e-01 -9.92667483e-01 -4.31485070e-02 1.10927088e+02] [ 7.19901321e-01 1.11663652e-01 -6.85035267e-01 7.20155861e+01] [ 6.84830354e-01 4.62871096e-02 7.27230974e-01 4.92440220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.78710568099999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:110.93, Y:72.04, Z:49.26 [[ 1.07736278e-01 -9.93353177e-01 -4.05260544e-02 1.10933163e+02] [ 7.18088533e-01 1.05943843e-01 -6.87840651e-01 7.20369040e+01] [ 6.87562181e-01 4.50040965e-02 7.24729521e-01 4.92626535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.817105681 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:110.94, Y:72.06, Z:49.28 [[ 1.02158035e-01 -9.94054195e-01 -3.76827916e-02 1.10937383e+02] [ 7.19190531e-01 9.99755593e-02 -6.87582626e-01 7.20562948e+01] [ 6.87261752e-01 4.31409830e-02 7.25127671e-01 4.92842100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.847105681 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:110.94, Y:72.08, Z:49.30 [[ 9.83602488e-02 -9.94205598e-01 -4.33646183e-02 1.10942056e+02] [ 7.20022178e-01 1.01179178e-01 -6.86535386e-01 7.20784590e+01] [ 6.86944921e-01 3.63043045e-02 7.25802089e-01 4.93004690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.877105681 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:110.95, Y:72.10, Z:49.32 [[ 9.07611586e-02 -9.94500802e-01 -5.22548187e-02 1.10953704e+02] [ 7.21411400e-01 1.01829573e-01 -6.84979073e-01 7.21016320e+01] [ 6.86533324e-01 2.44722724e-02 7.26686386e-01 4.93186980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.907105681 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:110.96, Y:72.12, Z:49.34 [[ 7.88131390e-02 -9.95889042e-01 -4.46486851e-02 1.10955662e+02] [ 7.21480476e-01 8.78896992e-02 -6.86834277e-01 7.21176037e+01] [ 6.87934890e-01 2.19184108e-02 7.25441363e-01 4.93394099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.937105681 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:110.96, Y:72.14, Z:49.36 [[ 7.29167604e-02 -9.96506033e-01 -4.07292478e-02 1.10958120e+02] [ 7.22111409e-01 8.09188795e-02 -6.87027836e-01 7.21374463e+01] [ 6.87923149e-01 2.06847895e-02 7.25488719e-01 4.93601503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.967105681 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:110.97, Y:72.16, Z:49.38 [[ 5.82666607e-02 -9.97433148e-01 -4.16186354e-02 1.10967405e+02] [ 7.24585393e-01 7.09318626e-02 -6.85525112e-01 7.21613270e+01] [ 6.86717558e-01 9.78700385e-03 7.26858452e-01 4.93764886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99710568099997 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:110.97, Y:72.18, Z:49.40 [[ 4.55138124e-02 -9.98222601e-01 -3.84724888e-02 1.10973091e+02] [ 7.27373419e-01 5.95132796e-02 -6.83656404e-01 7.21813460e+01] [ 6.84730897e-01 3.13194362e-03 7.28789263e-01 4.93959153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02710568099997 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:110.98, Y:72.20, Z:49.41 [[ 4.08966519e-02 -9.97953018e-01 -4.91654116e-02 1.10976779e+02] [ 7.26567547e-01 6.34809478e-02 -6.84156246e-01 7.22019199e+01] [ 6.85876858e-01 -7.74229261e-03 7.27676434e-01 4.94124098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05710568099997 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:110.97, Y:72.22, Z:49.44 [[ 3.65872758e-02 -9.98713664e-01 -3.51053865e-02 1.10971769e+02] [ 7.26858555e-01 5.07031317e-02 -6.84913012e-01 7.22176166e+01] [ 6.85811937e-01 -4.57549255e-04 7.27778660e-01 4.94367004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08710568099997 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:110.97, Y:72.24, Z:49.46 [[ 3.80145358e-02 -9.98708149e-01 -3.37183528e-02 1.10971040e+02] [ 7.27517260e-01 5.07921693e-02 -6.84206688e-01 7.22387826e+01] [ 6.85035424e-01 1.47911597e-03 7.28508257e-01 4.94554387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11710568099997 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:110.97, Y:72.26, Z:49.47 [[ 4.47996532e-02 -9.97543572e-01 -5.38499064e-02 1.10970263e+02] [ 7.26040276e-01 6.95373536e-02 -6.84127235e-01 7.22616707e+01] [ 6.86191306e-01 -8.44853802e-03 7.27372060e-01 4.94695324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14710568099997 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:110.96, Y:72.27, Z:49.50 [[ 5.74722570e-02 -9.97875249e-01 -3.06908384e-02 1.10959851e+02] [ 7.26856466e-01 6.28972858e-02 -6.83903216e-01 7.22735217e+01] [ 6.84380462e-01 1.69976270e-02 7.28926926e-01 4.94993354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17710568099997 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:110.96, Y:72.30, Z:49.52 [[ 6.86012771e-02 -9.96465907e-01 -4.84722743e-02 1.10963152e+02] [ 7.25997019e-01 8.31878110e-02 -6.82647872e-01 7.22972358e+01] [ 6.84267633e-01 1.16397891e-02 7.29138068e-01 4.95164246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20710568099997 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:110.95, Y:72.31, Z:49.54 [[ 8.06908455e-02 -9.96452478e-01 -2.39049453e-02 1.10946257e+02] [ 7.28253859e-01 7.53136051e-02 -6.81156501e-01 7.23098655e+01] [ 6.80540451e-01 3.75542253e-02 7.31747481e-01 4.95433867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23710568099997 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:110.94, Y:72.33, Z:49.56 [[ 9.25579526e-02 -9.95296452e-01 -2.86006548e-02 1.10943242e+02] [ 7.26289512e-01 8.71348943e-02 -6.81843864e-01 7.23335644e+01] [ 6.81128894e-01 4.23377165e-02 7.30938402e-01 4.95594888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.26710568099998 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:110.94, Y:72.36, Z:49.58 [[ 9.60589129e-02 -9.94843384e-01 -3.25472928e-02 1.10942892e+02] [ 7.24313695e-01 9.22911449e-02 -6.83265699e-01 7.23554114e+01] [ 6.82746187e-01 4.20593103e-02 7.29444075e-01 4.95766537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.29710568099998 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:110.94, Y:72.38, Z:49.59 [[ 9.92624632e-02 -9.94483038e-01 -3.39182985e-02 1.10940296e+02] [ 7.23085781e-01 9.55064989e-02 -6.84123865e-01 7.23768261e+01] [ 6.83588997e-01 4.33819806e-02 7.28576754e-01 4.95943367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.32710568099998 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:110.94, Y:72.40, Z:49.61 [[ 9.90773847e-02 -9.94596448e-01 -3.10093113e-02 1.10941601e+02] [ 7.22520005e-01 9.33317507e-02 -6.85021187e-01 7.23967094e+01] [ 6.84213793e-01 4.54652600e-02 7.27862896e-01 4.96136391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35710568099998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:110.94, Y:72.42, Z:49.63 [[ 9.78186912e-02 -9.94711928e-01 -3.12999137e-02 1.10942930e+02] [ 7.21026414e-01 9.25128484e-02 -6.86703927e-01 7.24168239e+01] [ 6.85968231e-01 4.46044148e-02 7.26263060e-01 4.96335895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38710568099998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:110.94, Y:72.44, Z:49.66 [[ 9.35650960e-02 -9.95262552e-01 -2.64201730e-02 1.10942590e+02] [ 7.21432375e-01 8.60623328e-02 -6.87116150e-01 7.24350107e+01] [ 6.86134755e-01 4.52297204e-02 7.26067057e-01 4.96553858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41710568099998 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:110.95, Y:72.46, Z:49.67 [[ 9.09472846e-02 -9.95246833e-01 -3.48185813e-02 1.10946358e+02] [ 7.21167488e-01 8.99325215e-02 -6.86898534e-01 7.24585882e+01] [ 6.86764913e-01 3.73615276e-02 7.25918777e-01 4.96720611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44710568099998 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:110.95, Y:72.48, Z:49.68 [[ 8.52374739e-02 -9.95516831e-01 -4.09977101e-02 1.10952825e+02] [ 7.22033292e-01 9.00713053e-02 -6.85970179e-01 7.24818151e+01] [ 6.86587576e-01 2.88686537e-02 7.26473745e-01 4.96841468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47710568099998 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:110.95, Y:72.50, Z:49.71 [[ 7.71562535e-02 -9.96715091e-01 -2.46158465e-02 1.10953826e+02] [ 7.21139265e-01 7.28387703e-02 -6.88950415e-01 7.24978502e+01] [ 6.88480264e-01 3.54053794e-02 7.24390354e-01 4.97093724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.50710568099998 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:110.96, Y:72.52, Z:49.73 [[ 7.22071381e-02 -9.96945675e-01 -2.97565272e-02 1.10956892e+02] [ 7.21406945e-01 7.28056384e-02 -6.88673623e-01 7.25201365e+01] [ 6.88736632e-01 2.82605860e-02 7.24460621e-01 4.97275412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53710568099999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:110.96, Y:72.54, Z:49.75 [[ 6.03942206e-02 -9.97644147e-01 -3.25375704e-02 1.10960979e+02] [ 7.21724882e-01 6.61626143e-02 -6.89010670e-01 7.25391768e+01] [ 6.89540233e-01 1.81290883e-02 7.24020444e-01 4.97465312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.567105681 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:110.96, Y:72.56, Z:49.77 [[ 5.06839209e-02 -9.98371156e-01 -2.61949604e-02 1.10964861e+02] [ 7.22496017e-01 5.47617724e-02 -6.89202912e-01 7.25559479e+01] [ 6.89514790e-01 1.60057513e-02 7.24094725e-01 4.97695227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.597105681 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:110.97, Y:72.58, Z:49.79 [[ 4.69272615e-02 -9.98506736e-01 -2.79666020e-02 1.10967546e+02] [ 7.21951274e-01 5.32526422e-02 -6.89891669e-01 7.25770185e+01] [ 6.90350774e-01 1.21842028e-02 7.23372210e-01 4.97883617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.627105681 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:110.97, Y:72.60, Z:49.81 [[ 4.29553725e-02 -9.98700444e-01 -2.74273435e-02 1.10971289e+02] [ 7.20844514e-01 4.99894042e-02 -6.91291723e-01 7.25988629e+01] [ 6.91764428e-01 9.92384344e-03 7.22055049e-01 4.98060562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.657105681 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:110.97, Y:72.62, Z:49.82 [[ 4.21308257e-02 -9.98653192e-01 -3.02786416e-02 1.10973561e+02] [ 7.19850412e-01 5.13567454e-02 -6.92226747e-01 7.26205495e+01] [ 6.92849463e-01 7.36799184e-03 7.21044613e-01 4.98229852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.687105681 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:110.97, Y:72.64, Z:49.84 [[ 4.20706480e-02 -9.98623524e-01 -3.13228043e-02 1.10972125e+02] [ 7.17569932e-01 5.20152153e-02 -6.94541438e-01 7.26404106e+01] [ 6.95214681e-01 6.74350581e-03 7.18770528e-01 4.98429831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71710568099996 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:110.97, Y:72.66, Z:49.86 [[ 4.18308590e-02 -9.98613827e-01 -3.19468772e-02 1.10969426e+02] [ 7.18307426e-01 5.22833090e-02 -6.93758530e-01 7.26586414e+01] [ 6.94467149e-01 6.07283614e-03 7.19498783e-01 4.98637240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74710568099997 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:110.97, Y:72.68, Z:49.89 [[ 4.13131513e-02 -9.98782988e-01 -2.69400360e-02 1.10968209e+02] [ 7.18939584e-01 4.84403640e-02 -6.93382583e-01 7.26775640e+01] [ 6.93843713e-01 9.27756128e-03 7.20065850e-01 4.98852195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77710568099997 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:110.97, Y:72.70, Z:49.90 [[ 3.90750488e-02 -9.98778980e-01 -3.02272952e-02 1.10968777e+02] [ 7.19869163e-01 4.91173608e-02 -6.92369752e-01 7.27002365e+01] [ 6.93009039e-01 5.29468419e-03 7.20909452e-01 4.99020404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80710568099997 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:110.97, Y:72.72, Z:49.92 [[ 3.69657537e-02 -9.99008470e-01 -2.48115030e-02 1.10967166e+02] [ 7.19562556e-01 4.38380659e-02 -6.93042533e-01 7.27191767e+01] [ 6.93443048e-01 7.76541100e-03 7.20469595e-01 4.99232440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83710568099997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:110.96, Y:72.74, Z:49.95 [[ 3.52718484e-02 -9.99338307e-01 -8.87949149e-03 1.10959595e+02] [ 7.21792429e-01 3.16190399e-02 -6.91386958e-01 7.27357727e+01] [ 6.91210233e-01 1.79773463e-02 7.22430086e-01 4.99456379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86710568099997 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:110.96, Y:72.76, Z:49.96 [[ 3.14154826e-02 -9.98716278e-01 -3.97349087e-02 1.10964210e+02] [ 7.18830078e-01 5.01978715e-02 -6.93371107e-01 7.27628555e+01] [ 6.94475620e-01 -6.78005957e-03 7.19484291e-01 4.99598396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89710568099997 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:110.96, Y:72.78, Z:49.98 [[ 2.75153912e-02 -9.98875702e-01 -3.86035529e-02 1.10962552e+02] [ 7.20024789e-01 4.65925696e-02 -6.92382434e-01 7.27821246e+01] [ 6.93402629e-01 -8.74434151e-03 7.20497280e-01 4.99787954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92710568099997 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:110.96, Y:72.80, Z:50.00 [[ 2.27421942e-02 -9.99087586e-01 -3.61495316e-02 1.10958920e+02] [ 7.19632186e-01 4.14596835e-02 -6.93116593e-01 7.28008019e+01] [ 6.93982931e-01 -1.02513743e-02 7.19918468e-01 5.00008557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95710568099997 meters Centerline goodness : 0.999923 Centerline is valid? [True, True] Translation: X:110.94, Y:72.81, Z:50.02 [[ 9.01979149e-03 -9.99877457e-01 -1.27950839e-02 1.10937792e+02] [ 7.22724611e-01 1.53616678e-02 -6.90965380e-01 7.28110084e+01] [ 6.91077261e-01 -3.01495836e-03 7.22774605e-01 5.00197561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.98710568099997 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:110.96, Y:72.85, Z:50.04 [[ 1.36092753e-02 -9.98676667e-01 -4.95953864e-02 1.10956485e+02] [ 7.19927938e-01 4.42079211e-02 -6.92639462e-01 7.28460019e+01] [ 6.93915378e-01 -2.62787831e-02 7.19576871e-01 5.00399425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.01710568099998 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:110.95, Y:72.87, Z:50.06 [[ 1.17974806e-02 -9.98562706e-01 -5.22813664e-02 1.10954433e+02] [ 7.20121394e-01 4.47597196e-02 -6.92402878e-01 7.28662617e+01] [ 6.93747791e-01 -2.94803209e-02 7.19614420e-01 5.00572147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.04710568099998 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:110.95, Y:72.89, Z:50.08 [[ 1.28604403e-02 -9.98568688e-01 -5.19151645e-02 1.10954476e+02] [ 7.20347570e-01 4.52610703e-02 -6.92134968e-01 7.28857041e+01] [ 6.93494043e-01 -2.84958021e-02 7.19898605e-01 5.00764543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07710568099998 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:110.94, Y:72.89, Z:50.10 [[ 1.33846016e-02 -9.99896769e-01 -5.22536891e-03 1.10939202e+02] [ 7.24968273e-01 1.33032548e-02 -6.88653778e-01 7.28910235e+01] [ 6.88652202e-01 5.42912976e-03 7.25071493e-01 5.01014428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.10710568099998 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:110.96, Y:72.94, Z:50.10 [[ 1.55232605e-02 -9.97477662e-01 -6.92628545e-02 1.10960187e+02] [ 7.21239963e-01 5.91473201e-02 -6.90155425e-01 7.29360301e+01] [ 6.92511331e-01 -3.92416762e-02 7.20338911e-01 5.01038149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13710568099998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:110.94, Y:72.94, Z:50.13 [[ 1.41690864e-02 -9.99794019e-01 -1.45312004e-02 1.10943735e+02] [ 7.23327328e-01 2.02826066e-02 -6.90207355e-01 7.29355267e+01] [ 6.90359916e-01 -7.31206716e-04 7.23465723e-01 5.01332355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.16710568099998 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:110.95, Y:72.96, Z:50.14 [[ 1.51333669e-02 -9.99538337e-01 -2.63456804e-02 1.10946128e+02] [ 7.24888085e-01 2.91158817e-02 -6.88251065e-01 7.29606718e+01] [ 6.88700403e-01 -8.68211392e-03 7.24994052e-01 5.01447463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19710568099998 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:110.94, Y:72.98, Z:50.18 [[ 1.65186661e-02 -9.99812127e-01 -1.01412575e-02 1.10941760e+02] [ 7.22977356e-01 1.89498538e-02 -6.90611791e-01 7.29754692e+01] [ 6.90674219e-01 4.07608607e-03 7.23154554e-01 5.01762155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22710568099998 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:110.95, Y:73.00, Z:50.19 [[ 1.83714445e-02 -9.99546106e-01 -2.38761959e-02 1.10945423e+02] [ 7.23214540e-01 2.97741394e-02 -6.89981326e-01 7.30011773e+01] [ 6.90379040e-01 -4.59165837e-03 7.23433271e-01 5.01910824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25710568099998 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:110.95, Y:73.03, Z:50.21 [[ 1.99074063e-02 -9.99434422e-01 -2.71022264e-02 1.10946150e+02] [ 7.22334646e-01 3.31194077e-02 -6.90750146e-01 7.30254515e+01] [ 6.91257083e-01 -5.82583332e-03 7.22585431e-01 5.02075339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.28710568099999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:110.95, Y:73.05, Z:50.23 [[ 2.08795468e-02 -9.99447846e-01 -2.58466329e-02 1.10948602e+02] [ 7.21721375e-01 3.29577392e-02 -6.91398614e-01 7.30489481e+01] [ 6.91868702e-01 -4.21797772e-03 7.22011016e-01 5.02255318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.317105681 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:110.95, Y:73.07, Z:50.24 [[ 2.10720238e-02 -9.99141938e-01 -3.56561106e-02 1.10952529e+02] [ 7.20084866e-01 3.99082109e-02 -6.92737411e-01 7.30718710e+01] [ 6.93565971e-01 -1.10780464e-02 7.20307935e-01 5.02418783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.347105681 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:110.95, Y:73.09, Z:50.26 [[ 2.12926073e-02 -9.99298477e-01 -3.08087513e-02 1.10951973e+02] [ 7.20318956e-01 3.67035531e-02 -6.92671243e-01 7.30896410e+01] [ 6.93316109e-01 -7.44335079e-03 7.20595149e-01 5.02641632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.377105681 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:110.95, Y:73.11, Z:50.28 [[ 2.07355011e-02 -9.99217427e-01 -3.36834208e-02 1.10954038e+02] [ 7.20459475e-01 3.82927703e-02 -6.92439029e-01 7.31113876e+01] [ 6.93186976e-01 -9.90946941e-03 7.20689683e-01 5.02844780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.407105681 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:110.96, Y:73.13, Z:50.30 [[ 2.08462409e-02 -9.99085507e-01 -3.73307388e-02 1.10956487e+02] [ 7.19983358e-01 4.09085169e-02 -6.92784568e-01 7.31334398e+01] [ 6.93678166e-01 -1.24355567e-02 7.20177727e-01 5.03036523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.437105681 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:110.96, Y:73.15, Z:50.32 [[ 2.06481066e-02 -9.99059248e-01 -3.81349429e-02 1.10957546e+02] [ 7.19465314e-01 4.13333358e-02 -6.93297352e-01 7.31547803e+01] [ 6.94221375e-01 -1.31214910e-02 7.19641931e-01 5.03237692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46710568099996 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:110.96, Y:73.18, Z:50.34 [[ 2.08278781e-02 -9.98914777e-01 -4.16589507e-02 1.10959739e+02] [ 7.20855901e-01 4.38767915e-02 -6.91694728e-01 7.31751859e+01] [ 6.92771946e-01 -1.56235670e-02 7.20987472e-01 5.03418456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49710568099997 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:110.96, Y:73.20, Z:50.36 [[ 2.14901849e-02 -9.98754342e-01 -4.50326143e-02 1.10962860e+02] [ 7.20203343e-01 4.67065647e-02 -6.92189022e-01 7.31956217e+01] [ 6.93430110e-01 -1.75573693e-02 7.20309948e-01 5.03614089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52710568099997 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:110.97, Y:73.22, Z:50.38 [[ 2.00921316e-02 -9.98440122e-01 -5.20925139e-02 1.10965758e+02] [ 7.18967317e-01 5.06349454e-02 -6.93197013e-01 7.32165518e+01] [ 6.94753412e-01 -2.35250094e-02 7.18863180e-01 5.03784783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55710568099997 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:110.97, Y:73.23, Z:50.41 [[ 1.98015272e-02 -9.99125401e-01 -3.68284206e-02 1.10965218e+02] [ 7.19165453e-01 3.98231589e-02 -6.93696740e-01 7.32318718e+01] [ 6.94556657e-01 -1.27494729e-02 7.19325031e-01 5.04062391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58710568099997 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:110.97, Y:73.26, Z:50.42 [[ 1.96450707e-02 -9.98849311e-01 -4.37507203e-02 1.10968250e+02] [ 7.18809447e-01 4.45256647e-02 -6.93779824e-01 7.32551376e+01] [ 6.94929529e-01 -1.78190774e-02 7.18857031e-01 5.04238239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61710568099997 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:110.97, Y:73.28, Z:50.43 [[ 2.20158771e-02 -9.97795253e-01 -6.26093783e-02 1.10972676e+02] [ 7.22085604e-01 5.91824459e-02 -6.89267595e-01 7.32789037e+01] [ 6.91453311e-01 -3.00345000e-02 7.21796542e-01 5.04340088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64710568099997 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:110.97, Y:73.28, Z:50.48 [[ 2.16473436e-02 -9.99571220e-01 -1.97172396e-02 1.10966119e+02] [ 7.16755021e-01 2.92656021e-02 -6.96710675e-01 7.32825693e+01] [ 6.96988976e-01 9.49504868e-04 7.17081213e-01 5.04765501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67710568099997 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:110.97, Y:73.31, Z:50.48 [[ 2.78143132e-02 -9.98454884e-01 -4.81062235e-02 1.10970190e+02] [ 7.16759998e-01 5.34654791e-02 -6.95267250e-01 7.33139660e+01] [ 6.96765003e-01 -1.51422356e-02 7.17139626e-01 5.04830613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70710568099997 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:110.97, Y:73.33, Z:50.51 [[ 3.14841114e-02 -9.98562921e-01 -4.33687003e-02 1.10970117e+02] [ 7.16126083e-01 5.28058168e-02 -6.95970530e-01 7.33325979e+01] [ 6.97260485e-01 -9.14544376e-03 7.16759497e-01 5.05062494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73710568099997 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:110.97, Y:73.35, Z:50.52 [[ 3.85183802e-02 -9.97836508e-01 -5.32788638e-02 1.10970690e+02] [ 7.16313244e-01 6.47477755e-02 -6.94768352e-01 7.33543395e+01] [ 6.96714914e-01 -1.14030042e-02 7.17257485e-01 5.05220418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.76710568099998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:110.97, Y:73.37, Z:50.54 [[ 4.20325879e-02 -9.97949590e-01 -4.82687997e-02 1.10967368e+02] [ 7.15312410e-01 6.37868746e-02 -6.95887484e-01 7.33712730e+01] [ 6.97539546e-01 -5.27731954e-03 7.16526854e-01 5.05443543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.79710568099998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:110.96, Y:73.39, Z:50.57 [[ 4.88442049e-02 -9.98096650e-01 -3.76473112e-02 1.10963091e+02] [ 7.15447392e-01 6.12636686e-02 -6.95975425e-01 7.33896398e+01] [ 6.96957153e-01 7.05969567e-03 7.17078021e-01 5.05686918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.82710568099998 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:110.97, Y:73.41, Z:50.58 [[ 4.92836572e-02 -9.97100378e-01 -5.79823880e-02 1.10965927e+02] [ 7.13997429e-01 7.57659714e-02 -6.96036773e-01 7.34147717e+01] [ 6.98411622e-01 -7.09603816e-03 7.15661130e-01 5.05821263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85710568099998 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:110.96, Y:73.43, Z:50.61 [[ 4.96498187e-02 -9.98107061e-01 -3.62931283e-02 1.10961832e+02] [ 7.16039805e-01 6.09046843e-02 -6.95397453e-01 7.34264855e+01] [ 6.96291529e-01 8.53903291e-03 7.17708292e-01 5.06108215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88710568099998 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:110.96, Y:73.45, Z:50.63 [[ 5.01580016e-02 -9.97867860e-01 -4.17601416e-02 1.10964115e+02] [ 7.16930508e-01 6.50842808e-02 -6.94099909e-01 7.34490286e+01] [ 6.95337919e-01 4.87554483e-03 7.18666409e-01 5.06303176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91710568099998 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:110.97, Y:73.47, Z:50.65 [[ 4.99332698e-02 -9.97721493e-01 -4.53706041e-02 1.10968207e+02] [ 7.18478240e-01 6.74384438e-02 -6.92272399e-01 7.34738225e+01] [ 6.93754774e-01 1.96963271e-03 7.20208604e-01 5.06462498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94710568099998 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:110.98, Y:73.50, Z:50.66 [[ 4.99105511e-02 -9.97081865e-01 -5.77640987e-02 1.10977849e+02] [ 7.15709873e-01 7.60458349e-02 -6.94245208e-01 7.35000527e+01] [ 6.96612026e-01 -6.69217486e-03 7.17416825e-01 5.06587435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97710568099998 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:110.98, Y:73.52, Z:50.68 [[ 5.15001161e-02 -9.97165227e-01 -5.48566202e-02 1.10979804e+02] [ 7.15182892e-01 7.51640635e-02 -6.94884015e-01 7.35164336e+01] [ 6.97037423e-01 -3.44590882e-03 7.17026469e-01 5.06819012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.00710568099998 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:110.98, Y:73.53, Z:50.71 [[ 5.28211832e-02 -9.97746818e-01 -4.13667774e-02 1.10979045e+02] [ 7.15782690e-01 6.67140556e-02 -6.95129035e-01 7.35335499e+01] [ 6.96322529e-01 7.10791491e-03 7.17693816e-01 5.07084753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03710568099999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:110.99, Y:73.56, Z:50.72 [[ 5.64383592e-02 -9.96263090e-01 -6.53801732e-02 1.10988603e+02] [ 7.12515702e-01 8.60628375e-02 -6.96358071e-01 7.35620515e+01] [ 6.99382647e-01 -7.28309305e-03 7.14710340e-01 5.07184899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.067105681 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:110.99, Y:73.58, Z:50.73 [[ 6.31220856e-02 -9.94540363e-01 -8.30967389e-02 1.10994680e+02] [ 7.06359496e-01 1.03341171e-01 -7.00269137e-01 7.35799340e+01] [ 7.05033237e-01 -1.44937222e-02 7.09026140e-01 5.07342513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.097105681 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:110.99, Y:73.59, Z:50.77 [[ 6.82034465e-02 -9.96119841e-01 -5.56197093e-02 1.10990472e+02] [ 7.03909807e-01 8.75536046e-02 -7.04872577e-01 7.35855883e+01] [ 7.07007266e-01 8.92348028e-03 7.07149983e-01 5.07675388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.127105681 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:111.00, Y:73.60, Z:50.78 [[ 7.81462504e-02 -9.94736069e-01 -6.62821034e-02 1.10995062e+02] [ 7.03646537e-01 1.02132659e-01 -7.03171722e-01 7.36046127e+01] [ 7.06239842e-01 8.31106093e-03 7.07923875e-01 5.07800322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.157105681 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:110.98, Y:73.60, Z:50.84 [[ 8.36282775e-02 -9.96249635e-01 2.22030783e-02 1.10983152e+02] [ 7.10464741e-01 4.39854199e-02 -7.02356843e-01 7.36045377e+01] [ 6.98746136e-01 7.45113972e-02 7.11478664e-01 5.08354013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.187105681 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:111.00, Y:73.66, Z:50.82 [[ 8.24466724e-02 -9.94293995e-01 -6.76904579e-02 1.11003326e+02] [ 7.01611582e-01 1.06146531e-01 -7.04609184e-01 7.36575126e+01] [ 7.07773788e-01 1.06002733e-02 7.06359611e-01 5.08208338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21710568099996 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:111.01, Y:73.68, Z:50.83 [[ 8.29350562e-02 -9.92241880e-01 -9.26165604e-02 1.11013967e+02] [ 6.99010648e-01 1.24160963e-01 -7.04250076e-01 7.36764847e+01] [ 7.10285781e-01 -6.33294226e-03 7.03884936e-01 5.08280596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24710568099997 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:111.00, Y:73.67, Z:50.87 [[ 8.04847158e-02 -9.96224470e-01 -3.25425222e-02 1.11004265e+02] [ 7.01561204e-01 7.98104809e-02 -7.08125811e-01 7.36719769e+01] [ 7.08049495e-01 3.41627335e-02 7.05335963e-01 5.08744906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27710568099997 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:111.01, Y:73.68, Z:50.90 [[ 7.23280562e-02 -9.97141880e-01 -2.18339936e-02 1.11009440e+02] [ 7.00227913e-01 6.63560113e-02 -7.10828918e-01 7.36849409e+01] [ 7.10246100e-01 3.61241021e-02 7.03025979e-01 5.09012921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30710568099997 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:111.01, Y:73.71, Z:50.92 [[ 6.75790732e-02 -9.97476168e-01 -2.17798921e-02 1.11014026e+02] [ 7.00338011e-01 6.29732441e-02 -7.11028157e-01 7.37066930e+01] [ 7.10605192e-01 3.27973376e-02 7.02826149e-01 5.09219658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33710568099997 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:111.03, Y:73.73, Z:50.93 [[ 6.11806047e-02 -9.97327111e-01 -3.99445635e-02 1.11025127e+02] [ 7.00105540e-01 7.14027597e-02 -7.10460329e-01 7.37337881e+01] [ 7.11413499e-01 1.55009823e-02 7.02602700e-01 5.09344283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36710568099997 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:111.03, Y:73.75, Z:50.96 [[ 5.77637371e-02 -9.97596782e-01 -3.82623949e-02 1.11028230e+02] [ 6.99401764e-01 6.77869253e-02 -7.11506926e-01 7.37515417e+01] [ 7.12390710e-01 1.43385125e-02 7.01636575e-01 5.09556861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39710568099997 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:111.03, Y:73.77, Z:50.98 [[ 5.76354706e-02 -9.97926319e-01 -2.86568529e-02 1.11027993e+02] [ 7.00579441e-01 6.08787099e-02 -7.10972735e-01 7.37681870e+01] [ 7.11242996e-01 2.09008461e-02 7.02635436e-01 5.09787511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42710568099997 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:111.03, Y:73.79, Z:51.00 [[ 5.98414372e-02 -9.97650170e-01 -3.33637740e-02 1.11033032e+02] [ 6.99698870e-01 6.57606669e-02 -7.11404966e-01 7.37912211e+01] [ 7.11927309e-01 1.92269006e-02 7.01989909e-01 5.09960208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45710568099997 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:111.04, Y:73.81, Z:51.01 [[ 6.21062597e-02 -9.97366424e-01 -3.74570260e-02 1.11038395e+02] [ 6.97615642e-01 7.02189441e-02 -7.13022942e-01 7.38133381e+01] [ 7.13775334e-01 1.81525807e-02 7.00139455e-01 5.10123695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.48710568099997 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:111.04, Y:73.83, Z:51.03 [[ 6.36697246e-02 -9.97439985e-01 -3.25521526e-02 1.11039027e+02] [ 6.96614998e-01 6.77767320e-02 -7.14236557e-01 7.38304146e+01] [ 7.14614379e-01 2.27989272e-02 6.99146979e-01 5.10342334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.51710568099998 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:111.04, Y:73.85, Z:51.05 [[ 6.62951215e-02 -9.97231180e-01 -3.36887153e-02 1.11039891e+02] [ 6.95908057e-01 7.04066061e-02 -7.14671174e-01 7.38505290e+01] [ 7.15064286e-01 2.39349639e-02 6.98648827e-01 5.10543638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.54710568099998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:111.04, Y:73.87, Z:51.07 [[ 6.88090653e-02 -9.96870126e-01 -3.89264038e-02 1.11043375e+02] [ 6.96564616e-01 7.59402296e-02 -7.13463956e-01 7.38718106e+01] [ 7.14186984e-01 2.19780324e-02 6.99609833e-01 5.10715016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57710568099998 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:111.05, Y:73.89, Z:51.10 [[ 7.26210395e-02 -9.96820284e-01 -3.27949068e-02 1.11046581e+02] [ 6.95406132e-01 7.41780670e-02 -7.14778235e-01 7.38907754e+01] [ 7.14938106e-01 2.91021591e-02 6.98581827e-01 5.10967338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.60710568099998 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:111.05, Y:73.91, Z:51.11 [[ 7.68348986e-02 -9.96081698e-01 -4.37909770e-02 1.11052115e+02] [ 6.94632783e-01 8.49861055e-02 -7.14326717e-01 7.39137166e+01] [ 7.15249394e-01 2.44665727e-02 6.98440901e-01 5.11135389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63710568099998 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:111.05, Y:73.93, Z:51.13 [[ 7.84634335e-02 -9.95830555e-01 -4.65295062e-02 1.11054388e+02] [ 6.94989540e-01 8.81021427e-02 -7.13601816e-01 7.39321321e+01] [ 7.14725842e-01 2.36541285e-02 6.99004616e-01 5.11344903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.66710568099998 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:111.06, Y:73.95, Z:51.16 [[ 8.11578680e-02 -9.95748563e-01 -4.35683392e-02 1.11056779e+02] [ 6.96902700e-01 8.79429276e-02 -7.11753236e-01 7.39486294e+01] [ 7.12558789e-01 2.74014819e-02 7.01077122e-01 5.11571910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69710568099998 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:111.06, Y:73.97, Z:51.18 [[ 8.46624568e-02 -9.95423941e-01 -4.43107872e-02 1.11063994e+02] [ 6.99124138e-01 9.10305338e-02 -7.09181839e-01 7.39688798e+01] [ 7.09970216e-01 2.90623359e-02 7.03631774e-01 5.11762714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.72710568099998 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:111.07, Y:73.99, Z:51.20 [[ 8.77667232e-02 -9.95415611e-01 -3.80100556e-02 1.11067727e+02] [ 7.00862295e-01 8.88210009e-02 -7.07744921e-01 7.39855633e+01] [ 7.07876434e-01 3.54766378e-02 7.05444797e-01 5.11980159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75710568099998 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:111.07, Y:74.00, Z:51.22 [[ 9.39490018e-02 -9.94768113e-01 -4.01246268e-02 1.11073975e+02] [ 7.02530440e-01 9.47983669e-02 -7.05311457e-01 7.40031541e+01] [ 7.05425096e-01 3.80745356e-02 7.07761092e-01 5.12178969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.78710568099999 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:111.08, Y:74.02, Z:51.24 [[ 9.74956915e-02 -9.94456718e-01 -3.93754505e-02 1.11078353e+02] [ 7.01393540e-01 9.67252108e-02 -7.06180810e-01 7.40216605e+01] [ 7.06074849e-01 4.12318998e-02 7.06935809e-01 5.12385976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.817105681 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:111.09, Y:74.04, Z:51.26 [[ 1.01883872e-01 -9.94164645e-01 -3.54448093e-02 1.11086575e+02] [ 6.97207533e-01 9.67756222e-02 -7.10307071e-01 7.40396816e+01] [ 7.09592370e-01 4.76564469e-02 7.02998955e-01 5.12599237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.847105681 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:111.10, Y:74.07, Z:51.27 [[ 1.05008879e-01 -9.93181820e-01 -5.06261608e-02 1.11100614e+02] [ 6.94354261e-01 1.09667836e-01 -7.11227900e-01 7.40658980e+01] [ 7.11930682e-01 3.95327544e-02 7.01136125e-01 5.12724890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.877105681 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:111.10, Y:74.08, Z:51.30 [[ 1.04484810e-01 -9.93901982e-01 -3.52388118e-02 1.11103085e+02] [ 6.92621020e-01 9.81482914e-02 -7.14592916e-01 7.40809855e+01] [ 7.13693945e-01 5.02569635e-02 6.98652411e-01 5.12962415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.907105681 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:111.12, Y:74.11, Z:51.31 [[ 1.03405644e-01 -9.93070481e-01 -5.58416697e-02 1.11116797e+02] [ 6.90735028e-01 1.12094098e-01 -7.14366876e-01 7.41068453e+01] [ 7.15676179e-01 3.52977694e-02 6.97539729e-01 5.13075701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.937105681 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:111.12, Y:74.12, Z:51.33 [[ 1.02122148e-01 -9.94014688e-01 -3.88055012e-02 1.11119317e+02] [ 6.89484822e-01 9.88471594e-02 -7.17523463e-01 7.41212231e+01] [ 7.17064675e-01 4.65192328e-02 6.95452524e-01 5.13333494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96710568099996 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:111.13, Y:74.14, Z:51.35 [[ 9.73138733e-02 -9.94391169e-01 -4.14271992e-02 1.11131706e+02] [ 6.86567280e-01 9.72076436e-02 -7.20538718e-01 7.41448763e+01] [ 7.20524378e-01 4.16758540e-02 6.92176093e-01 5.13506005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99710568099997 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:111.14, Y:74.17, Z:51.37 [[ 9.25639794e-02 -9.94967073e-01 -3.83722979e-02 1.11143955e+02] [ 6.86096210e-01 9.16629210e-02 -7.21713170e-01 7.41654204e+01] [ 7.21598157e-01 4.04775549e-02 6.91127822e-01 5.13716506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02710568099997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:111.16, Y:74.19, Z:51.39 [[ 8.56125796e-02 -9.94452919e-01 -6.11054731e-02 1.11158720e+02] [ 6.81651499e-01 1.03192936e-01 -7.24363480e-01 7.41871703e+01] [ 7.26651030e-01 2.03619888e-02 6.86704936e-01 5.13899711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05710568099997 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:111.16, Y:74.20, Z:51.41 [[ 8.22715838e-02 -9.95967322e-01 -3.57837878e-02 1.11158483e+02] [ 6.85554611e-01 8.26178985e-02 -7.23318158e-01 7.42005879e+01] [ 7.23357630e-01 3.49767897e-02 6.89587096e-01 5.14141599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08710568099997 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:111.17, Y:74.22, Z:51.43 [[ 7.69564648e-02 -9.96065090e-01 -4.39549602e-02 1.11169852e+02] [ 6.86833400e-01 8.49187355e-02 -7.21837024e-01 7.42225634e+01] [ 7.22729260e-01 2.53602908e-02 6.90665818e-01 5.14326496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11710568099997 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:111.18, Y:74.24, Z:51.45 [[ 7.36724227e-02 -9.96001568e-01 -5.05296914e-02 1.11176090e+02] [ 6.86957043e-01 8.74125116e-02 -7.21421565e-01 7.42424778e+01] [ 7.22953938e-01 1.84371471e-02 6.90650183e-01 5.14496969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14710568099997 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:111.18, Y:74.26, Z:51.48 [[ 6.69274782e-02 -9.96835680e-01 -4.28875278e-02 1.11183618e+02] [ 6.84637053e-01 7.71495940e-02 -7.24789657e-01 7.42559817e+01] [ 7.25804946e-01 1.91459533e-02 6.87634069e-01 5.14751492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17710568099997 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:111.19, Y:74.28, Z:51.49 [[ 6.56106290e-02 -9.96676741e-01 -4.82775147e-02 1.11190680e+02] [ 6.89217263e-01 8.02511544e-02 -7.20096741e-01 7.42814823e+01] [ 7.21578000e-01 1.39723036e-02 6.92192145e-01 5.14877912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20710568099997 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:111.20, Y:74.30, Z:51.51 [[ 5.92540429e-02 -9.97295475e-01 -4.34821146e-02 1.11197764e+02] [ 6.89145430e-01 7.23809706e-02 -7.20999009e-01 7.43005012e+01] [ 7.22196327e-01 1.27566056e-02 6.91570484e-01 5.15086583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23710568099997 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:111.20, Y:74.32, Z:51.53 [[ 5.54492523e-02 -9.97382762e-01 -4.64004985e-02 1.11202036e+02] [ 6.87396903e-01 7.18382485e-02 -7.22720391e-01 7.43206780e+01] [ 7.24162190e-01 8.17874636e-03 6.89581199e-01 5.15282451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.26710568099998 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:111.21, Y:74.34, Z:51.55 [[ 5.14926545e-02 -9.97127530e-01 -5.55445363e-02 1.11209589e+02] [ 6.89760136e-01 7.57308759e-02 -7.20066517e-01 7.43430895e+01] [ 7.22204584e-01 -1.23427059e-03 6.91678405e-01 5.15488302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.29710568099998 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:111.22, Y:74.36, Z:51.57 [[ 5.63459541e-02 -9.96355606e-01 -6.40362387e-02 1.11215864e+02] [ 6.82721990e-01 8.52496401e-02 -7.25688076e-01 7.43568993e+01] [ 7.28502449e-01 -2.82936132e-03 6.85037354e-01 5.15725543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.32710568099998 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:111.22, Y:74.38, Z:51.59 [[ 6.24858178e-02 -9.96873001e-01 -4.83708825e-02 1.11215276e+02] [ 6.86752565e-01 7.81133204e-02 -7.22681966e-01 7.43750483e+01] [ 7.24200551e-01 1.19385461e-02 6.89486065e-01 5.15912572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.35710568099998 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:111.21, Y:74.39, Z:51.62 [[ 6.75672260e-02 -9.97248445e-01 -3.04993144e-02 1.11213133e+02] [ 6.87087938e-01 6.86743973e-02 -7.23321500e-01 7.43881586e+01] [ 7.23425763e-01 2.79171162e-02 6.89837517e-01 5.16173268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38710568099998 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:111.22, Y:74.41, Z:51.64 [[ 7.40792810e-02 -9.96208007e-01 -4.56274810e-02 1.11216037e+02] [ 6.89211872e-01 8.42114438e-02 -7.19649518e-01 7.44089729e+01] [ 7.20762968e-01 2.18641172e-02 6.92836708e-01 5.16367060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41710568099998 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:111.22, Y:74.43, Z:51.66 [[ 7.83705481e-02 -9.96285015e-01 -3.56962937e-02 1.11216602e+02] [ 6.88966362e-01 8.00062198e-02 -7.20364045e-01 7.44250051e+01] [ 7.20543829e-01 3.18617794e-02 6.92676994e-01 5.16606197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44710568099998 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:111.22, Y:74.45, Z:51.68 [[ 8.24308076e-02 -9.95684460e-01 -4.26335403e-02 1.11223108e+02] [ 6.90552203e-01 8.79096372e-02 -7.17920296e-01 7.44484032e+01] [ 7.18569981e-01 2.97380647e-02 6.94818559e-01 5.16781102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47710568099998 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:111.22, Y:74.47, Z:51.70 [[ 8.21571983e-02 -9.95741109e-01 -4.18310770e-02 1.11224114e+02] [ 6.90258860e-01 8.71279643e-02 -7.18297588e-01 7.44677222e+01] [ 7.18883093e-01 3.01390458e-02 6.94477312e-01 5.16989958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.50710568099998 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:111.23, Y:74.49, Z:51.72 [[ 8.81001022e-02 -9.95127045e-01 -4.42779340e-02 1.11225862e+02] [ 6.87924670e-01 9.29306912e-02 -7.19807985e-01 7.44860378e+01] [ 7.20415172e-01 3.29552739e-02 6.92759648e-01 5.17201893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53710568099999 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:111.23, Y:74.51, Z:51.74 [[ 9.00967650e-02 -9.93829536e-01 -6.46948657e-02 1.11229021e+02] [ 6.83373308e-01 1.08944845e-01 -7.21894690e-01 7.45058552e+01] [ 7.24488437e-01 2.08296319e-02 6.88972156e-01 5.17397502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.567105681 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:111.23, Y:74.52, Z:51.76 [[ 9.57423290e-02 -9.94325561e-01 -4.63690018e-02 1.11227823e+02] [ 6.84164478e-01 9.95700611e-02 -7.22498975e-01 7.45207994e+01] [ 7.23016164e-01 3.74497107e-02 6.89815299e-01 5.17626723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.597105681 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:111.23, Y:74.54, Z:51.78 [[ 9.82702377e-02 -9.94444372e-01 -3.77273391e-02 1.11229708e+02] [ 6.82775029e-01 9.49548930e-02 -7.24432073e-01 7.45376532e+01] [ 7.23989793e-01 4.54308269e-02 6.88313025e-01 5.17834858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.627105681 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:111.24, Y:74.56, Z:51.79 [[ 9.77746024e-02 -9.94148766e-01 -4.59168638e-02 1.11236225e+02] [ 6.86866583e-01 1.00797010e-01 -7.19759862e-01 7.45649277e+01] [ 7.20176661e-01 3.88354749e-02 6.92702954e-01 5.17921044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.657105681 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:111.24, Y:74.58, Z:51.82 [[ 9.31838870e-02 -9.95356945e-01 -2.41104978e-02 1.11235692e+02] [ 6.85185280e-01 8.16780319e-02 -7.23774710e-01 7.45774693e+01] [ 7.22383482e-01 5.09239826e-02 6.89615003e-01 5.18190395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.687105681 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:111.25, Y:74.60, Z:51.83 [[ 8.97209524e-02 -9.94198015e-01 -5.93334413e-02 1.11246334e+02] [ 6.81808430e-01 1.04737244e-01 -7.23994043e-01 7.46033708e+01] [ 7.26007862e-01 2.45033946e-02 6.87249713e-01 5.18327844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71710568099996 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:111.25, Y:74.62, Z:51.86 [[ 8.33725376e-02 -9.96164442e-01 -2.65598258e-02 1.11245669e+02] [ 6.83401713e-01 7.65534632e-02 -7.26017676e-01 7.46170368e+01] [ 7.25266240e-01 4.23789056e-02 6.87162943e-01 5.18572277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74710568099997 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:111.26, Y:74.64, Z:51.87 [[ 7.86780097e-02 -9.95176747e-01 -5.85919214e-02 1.11255789e+02] [ 6.79332946e-01 9.65370348e-02 -7.27452644e-01 7.46421393e+01] [ 7.29600246e-01 1.74311037e-02 6.83651693e-01 5.18720243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77710568099997 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:111.26, Y:74.66, Z:51.89 [[ 7.24819394e-02 -9.96334734e-01 -4.54253910e-02 1.11261010e+02] [ 6.79548136e-01 8.26711822e-02 -7.28958028e-01 7.46587158e+01] [ 7.30041574e-01 2.19675519e-02 6.83049579e-01 5.18922745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80710568099997 meters Centerline goodness : 0.998492 Centerline is valid? [True, True] Translation: X:111.26, Y:74.68, Z:51.91 [[ 6.89758575e-02 -9.96604236e-01 -4.49702963e-02 1.11264452e+02] [ 6.79957010e-01 7.99500712e-02 -7.28880272e-01 7.46772066e+01] [ 7.30000545e-01 1.96972735e-02 6.83162661e-01 5.19114021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83710568099997 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:111.26, Y:74.69, Z:51.93 [[ 6.56575292e-02 -9.97700996e-01 -1.67872681e-02 1.11263072e+02] [ 6.80291405e-01 5.70641852e-02 -7.30716965e-01 7.46854635e+01] [ 7.29994995e-01 3.65568363e-02 6.82474105e-01 5.19339615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86710568099997 meters Centerline goodness : 0.997807 Centerline is valid? [True, True] Translation: X:111.28, Y:74.71, Z:51.95 [[ 5.50279050e-02 -9.97142811e-01 -5.17507942e-02 1.11275471e+02] [ 6.80111624e-01 7.53783609e-02 -7.29223067e-01 7.47149997e+01] [ 7.31040429e-01 4.93130092e-03 6.82316330e-01 5.19486811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89710568099997 meters Centerline goodness : 0.997500 Centerline is valid? [True, True] Translation: X:111.28, Y:74.73, Z:51.97 [[ 5.10215555e-02 -9.97723602e-01 -4.40955313e-02 1.11278299e+02] [ 6.80038992e-01 6.70435972e-02 -7.30104188e-01 7.47330663e+01] [ 7.31398503e-01 7.26437069e-03 6.81911621e-01 5.19685856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92710568099997 meters Centerline goodness : 0.997297 Centerline is valid? [True, True] Translation: X:111.29, Y:74.75, Z:51.98 [[ 4.57701780e-02 -9.97282937e-01 -5.77220426e-02 1.11287326e+02] [ 6.82531636e-01 7.34122027e-02 -7.27159690e-01 7.47512490e+01] [ 7.29421453e-01 -6.11489174e-03 6.84037244e-01 5.19823485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95710568099997 meters Centerline goodness : 0.997449 Centerline is valid? [True, True] Translation: X:111.28, Y:74.76, Z:52.02 [[ 3.83410737e-02 -9.99137588e-01 -1.59387080e-02 1.11278496e+02] [ 6.81891949e-01 3.78199059e-02 -7.30474520e-01 7.47592282e+01] [ 7.30447351e-01 1.71387008e-02 6.82753933e-01 5.20189471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.98710568099997 meters Centerline goodness : 0.996734 Centerline is valid? [True, True] Translation: X:111.29, Y:74.78, Z:52.03 [[ 3.06516503e-02 -9.98598795e-01 -4.31384215e-02 1.11285862e+02] [ 6.85760482e-01 5.24089421e-02 -7.25937920e-01 7.47826883e+01] [ 7.27181572e-01 -7.33142941e-03 6.86406011e-01 5.20329997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.01710568099998 meters Centerline goodness : 0.997223 Centerline is valid? [True, True] Translation: X:111.29, Y:74.80, Z:52.05 [[ 2.80282646e-02 -9.98695696e-01 -4.26769554e-02 1.11288059e+02] [ 6.86583848e-01 5.02633826e-02 -7.25311114e-01 7.48008869e+01] [ 7.26510176e-01 -8.97209641e-03 6.87097129e-01 5.20522892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.04710568099998 meters Centerline goodness : 0.997192 Centerline is valid? [True, True] Translation: X:111.29, Y:74.82, Z:52.07 [[ 2.50916226e-02 -9.98792532e-01 -4.22361162e-02 1.11291402e+02] [ 6.87136622e-01 4.79181480e-02 -7.24946283e-01 7.48202275e+01] [ 7.26094810e-01 -1.08319037e-02 6.87509271e-01 5.20693803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07710568099998 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:111.29, Y:74.84, Z:52.09 [[ 2.39559199e-02 -9.98838894e-01 -4.17968655e-02 1.11291474e+02] [ 6.87246872e-01 4.68171117e-02 -7.24913716e-01 7.48388725e+01] [ 7.26028822e-01 -1.13587902e-02 6.87570452e-01 5.20891929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.10710568099998 meters Centerline goodness : 0.996863 Centerline is valid? [True, True] Translation: X:111.29, Y:74.85, Z:52.11 [[ 2.62947007e-02 -9.98798675e-01 -4.13496626e-02 1.11286165e+02] [ 6.87760517e-01 4.80935630e-02 -7.24342792e-01 7.48537708e+01] [ 7.25461274e-01 -9.39228842e-03 6.88198900e-01 5.21107438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13710568099998 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:111.28, Y:74.87, Z:52.13 [[ 3.24602392e-02 -9.98635200e-01 -4.09154008e-02 1.11280250e+02] [ 6.87534723e-01 5.20229777e-02 -7.24285589e-01 7.48708586e+01] [ 7.25425625e-01 -4.62027530e-03 6.88285054e-01 5.21320064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.16710568099998 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:111.27, Y:74.88, Z:52.15 [[ 4.48280039e-02 -9.98886941e-01 -1.46740857e-02 1.11272635e+02] [ 6.89522539e-01 4.15665830e-02 -7.23070459e-01 7.48843965e+01] [ 7.22875590e-01 2.22956925e-02 6.90618406e-01 5.21482713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19710568099998 meters Centerline goodness : 0.997993 Centerline is valid? [True, True] Translation: X:111.27, Y:74.91, Z:52.17 [[ 4.85518797e-02 -9.98580566e-01 -2.18990492e-02 1.11272242e+02] [ 6.89970996e-01 4.93838940e-02 -7.22150438e-01 7.49084980e+01] [ 7.22206853e-01 1.99520524e-02 6.91389309e-01 5.21691390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.22710568099998 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:111.27, Y:74.93, Z:52.19 [[ 5.65668618e-02 -9.96776958e-01 -5.68848567e-02 1.11272162e+02] [ 6.86939812e-01 8.02030367e-02 -7.22274995e-01 7.49312209e+01] [ 7.24509410e-01 1.78035705e-03 6.89262610e-01 5.21871984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25710568099998 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:111.26, Y:74.94, Z:52.21 [[ 6.15773032e-02 -9.97905063e-01 -1.98424047e-02 1.11261873e+02] [ 6.89758331e-01 5.69149236e-02 -7.21799235e-01 7.49421332e+01] [ 7.21416440e-01 3.07599864e-02 6.91817999e-01 5.22134063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.28710568099999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:111.26, Y:74.97, Z:52.23 [[ 7.27227092e-02 -9.95776913e-01 -5.60334424e-02 1.11264475e+02] [ 6.87586410e-01 9.07533876e-02 -7.20408739e-01 7.49667813e+01] [ 7.22451615e-01 1.38622418e-02 6.91282505e-01 5.22299967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.317105681 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:111.26, Y:74.98, Z:52.25 [[ 7.81991427e-02 -9.96071948e-01 -4.15399555e-02 1.11261765e+02] [ 6.88239474e-01 8.40834834e-02 -7.20594473e-01 7.49822353e+01] [ 7.21256765e-01 2.77604329e-02 6.92111290e-01 5.22544147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.347105681 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:111.26, Y:75.00, Z:52.27 [[ 8.77936486e-02 -9.95285802e-01 -4.12122164e-02 1.11262990e+02] [ 6.86397279e-01 9.04256392e-02 -7.21582967e-01 7.50016085e+01] [ 7.21907924e-01 3.50624483e-02 6.91100264e-01 5.22728499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.377105681 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:111.26, Y:75.02, Z:52.29 [[ 9.07743315e-02 -9.95032556e-01 -4.08684945e-02 1.11264144e+02] [ 6.85021492e-01 9.21746035e-02 -7.22668249e-01 7.50205257e+01] [ 7.22845472e-01 3.76039302e-02 6.89985774e-01 5.22902617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.407105681 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:111.27, Y:75.04, Z:52.31 [[ 9.13707807e-02 -9.94990183e-01 -4.05698835e-02 1.11268303e+02] [ 6.82160563e-01 9.22194677e-02 -7.25363726e-01 7.50400867e+01] [ 7.25471120e-01 3.86018754e-02 6.87169229e-01 5.23068206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.437105681 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:111.27, Y:75.06, Z:52.33 [[ 8.99112343e-02 -9.95715164e-01 -2.16167326e-02 1.11268001e+02] [ 6.84190889e-01 7.75244517e-02 -7.25170868e-01 7.50573451e+01] [ 7.23739454e-01 5.04110363e-02 6.88229562e-01 5.23267925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46710568099996 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:111.28, Y:75.08, Z:52.34 [[ 8.72832117e-02 -9.95003631e-01 -4.84707682e-02 1.11278284e+02] [ 6.80423650e-01 9.50846672e-02 -7.26624086e-01 7.50826833e+01] [ 7.27602431e-01 3.04414269e-02 6.85323298e-01 5.23429068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49710568099997 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:111.28, Y:75.10, Z:52.36 [[ 8.11211198e-02 -9.95916018e-01 -3.96314104e-02 1.11284423e+02] [ 6.79557561e-01 8.43526160e-02 -7.28756584e-01 7.50998549e+01] [ 7.29123368e-01 3.21857256e-02 6.83625039e-01 5.23649395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52710568099997 meters Centerline goodness : 0.998120 Centerline is valid? [True, True] Translation: X:111.29, Y:75.12, Z:52.38 [[ 7.55287318e-02 -9.96369584e-01 -3.92818419e-02 1.11292297e+02] [ 6.79158830e-01 8.02470316e-02 -7.29591460e-01 7.51185269e+01] [ 7.30094990e-01 2.84265079e-02 6.82754157e-01 5.23845405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55710568099997 meters Centerline goodness : 0.997912 Centerline is valid? [True, True] Translation: X:111.30, Y:75.14, Z:52.40 [[ 7.31766101e-02 -9.96561396e-01 -3.88660235e-02 1.11297036e+02] [ 6.79765965e-01 7.83547335e-02 -7.29231629e-01 7.51380669e+01] [ 7.29769427e-01 2.69428986e-02 6.83162253e-01 5.24044818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58710568099997 meters Centerline goodness : 0.997784 Centerline is valid? [True, True] Translation: X:111.30, Y:75.16, Z:52.42 [[ 6.90502658e-02 -9.96873141e-01 -3.84187566e-02 1.11303985e+02] [ 6.81002950e-01 7.52431135e-02 -7.28404733e-01 7.51560288e+01] [ 7.29017862e-01 2.41332539e-02 6.84069107e-01 5.24249509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61710568099997 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:111.31, Y:75.17, Z:52.44 [[ 6.58959782e-02 -9.97102907e-01 -3.79935987e-02 1.11307529e+02] [ 6.81602202e-01 7.27886144e-02 -7.28093577e-01 7.51741538e+01] [ 7.28749723e-01 2.20819179e-02 6.84424013e-01 5.24442892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64710568099997 meters Centerline goodness : 0.997046 Centerline is valid? [True, True] Translation: X:111.32, Y:75.19, Z:52.46 [[ 5.79740548e-02 -9.97611761e-01 -3.75470730e-02 1.11315241e+02] [ 6.82550919e-01 6.70554709e-02 -7.27755320e-01 7.51946504e+01] [ 7.28535004e-01 1.65631376e-02 6.84808302e-01 5.24634140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67710568099997 meters Centerline goodness : 0.997009 Centerline is valid? [True, True] Translation: X:111.32, Y:75.21, Z:52.48 [[ 4.75426396e-02 -9.98178689e-01 -3.71349197e-02 1.11321240e+02] [ 6.83247543e-01 5.96168737e-02 -7.27749012e-01 7.52119323e+01] [ 7.28637422e-01 9.22676634e-03 6.84837480e-01 5.24832897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70710568099997 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:111.32, Y:75.23, Z:52.50 [[ 4.24655923e-02 -9.98424295e-01 -3.66824215e-02 1.11323885e+02] [ 6.84060354e-01 5.58156170e-02 -7.27286772e-01 7.52308089e+01] [ 7.28188235e-01 5.79167336e-03 6.85352720e-01 5.25038721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73710568099997 meters Centerline goodness : 0.995907 Centerline is valid? [True, True] Translation: X:111.33, Y:75.25, Z:52.52 [[ 3.71381732e-02 -9.98654092e-01 -3.62044258e-02 1.11330149e+02] [ 6.86153502e-01 5.18224777e-02 -7.25608574e-01 7.52499715e+01] [ 7.26508175e-01 2.10598335e-03 6.87154595e-01 5.25233946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.76710568099998 meters Centerline goodness : 0.995539 Centerline is valid? [True, True] Translation: X:111.34, Y:75.27, Z:52.54 [[ 3.74963091e-02 -9.98657198e-01 -3.57467295e-02 1.11335909e+02] [ 6.87574056e-01 5.17411954e-02 -7.24268435e-01 7.52683812e+01] [ 7.25145464e-01 2.57886929e-03 6.88590884e-01 5.25437140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.79710568099998 meters Centerline goodness : 0.995721 Centerline is valid? [True, True] Translation: X:111.34, Y:75.29, Z:52.56 [[ 3.93844239e-02 -9.98597414e-01 -3.53846230e-02 1.11337158e+02] [ 6.86844632e-01 5.27748084e-02 -7.24885695e-01 7.52858753e+01] [ 7.25736398e-01 4.24546713e-03 6.87959779e-01 5.25648530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.82710568099998 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:111.34, Y:75.30, Z:52.59 [[ 4.71350754e-02 -9.98275766e-01 -3.49825560e-02 1.11338458e+02] [ 6.86678859e-01 5.78167421e-02 -7.24658105e-01 7.53026797e+01] [ 7.25431203e-01 1.01350328e-02 6.88220060e-01 5.25860479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85710568099998 meters Centerline goodness : 0.996355 Centerline is valid? [True, True] Translation: X:111.34, Y:75.32, Z:52.61 [[ 5.25295243e-02 -9.98022082e-01 -3.45336377e-02 1.11339351e+02] [ 6.87218993e-01 6.12181072e-02 -7.23866285e-01 7.53204952e+01] [ 7.24548622e-01 1.42921799e-02 6.89075488e-01 5.26063872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88710568099998 meters Centerline goodness : 0.996246 Centerline is valid? [True, True] Translation: X:111.34, Y:75.34, Z:52.63 [[ 6.54469163e-02 -9.97273974e-01 -3.40781655e-02 1.11340213e+02] [ 6.86984278e-01 6.98004323e-02 -7.23312175e-01 7.53391635e+01] [ 7.23719078e-01 2.39273875e-02 6.89679764e-01 5.26259791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91710568099998 meters Centerline goodness : 0.996026 Centerline is valid? [True, True] Translation: X:111.34, Y:75.36, Z:52.65 [[ 7.09583774e-02 -9.96910842e-01 -3.36702056e-02 1.11341642e+02] [ 6.86115929e-01 7.32822739e-02 -7.23791848e-01 7.53587369e+01] [ 7.24023370e-01 2.82574308e-02 6.89196400e-01 5.26457292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94710568099998 meters Centerline goodness : 0.996653 Centerline is valid? [True, True] Translation: X:111.35, Y:75.38, Z:52.66 [[ 7.81237465e-02 -9.96386706e-01 -3.33198524e-02 1.11346557e+02] [ 6.84509869e-01 7.79091639e-02 -7.24828532e-01 7.53797588e+01] [ 7.24805435e-01 3.38185527e-02 6.88123089e-01 5.26642576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97710568099998 meters Centerline goodness : 0.996030 Centerline is valid? [True, True] Translation: X:111.35, Y:75.40, Z:52.68 [[ 7.95411301e-02 -9.96287062e-01 -3.29438638e-02 1.11348988e+02] [ 6.83895966e-01 7.85849731e-02 -7.25334895e-01 7.53981769e+01] [ 7.25230664e-01 3.51637817e-02 6.87607440e-01 5.26830736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.00710568099998 meters Centerline goodness : 0.995822 Centerline is valid? [True, True] Translation: X:111.35, Y:75.42, Z:52.70 [[ 8.20281757e-02 -9.96099096e-01 -3.25264524e-02 1.11351237e+02] [ 6.82459817e-01 7.99244871e-02 -7.26540208e-01 7.54150597e+01] [ 7.26305704e-01 3.73987711e-02 6.86353667e-01 5.27023776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03710568099999 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:111.36, Y:75.43, Z:52.72 [[ 8.79176151e-02 -9.95609849e-01 -3.21173163e-02 1.11356578e+02] [ 6.81071331e-01 8.36082553e-02 -7.27428005e-01 7.54348913e+01] [ 7.26919759e-01 4.20795520e-02 6.85431963e-01 5.27206108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.067105681 meters Centerline goodness : 0.996001 Centerline is valid? [True, True] Translation: X:111.36, Y:75.46, Z:52.74 [[ 9.18851114e-02 -9.95264870e-01 -3.17011736e-02 1.11360851e+02] [ 6.79975655e-01 8.59707956e-02 -7.28177267e-01 7.54550262e+01] [ 7.27454628e-01 4.53526230e-02 6.84655318e-01 5.27396062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.097105681 meters Centerline goodness : 0.995782 Centerline is valid? [True, True] Translation: X:111.37, Y:75.47, Z:52.76 [[ 1.00110222e-01 -9.94483648e-01 -3.13084316e-02 1.11367293e+02] [ 6.78968917e-01 9.12825326e-02 -7.28470116e-01 7.54717300e+01] [ 7.27309531e-01 5.16698534e-02 6.84361800e-01 5.27589468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.127105681 meters Centerline goodness : 0.995723 Centerline is valid? [True, True] Translation: X:111.37, Y:75.49, Z:52.78 [[ 1.06405784e-01 -9.93846964e-01 -3.07574616e-02 1.11369588e+02] [ 6.80339071e-01 9.53291390e-02 -7.26671248e-01 7.54865010e+01] [ 7.25132096e-01 5.63965212e-02 6.86296492e-01 5.27814350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.157105681 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:111.37, Y:75.51, Z:52.80 [[ 1.08529117e-01 -9.93632223e-01 -3.02727014e-02 1.11373090e+02] [ 6.80587594e-01 9.64645533e-02 -7.26288591e-01 7.55056044e+01] [ 7.24583990e-01 5.82202348e-02 6.86722976e-01 5.28010065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.187105681 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:111.39, Y:75.53, Z:52.82 [[ 1.10605727e-01 -9.93414538e-01 -2.98986475e-02 1.11385685e+02] [ 6.78715241e-01 9.74750557e-02 -7.27904002e-01 7.55274690e+01] [ 7.26024790e-01 6.02176832e-02 6.85026887e-01 5.28162655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21710568099996 meters Centerline goodness : 0.995010 Centerline is valid? [True, True] Translation: X:111.39, Y:75.55, Z:52.83 [[ 1.09118351e-01 -9.93590982e-01 -2.94982478e-02 1.11392165e+02] [ 6.77394987e-01 9.60455171e-02 -7.29322487e-01 7.55463606e+01] [ 7.27481420e-01 5.96005021e-02 6.83533879e-01 5.28336834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24710568099997 meters Centerline goodness : 0.993734 Centerline is valid? [True, True] Translation: X:111.40, Y:75.57, Z:52.85 [[ 1.01798318e-01 -9.94378282e-01 -2.91364726e-02 1.11403699e+02] [ 6.78233502e-01 9.08002381e-02 -7.29215080e-01 7.55662878e+01] [ 7.27761238e-01 5.44715367e-02 6.83663976e-01 5.28519888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27710568099997 meters Centerline goodness : 0.993680 Centerline is valid? [True, True] Translation: X:111.42, Y:75.58, Z:52.87 [[ 9.24691928e-02 -9.95303255e-01 -2.86509696e-02 1.11415319e+02] [ 6.80565602e-01 8.41799101e-02 -7.27835286e-01 7.55829478e+01] [ 7.26828666e-01 4.78034770e-02 6.85153208e-01 5.28735607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30710568099997 meters Centerline goodness : 0.994234 Centerline is valid? [True, True] Translation: X:111.42, Y:75.60, Z:52.89 [[ 8.72888910e-02 -9.95783776e-01 -2.82014521e-02 1.11420709e+02] [ 6.81152589e-01 8.03185272e-02 -7.27722533e-01 7.55998942e+01] [ 7.26919391e-01 4.43126007e-02 6.85291612e-01 5.28943302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33710568099997 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:111.43, Y:75.62, Z:52.92 [[ 7.85341675e-02 -9.96523539e-01 -2.78068624e-02 1.11433630e+02] [ 6.80563122e-01 7.39743162e-02 -7.28945565e-01 7.56173168e+01] [ 7.28468408e-01 3.83228080e-02 6.84006682e-01 5.29153029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36710568099997 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:111.44, Y:75.63, Z:52.93 [[ 7.44460842e-02 -9.96849650e-01 -2.73597502e-02 1.11441878e+02] [ 6.80607532e-01 7.08428887e-02 -7.29215107e-01 7.56349862e+01] [ 7.28856068e-01 3.56659571e-02 6.83737356e-01 5.29337480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39710568099997 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:111.44, Y:75.65, Z:52.95 [[ 7.40537393e-02 -9.96891766e-01 -2.68858726e-02 1.11442219e+02] [ 6.80652325e-01 7.02291950e-02 -7.29232660e-01 7.56540491e+01] [ 7.28854208e-01 3.57024736e-02 6.83737433e-01 5.29536354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42710568099997 meters Centerline goodness : 0.997052 Centerline is valid? [True, True] Translation: X:111.46, Y:75.67, Z:52.97 [[ 6.84683889e-02 -9.97303279e-01 -2.64244081e-02 1.11456563e+02] [ 6.82239615e-01 6.61306337e-02 -7.28131751e-01 7.56704615e+01] [ 7.27915646e-01 3.18262299e-02 6.84927663e-01 5.29745023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45710568099997 meters Centerline goodness : 0.997421 Centerline is valid? [True, True] Translation: X:111.46, Y:75.69, Z:53.00 [[ 6.81102119e-02 -9.97340181e-01 -2.59530971e-02 1.11462221e+02] [ 6.83191824e-01 6.55821540e-02 -7.27288053e-01 7.56872482e+01] [ 7.27055658e-01 3.18047997e-02 6.85841472e-01 5.29959741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.48710568099997 meters Centerline goodness : 0.997345 Centerline is valid? [True, True] Translation: X:111.47, Y:75.70, Z:53.02 [[ 6.93207082e-02 -9.97268616e-01 -2.54940722e-02 1.11471475e+02] [ 6.83633625e-01 6.61002631e-02 -7.26825854e-01 7.57033374e+01] [ 7.26525778e-01 3.29554780e-02 6.86348476e-01 5.30181146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.51710568099998 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:111.48, Y:75.72, Z:53.04 [[ 7.16715911e-02 -9.97113847e-01 -2.50431540e-02 1.11476425e+02] [ 6.83699316e-01 6.73938156e-02 -7.26645250e-01 7.57211923e+01] [ 7.26235794e-01 3.49578340e-02 6.86556277e-01 5.30379883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.54710568099998 meters Centerline goodness : 0.997474 Centerline is valid? [True, True] Translation: X:111.49, Y:75.74, Z:53.06 [[ 7.90249560e-02 -9.96569931e-01 -2.45648091e-02 1.11486480e+02] [ 6.84378440e-01 7.21534177e-02 -7.25548093e-01 7.57383541e+01] [ 7.24831847e-01 4.05247804e-02 6.87732895e-01 5.30578021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57710568099998 meters Centerline goodness : 0.997474 Centerline is valid? [True, True] Translation: X:111.49, Y:75.76, Z:53.08 [[ 8.62748668e-02 -9.95979705e-01 -2.41054752e-02 1.11494611e+02] [ 6.83857773e-01 7.67985129e-02 -7.25562220e-01 7.57563487e+01] [ 7.24496511e-01 4.61130673e-02 6.87734244e-01 5.30773068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.60710568099998 meters Centerline goodness : 0.997026 Centerline is valid? [True, True] Translation: X:111.50, Y:75.78, Z:53.10 [[ 8.88393544e-02 -9.95764397e-01 -2.36819461e-02 1.11498758e+02] [ 6.83438889e-01 7.82360807e-02 -7.25803280e-01 7.57752378e+01] [ 7.24581848e-01 4.82947319e-02 6.87494556e-01 5.30964034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63710568099998 meters Centerline goodness : 0.997473 Centerline is valid? [True, True] Translation: X:111.51, Y:75.80, Z:53.11 [[ 9.22765897e-02 -9.95461267e-01 -2.32786912e-02 1.11507956e+02] [ 6.82285758e-01 8.02390900e-02 -7.26668998e-01 7.57952717e+01] [ 7.25238702e-01 5.11718175e-02 6.86593235e-01 5.31148866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.66710568099998 meters Centerline goodness : 0.997264 Centerline is valid? [True, True] Translation: X:111.51, Y:75.81, Z:53.13 [[ 9.17916336e-02 -9.95515915e-01 -2.28551544e-02 1.11512774e+02] [ 6.82128471e-01 7.95837002e-02 -7.26888701e-01 7.58136709e+01] [ 7.25448169e-01 5.11321498e-02 6.86374867e-01 5.31330508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69710568099998 meters Centerline goodness : 0.997880 Centerline is valid? [True, True] Translation: X:111.52, Y:75.83, Z:53.15 [[ 8.80934151e-02 -9.95860055e-01 -2.24120760e-02 1.11520943e+02] [ 6.82174739e-01 7.67097119e-02 -7.27154211e-01 7.58320238e+01] [ 7.25863056e-01 4.87685456e-02 6.86108193e-01 5.31533058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.72710568099998 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:111.52, Y:75.85, Z:53.17 [[ 8.50814524e-02 -9.96131006e-01 -2.20037733e-02 1.11523838e+02] [ 6.81883336e-01 7.43147668e-02 -7.27676048e-01 7.58505548e+01] [ 7.26495879e-01 4.69077287e-02 6.85567942e-01 5.31735155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75710568099998 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:111.53, Y:75.87, Z:53.19 [[ 7.85836843e-02 -9.96673883e-01 -2.15818408e-02 1.11529418e+02] [ 6.82450512e-01 6.95641035e-02 -7.27614001e-01 7.58678671e+01] [ 7.26695193e-01 4.24500507e-02 6.85647205e-01 5.31941766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.78710568099999 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:111.53, Y:75.89, Z:53.21 [[ 7.49492186e-02 -9.96962999e-01 -2.11516642e-02 1.11532386e+02] [ 6.82930508e-01 6.67741505e-02 -7.27425002e-01 7.58861795e+01] [ 7.26628196e-01 4.00748187e-02 6.85861118e-01 5.32140615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.817105681 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:111.54, Y:75.90, Z:53.23 [[ 6.78990071e-02 -9.97477660e-01 -2.06891748e-02 1.11536206e+02] [ 6.83941382e-01 6.16339589e-02 -7.26928773e-01 7.59031870e+01] [ 7.26370368e-01 3.52075591e-02 6.86401134e-01 5.32343506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.847105681 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:111.54, Y:75.92, Z:53.25 [[ 5.92258143e-02 -9.98040034e-01 -2.02087329e-02 1.11540329e+02] [ 6.84969321e-01 5.53573181e-02 -7.26465826e-01 7.59211214e+01] [ 7.26160679e-01 2.91831681e-02 6.86905387e-01 5.32524867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.877105681 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:111.54, Y:75.94, Z:53.27 [[ 5.49405261e-02 -9.98292079e-01 -1.98611009e-02 1.11542618e+02] [ 6.84914441e-01 5.21527797e-02 -7.26754633e-01 7.59398802e+01] [ 7.26549205e-01 2.63251271e-02 6.86609963e-01 5.32717728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.907105681 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:111.54, Y:75.96, Z:53.29 [[ 4.82060401e-02 -9.98647987e-01 -1.94518739e-02 1.11544586e+02] [ 6.83999768e-01 4.71967970e-02 -7.27953831e-01 7.59578442e+01] [ 7.27887694e-01 2.17866943e-02 6.85350163e-01 5.32903773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.937105681 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:111.54, Y:75.98, Z:53.31 [[ 4.58617040e-02 -9.98766963e-01 -1.90067926e-02 1.11543594e+02] [ 6.83519358e-01 4.52501469e-02 -7.28528457e-01 7.59759923e+01] [ 7.28490214e-01 2.04200458e-02 6.84751802e-01 5.33104973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96710568099996 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:111.54, Y:76.00, Z:53.33 [[ 4.55193785e-02 -9.98790382e-01 -1.85945840e-02 1.11544530e+02] [ 6.82224767e-01 4.46783748e-02 -7.29776137e-01 7.59951231e+01] [ 7.29724163e-01 2.05332705e-02 6.83433267e-01 5.33300182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99710568099997 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:111.55, Y:76.01, Z:53.35 [[ 4.75884517e-02 -9.98701432e-01 -1.81876059e-02 1.11547106e+02] [ 6.80520447e-01 4.57449089e-02 -7.31299750e-01 7.60144036e+01] [ 7.31182098e-01 2.24243852e-02 6.81813674e-01 5.33490484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02710568099997 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:111.55, Y:76.03, Z:53.37 [[ 4.98174695e-02 -9.98600783e-01 -1.77396698e-02 1.11547062e+02] [ 6.80272992e-01 4.69309125e-02 -7.31454814e-01 7.60319374e+01] [ 7.31263889e-01 2.43714096e-02 6.81659122e-01 5.33678329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05710568099997 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:111.55, Y:76.05, Z:53.39 [[ 5.28032207e-02 -9.98455844e-01 -1.72553382e-02 1.11545096e+02] [ 6.80690797e-01 4.86306341e-02 -7.30954924e-01 7.60484859e+01] [ 7.30665353e-01 2.68512242e-02 6.82207559e-01 5.33894865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08710568099997 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:111.54, Y:76.06, Z:53.41 [[ 5.52937666e-02 -9.98329609e-01 -1.67508368e-02 1.11543912e+02] [ 6.82841374e-01 5.00493255e-02 -7.28850275e-01 7.60641713e+01] [ 7.28471178e-01 2.88627126e-02 6.84468178e-01 5.34106784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11710568099997 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:111.54, Y:76.08, Z:53.43 [[ 5.58533207e-02 -9.98307152e-01 -1.62245459e-02 1.11544578e+02] [ 6.85173736e-01 5.01437064e-02 -7.26651609e-01 7.60817192e+01] [ 7.26235058e-01 2.94692726e-02 6.86814533e-01 5.34311227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14710568099997 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:111.55, Y:76.10, Z:53.45 [[ 5.80211484e-02 -9.98191647e-01 -1.57156967e-02 1.11546185e+02] [ 6.88341998e-01 5.14026402e-02 -7.23562757e-01 7.60996940e+01] [ 7.23062128e-01 3.11641680e-02 6.90079672e-01 5.34516734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17710568099997 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:111.55, Y:76.12, Z:53.47 [[ 5.82525378e-02 -9.98185187e-01 -1.52635243e-02 1.11545987e+02] [ 6.88601786e-01 5.12463175e-02 -7.23326617e-01 7.61185842e+01] [ 7.22796114e-01 3.16251211e-02 6.90337330e-01 5.34711088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20710568099997 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:111.54, Y:76.13, Z:53.49 [[ 6.34435954e-02 -9.97949192e-01 8.50412179e-03 1.11541098e+02] [ 6.83717380e-01 3.72561304e-02 -7.28795256e-01 7.61294668e+01] [ 7.26983806e-01 5.20518072e-02 6.84678870e-01 5.34910606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23710568099997 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:111.54, Y:76.16, Z:53.51 [[ 6.18101140e-02 -9.97883241e-01 -2.02125629e-02 1.11540841e+02] [ 6.86242846e-01 5.71943565e-02 -7.25120377e-01 7.61572475e+01] [ 7.24741517e-01 3.09490465e-02 6.88325425e-01 5.35083041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.26710568099998 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:111.54, Y:76.18, Z:53.53 [[ 6.17848996e-02 -9.97980996e-01 -1.47158960e-02 1.11539671e+02] [ 6.86303583e-01 5.31850189e-02 -7.25368007e-01 7.61764813e+01] [ 7.24686151e-01 3.47172173e-02 6.88203965e-01 5.35277142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.29710568099998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:111.54, Y:76.20, Z:53.55 [[ 5.98315481e-02 -9.98106537e-01 -1.42663033e-02 1.11541110e+02] [ 6.85955298e-01 5.14940281e-02 -7.25819326e-01 7.61957837e+01] [ 7.25179643e-01 3.36408476e-02 6.87737434e-01 5.35458422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.32710568099998 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:111.54, Y:76.21, Z:53.57 [[ 5.76608204e-02 -9.98240748e-01 -1.38072389e-02 1.11540572e+02] [ 6.84925062e-01 4.96174179e-02 -7.26922122e-01 7.62133726e+01] [ 7.26328362e-01 3.24580020e-02 6.86581087e-01 5.35660304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35710568099998 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:111.54, Y:76.23, Z:53.59 [[ 5.48839722e-02 -9.98402904e-01 -1.33937140e-02 1.11539358e+02] [ 6.82119445e-01 4.72864761e-02 -7.29710252e-01 7.62322449e+01] [ 7.29178176e-01 3.09132845e-02 6.83625304e-01 5.35860468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38710568099998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:111.54, Y:76.25, Z:53.60 [[ 5.33357457e-02 -9.98492760e-01 -1.29424539e-02 1.11540548e+02] [ 6.81305254e-01 4.58623051e-02 -7.30561291e-01 7.62505986e+01] [ 7.30053731e-01 3.01472694e-02 6.82724463e-01 5.36039365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41710568099998 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:111.54, Y:76.27, Z:53.62 [[ 4.78127530e-02 -9.98778460e-01 -1.24711106e-02 1.11544801e+02] [ 6.80920758e-01 4.17261363e-02 -7.31167457e-01 7.62688034e+01] [ 7.30794678e-01 2.64672910e-02 6.82084028e-01 5.36234268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44710568099998 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:111.55, Y:76.29, Z:53.64 [[ 4.02877764e-02 -9.99115959e-01 -1.20081803e-02 1.11546484e+02] [ 6.81543116e-01 3.62664414e-02 -7.30878736e-01 7.62867638e+01] [ 7.30668103e-01 2.12613865e-02 6.82401698e-01 5.36424819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47710568099998 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:111.55, Y:76.31, Z:53.66 [[ 3.66525736e-02 -9.99261412e-01 -1.15420572e-02 1.11546916e+02] [ 6.80743578e-01 3.34216927e-02 -7.31758957e-01 7.63058583e+01] [ 7.31604244e-01 1.89636678e-02 6.81465780e-01 5.36622698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.50710568099998 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:111.55, Y:76.33, Z:53.68 [[ 2.74515695e-02 -9.99561298e-01 -1.11185878e-02 1.11550012e+02] [ 6.78165194e-01 2.67941768e-02 -7.34420889e-01 7.63271656e+01] [ 7.34396610e-01 1.26207668e-02 6.78603224e-01 5.36790456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53710568099999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:111.55, Y:76.35, Z:53.70 [[ 2.08406331e-02 -9.99725877e-01 -1.06695599e-02 1.11551235e+02] [ 6.77489880e-01 2.19696426e-02 -7.35203915e-01 7.63457122e+01] [ 7.35236785e-01 8.09359623e-03 6.77762026e-01 5.36976392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.567105681 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:111.55, Y:76.36, Z:53.72 [[ 4.55650314e-03 -9.99936446e-01 -1.03122701e-02 1.11552557e+02] [ 6.77820997e-01 1.06702322e-02 -7.35149537e-01 7.63627865e+01] [ 7.35212850e-01 -3.64016199e-03 6.77826537e-01 5.37183517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.597105681 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:111.55, Y:76.38, Z:53.74 [[-3.65185810e-03 -9.99944671e-01 -9.86504178e-03 1.11553212e+02] [ 6.77616032e-01 4.78046198e-03 -7.35400340e-01 7.63808934e+01] [ 7.35406811e-01 -9.37028816e-03 6.77561083e-01 5.37381272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.627105681 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:111.55, Y:76.40, Z:53.76 [[-1.53061302e-02 -9.99838508e-01 -9.41698376e-03 1.11554891e+02] [ 6.77603919e-01 -3.44662195e-03 -7.35418963e-01 7.63986892e+01] [ 7.35267742e-01 -1.76374035e-02 6.77547246e-01 5.37584436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.657105681 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:111.55, Y:76.42, Z:53.78 [[-2.23687214e-02 -9.99709732e-01 -8.94941801e-03 1.11552533e+02] [ 6.79056108e-01 -8.62292731e-03 -7.34035726e-01 7.64150358e+01] [ 7.33745489e-01 -2.24965976e-02 6.79051884e-01 5.37804051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.687105681 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:111.54, Y:76.43, Z:53.80 [[-1.83599451e-02 -9.98940803e-01 4.21922313e-02 1.11543139e+02] [ 6.82586945e-01 -4.33581360e-02 -7.29517056e-01 7.64313880e+01] [ 7.30573730e-01 1.54059732e-02 6.82660004e-01 5.38006405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71710568099996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:111.55, Y:76.45, Z:53.82 [[-2.30294852e-02 -9.98551961e-01 -4.86171171e-02 1.11552228e+02] [ 6.84234367e-01 1.97126492e-02 -7.28995709e-01 7.64533442e+01] [ 7.28898467e-01 -5.00538981e-02 6.82789596e-01 5.38205914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74710568099997 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:111.54, Y:76.46, Z:53.85 [[-1.78061647e-02 -9.99808853e-01 -8.07456219e-03 1.11539185e+02] [ 6.86540021e-01 -6.35513399e-03 -7.27064242e-01 7.64649161e+01] [ 7.26873951e-01 -1.84897357e-02 6.86521951e-01 5.38451683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77710568099997 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:111.53, Y:76.48, Z:53.86 [[-1.66950146e-02 -9.99831611e-01 -7.61745011e-03 1.11534484e+02] [ 6.85741152e-01 -5.90530866e-03 -7.27821544e-01 7.64846115e+01] [ 7.27654004e-01 -1.73745903e-02 6.85724270e-01 5.38638718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80710568099997 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:111.53, Y:76.51, Z:53.88 [[-1.42528425e-02 -9.99872528e-01 -7.19615727e-03 1.11527137e+02] [ 6.82985027e-01 -4.47884154e-03 -7.30418642e-01 7.65057276e+01] [ 7.30293303e-01 -1.53254095e-02 6.82961802e-01 5.38791132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83710568099997 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:111.52, Y:76.53, Z:53.90 [[-1.46396375e-02 -9.99870177e-01 -6.73121211e-03 1.11522968e+02] [ 6.82683650e-01 -5.07642756e-03 -7.30696424e-01 7.65252799e+01] [ 7.30567392e-01 -1.52924192e-02 6.82669340e-01 5.38975930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86710568099997 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:111.51, Y:76.54, Z:53.92 [[-1.64087209e-02 -9.99845671e-01 -6.27601747e-03 1.11511797e+02] [ 6.83349955e-01 -6.63204750e-03 -7.30060857e-01 7.65423770e+01] [ 7.29906564e-01 -1.62680811e-02 6.83353318e-01 5.39175016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89710568099997 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:111.51, Y:76.56, Z:53.94 [[-1.77331762e-02 -9.99825171e-01 -5.92981049e-03 1.11505499e+02] [ 6.82972132e-01 -7.78147432e-03 -7.30402981e-01 7.65601942e+01] [ 7.30229143e-01 -1.70022601e-02 6.82990719e-01 5.39381851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92710568099997 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:111.49, Y:76.58, Z:53.96 [[-1.65708233e-02 -9.99847593e-01 -5.49540864e-03 1.11493988e+02] [ 6.81242053e-01 -7.26708832e-03 -7.32022168e-01 7.65803626e+01] [ 7.31870666e-01 -1.58739135e-02 6.81258649e-01 5.39560324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95710568099997 meters Centerline goodness : 0.997682 Centerline is valid? [True, True] Translation: X:111.48, Y:76.60, Z:53.97 [[-1.39606561e-02 -9.99889741e-01 -5.06013567e-03 1.11482215e+02] [ 6.79764511e-01 -5.77945349e-03 -7.33407668e-01 7.66012322e+01] [ 7.33297559e-01 -1.36785529e-02 6.79770246e-01 5.39733514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98710568099997 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:111.48, Y:76.62, Z:53.99 [[-1.21313837e-02 -9.99915779e-01 -4.61133878e-03 1.11475394e+02] [ 6.79254506e-01 -4.85650572e-03 -7.33886729e-01 7.66194125e+01] [ 7.33802525e-01 -1.20353341e-02 6.79256215e-01 5.39925333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.01710568099998 meters Centerline goodness : 0.997596 Centerline is valid? [True, True] Translation: X:111.46, Y:76.64, Z:54.01 [[-5.67245936e-03 -9.99975326e-01 -4.14367461e-03 1.11460303e+02] [ 6.78622498e-01 -8.06004128e-04 -7.34486798e-01 7.66372995e+01] [ 7.34465336e-01 -6.97833732e-03 6.78610325e-01 5.40126191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.04710568099998 meters Centerline goodness : 0.996652 Centerline is valid? [True, True] Translation: X:111.45, Y:76.66, Z:54.03 [[ 5.56244284e-03 -9.99977713e-01 -3.69225932e-03 1.11446414e+02] [ 6.79134250e-01 6.48785450e-03 -7.33985408e-01 7.66563640e+01] [ 7.33993004e-01 1.57521212e-03 6.79155202e-01 5.40314125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07710568099998 meters Centerline goodness : 0.996482 Centerline is valid? [True, True] Translation: X:111.44, Y:76.68, Z:54.05 [[ 1.23935833e-02 -9.99917940e-01 -3.24237510e-03 1.11440042e+02] [ 6.79528417e-01 1.08011864e-02 -7.33569673e-01 7.66754656e+01] [ 7.33544498e-01 6.88827083e-03 6.79606520e-01 5.40505477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.10710568099998 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:111.43, Y:76.70, Z:54.07 [[ 2.52414532e-02 -9.99677486e-01 -2.79148722e-03 1.11430001e+02] [ 6.79441640e-01 1.92037828e-02 -7.33478201e-01 7.66954954e+01] [ 7.33295252e-01 1.66174030e-02 6.79707243e-01 5.40692492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13710568099998 meters Centerline goodness : 0.995029 Centerline is valid? [True, True] Translation: X:111.43, Y:76.71, Z:54.09 [[ 2.98160995e-02 -9.99552662e-01 -2.34021265e-03 1.11425282e+02] [ 6.79382387e-01 2.19828074e-02 -7.33455062e-01 7.67141999e+01] [ 7.33178404e-01 2.02788698e-02 6.79733915e-01 5.40891924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.16710568099998 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:111.42, Y:76.73, Z:54.11 [[ 3.56321126e-02 -9.99363209e-01 -1.87861708e-03 1.11419589e+02] [ 6.80060974e-01 2.56248039e-02 -7.32707610e-01 7.67319960e+01] [ 7.32289167e-01 2.48303459e-02 6.80540983e-01 5.41082320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19710568099998 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:111.42, Y:76.75, Z:54.13 [[ 3.59732671e-02 -9.99351597e-01 -1.51945729e-03 1.11417393e+02] [ 6.79962943e-01 2.55905395e-02 -7.32799782e-01 7.67508803e+01] [ 7.32363516e-01 2.53280276e-02 6.80442629e-01 5.41273753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.22710568099998 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:111.42, Y:76.77, Z:54.15 [[ 3.47721424e-02 -9.99394695e-01 -1.06854290e-03 1.11416668e+02] [ 6.80758296e-01 2.44685149e-02 -7.32099334e-01 7.67694905e+01] [ 7.31682336e-01 2.47292428e-02 6.81197052e-01 5.41471909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25710568099998 meters Centerline goodness : 0.993934 Centerline is valid? [True, True] Translation: X:111.42, Y:76.79, Z:54.17 [[ 3.34721604e-02 -9.99439461e-01 -6.15514508e-04 1.11416653e+02] [ 6.82852467e-01 2.33190575e-02 -7.30184038e-01 7.67872737e+01] [ 7.29789094e-01 2.40205317e-02 6.83250241e-01 5.41682652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.28710568099999 meters Centerline goodness : 0.993934 Centerline is valid? [True, True] Translation: X:111.42, Y:76.81, Z:54.19 [[ 3.30665751e-02 -9.99453139e-01 -1.54355315e-04 1.11416326e+02] [ 6.82872960e-01 2.27053945e-02 -7.30184213e-01 7.68062711e+01] [ 7.29788409e-01 2.40392861e-02 6.83250314e-01 5.41881971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.317105681 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:111.42, Y:76.80, Z:54.18 [[ 3.35613479e-02 -9.99436623e-01 2.69584698e-04 1.11418106e+02] [ 6.82492326e-01 2.27212207e-02 -7.30539507e-01 7.68025918e+01] [ 7.30121812e-01 2.47018800e-02 6.82870380e-01 5.41834570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.347105681 meters Centerline goodness : 0.994394 Centerline is valid? [True, True] Translation: X:111.42, Y:76.82, Z:54.20 [[ 3.36067079e-02 -9.99435133e-01 -5.65355532e-05 1.11418936e+02] [ 6.82556047e-01 2.29927472e-02 -7.30471476e-01 7.68218492e+01] [ 7.30060157e-01 2.45101529e-02 6.82943204e-01 5.42028686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.377105681 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:111.42, Y:76.83, Z:54.21 [[ 3.53918152e-02 -9.99373437e-01 3.90396820e-04 1.11417201e+02] [ 6.83037569e-01 2.39039302e-02 -7.29991974e-01 7.68302915e+01] [ 7.29525256e-01 2.61023967e-02 6.83455606e-01 5.42147362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.407105681 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:111.42, Y:76.83, Z:54.22 [[ 3.58734651e-02 -9.99356339e-01 4.84518391e-05 1.11416132e+02] [ 6.82763363e-01 2.44734593e-02 -7.30229581e-01 7.68330591e+01] [ 7.29758374e-01 2.62289465e-02 6.83201842e-01 5.42185198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.437105681 meters Centerline goodness : 0.994360 Centerline is valid? [True, True] Translation: X:111.42, Y:76.85, Z:54.24 [[ 2.90182702e-02 -9.99578840e-01 -2.86657097e-04 1.11418343e+02] [ 6.82694424e-01 2.00284292e-02 -7.30429453e-01 7.68531445e+01] [ 7.30127567e-01 2.10001000e-02 6.82988091e-01 5.42368225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.46710568099996 meters Centerline goodness : 0.995348 Centerline is valid? [True, True] Translation: X:111.42, Y:76.81, Z:54.18 [[ 2.50787619e-02 -9.99365647e-01 2.52855627e-02 1.11418740e+02] [ 7.09240775e-01 -3.86142003e-05 -7.04966327e-01 7.68140347e+01] [ 7.04520105e-01 3.56132348e-02 7.08789897e-01 5.41831397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.49710568099997 meters Centerline goodness : 0.995521 Centerline is valid? [True, True] Translation: X:111.44, Y:76.84, Z:54.20 [[ 7.31199036e-03 -9.98484267e-01 -5.45500075e-02 1.11435608e+02] [ 7.01114191e-01 4.40159068e-02 -7.11689181e-01 7.68381016e+01] [ 7.13011519e-01 -3.30419200e-02 7.00373333e-01 5.41958704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.52710568099997 meters Centerline goodness : 0.995948 Centerline is valid? [True, True] Translation: X:111.42, Y:76.85, Z:54.23 [[ 8.40109385e-04 -9.99024666e-01 4.41476063e-02 1.11421842e+02] [ 7.05768995e-01 -3.06836751e-02 -7.07777251e-01 7.68473353e+01] [ 7.08441543e-01 3.17526221e-02 7.05054857e-01 5.42261773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.55710568099997 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:111.43, Y:76.87, Z:54.24 [[-9.38292172e-03 -9.99948269e-01 3.92673586e-03 1.11430058e+02] [ 7.05319335e-01 -9.40182032e-03 -7.08827371e-01 7.68735941e+01] [ 7.08827622e-01 -3.88126902e-03 7.05371065e-01 5.42401878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.58710568099997 meters Centerline goodness : 0.996335 Centerline is valid? [True, True] Translation: X:111.44, Y:76.89, Z:54.26 [[-1.31556537e-02 -9.98302425e-01 -5.67379654e-02 1.11440149e+02] [ 6.99177139e-01 3.13807674e-02 -7.14259460e-01 7.68906521e+01] [ 7.14827432e-01 -4.90664384e-02 6.97577399e-01 5.42584568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.61710568099997 meters Centerline goodness : 0.996289 Centerline is valid? [True, True] Translation: X:111.43, Y:76.87, Z:54.26 [[-9.15670920e-03 -9.99958069e-01 1.23095223e-04 1.11432213e+02] [ 6.98495888e-01 -6.48428067e-03 -7.15584690e-01 7.68696978e+01] [ 7.15555483e-01 -6.46641941e-03 6.98525974e-01 5.42593365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.64710568099997 meters Centerline goodness : 0.995955 Centerline is valid? [True, True] Translation: X:111.43, Y:76.89, Z:54.28 [[ 8.26032286e-06 -9.99999785e-01 -6.55909117e-04 1.11431778e+02] [ 6.97675031e-01 4.75665739e-04 -7.16414213e-01 7.68888958e+01] [ 7.16414371e-01 -4.51693600e-04 6.97674885e-01 5.42778086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67710568099997 meters Centerline goodness : 0.996215 Centerline is valid? [True, True] Translation: X:111.43, Y:76.91, Z:54.30 [[ 5.00644497e-03 -9.99962983e-01 6.99773267e-03 1.11429050e+02] [ 6.96190100e-01 -1.53798263e-03 -7.17855820e-01 7.69062272e+01] [ 7.17840010e-01 8.46565787e-03 6.96156630e-01 5.42996912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.70710568099997 meters Centerline goodness : 0.995342 Centerline is valid? [True, True] Translation: X:111.43, Y:76.93, Z:54.31 [[ 1.95391971e-02 -9.99739819e-01 -1.17691927e-02 1.11427501e+02] [ 6.97539984e-01 2.20642793e-02 -7.16206073e-01 7.69281452e+01] [ 7.16279408e-01 5.78460915e-03 6.97789616e-01 5.43143005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73710568099997 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:111.42, Y:76.97, Z:54.35 [[ 3.04551266e-02 -9.99535971e-01 5.72770290e-04 1.11421180e+02] [ 6.97527000e-01 2.08426950e-02 -7.16255308e-01 7.69661575e+01] [ 7.15911007e-01 2.22131689e-02 6.97838094e-01 5.43544503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.76710568099998 meters Centerline goodness : 0.994729 Centerline is valid? [True, True] Translation: X:111.42, Y:76.93, Z:54.30 [[ 3.89681428e-02 -9.99000510e-01 2.18967029e-02 1.11416908e+02] [ 7.23449334e-01 1.30902877e-02 -6.90253364e-01 7.69261524e+01] [ 6.89276828e-01 4.27390468e-02 7.23236357e-01 5.42977604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.79710568099998 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:111.42, Y:76.95, Z:54.31 [[ 4.49796436e-02 -9.97657309e-01 -5.15434334e-02 1.11424741e+02] [ 7.15087609e-01 6.81829694e-02 -6.95701656e-01 7.69509165e+01] [ 6.97586226e-01 -5.56565798e-03 7.16479225e-01 5.43092623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.82710568099998 meters Centerline goodness : 0.993792 Centerline is valid? [True, True] Translation: X:111.42, Y:76.96, Z:54.34 [[ 4.63042858e-02 -9.98926886e-01 -9.94713983e-04 1.11417381e+02] [ 7.18062129e-01 3.39772901e-02 -6.95149137e-01 7.69618313e+01] [ 6.94436960e-01 3.14741179e-02 7.18864861e-01 5.43378133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.85710568099998 meters Centerline goodness : 0.994373 Centerline is valid? [True, True] Translation: X:111.42, Y:76.98, Z:54.36 [[ 4.38400138e-02 -9.99038396e-01 -5.79980583e-04 1.11417516e+02] [ 7.18820332e-01 3.19465874e-02 -6.94461479e-01 7.69809078e+01] [ 6.93812211e-01 3.00282990e-02 7.19529650e-01 5.43572308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88710568099998 meters Centerline goodness : 0.994651 Centerline is valid? [True, True] Translation: X:111.42, Y:77.00, Z:54.38 [[ 3.65457750e-02 -9.99331966e-01 -1.66751515e-04 1.11418493e+02] [ 7.19345039e-01 2.64224236e-02 -6.94150250e-01 7.69973630e+01] [ 6.93690940e-01 2.52483070e-02 7.19830120e-01 5.43770158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91710568099998 meters Centerline goodness : 0.994757 Centerline is valid? [True, True] Translation: X:111.42, Y:77.00, Z:54.38 [[ 3.41519615e-02 -9.99416621e-01 2.47579001e-04 1.11419690e+02] [ 7.20068262e-01 2.44343087e-02 -6.93472900e-01 7.70022126e+01] [ 6.93062293e-01 2.38617336e-02 7.20482669e-01 5.43831099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94710568099998 meters Centerline goodness : 0.995250 Centerline is valid? [True, True] Translation: X:111.42, Y:77.02, Z:54.40 [[ 2.94330558e-02 -9.99566603e-01 -5.49805926e-04 1.11423735e+02] [ 7.22738878e-01 2.16615976e-02 -6.90781651e-01 7.70221007e+01] [ 6.90494178e-01 1.99344488e-02 7.23063212e-01 5.44016428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97710568099998 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:111.43, Y:77.04, Z:54.42 [[ 2.67952363e-02 -9.99640931e-01 -1.55113902e-04 1.11425871e+02] [ 7.22800886e-01 1.94817657e-02 -6.90781688e-01 7.70426384e+01] [ 6.90536671e-01 1.83975421e-02 7.23063369e-01 5.44199871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.00710568099998 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:111.43, Y:77.04, Z:54.42 [[ 2.18668495e-02 -9.99760864e-01 2.36829949e-04 1.11430639e+02] [ 7.21999201e-01 1.56277656e-02 -6.91717375e-01 7.70429484e+01] [ 6.91548259e-01 1.52966707e-02 7.22168275e-01 5.44170725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03710568099999 meters Centerline goodness : 0.996783 Centerline is valid? [True, True] Translation: X:111.43, Y:77.06, Z:54.44 [[ 1.80523486e-02 -9.99836896e-01 -5.43074412e-04 1.11431709e+02] [ 7.21437184e-01 1.34018191e-02 -6.92350186e-01 7.70623420e+01] [ 6.92244539e-01 1.21067528e-02 7.21561449e-01 5.44354154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.067105681 meters Centerline goodness : 0.996664 Centerline is valid? [True, True] Translation: X:111.43, Y:77.08, Z:54.46 [[ 1.50023431e-02 -9.99886329e-01 1.50262901e-03 1.11432234e+02] [ 7.19956947e-01 9.75940097e-03 -6.93950105e-01 7.70817533e+01] [ 6.93856559e-01 1.14927058e-02 7.20021523e-01 5.44559345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.097105681 meters Centerline goodness : 0.996844 Centerline is valid? [True, True] Translation: X:111.43, Y:77.07, Z:54.45 [[ 1.92983119e-02 -9.99813745e-01 -2.24894189e-04 1.11434978e+02] [ 7.19060024e-01 1.40355167e-02 -6.94806222e-01 7.70740789e+01] [ 6.94679967e-01 1.32468747e-02 7.19196958e-01 5.44471181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.127105681 meters Centerline goodness : 0.997234 Centerline is valid? [True, True] Translation: X:111.44, Y:77.08, Z:54.45 [[ 2.40460455e-02 -9.99709536e-01 1.62200754e-03 1.11436086e+02] [ 7.18667431e-01 1.61582383e-02 -6.95166193e-01 7.70772973e+01] [ 6.94938063e-01 1.78816819e-02 7.18847225e-01 5.44502629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.157105681 meters Centerline goodness : 0.997195 Centerline is valid? [True, True] Translation: X:111.44, Y:77.09, Z:54.46 [[ 3.31994702e-02 -9.99447873e-01 1.32049061e-03 1.11436481e+02] [ 7.17682322e-01 2.29202751e-02 -6.95993351e-01 7.70900471e+01] [ 6.95578809e-01 2.40543033e-02 7.18047012e-01 5.44627466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.18710568099996 meters Centerline goodness : 0.997085 Centerline is valid? [True, True] Translation: X:111.44, Y:77.10, Z:54.47 [[ 4.01457180e-02 -9.99193322e-01 1.01312572e-03 1.11436310e+02] [ 7.17281615e-01 2.81131093e-02 -6.96216014e-01 7.71002427e+01] [ 6.95625909e-01 2.86767882e-02 7.17831621e-01 5.44728197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21710568099996 meters Centerline goodness : 0.996438 Centerline is valid? [True, True] Translation: X:111.44, Y:77.11, Z:54.48 [[ 4.23187695e-02 -9.99103916e-01 6.98220408e-04 1.11437624e+02] [ 7.17294897e-01 2.98957758e-02 -6.96128058e-01 7.71069168e+01] [ 6.95483395e-01 2.99601128e-02 7.17917293e-01 5.44778422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.24710568099997 meters Centerline goodness : 0.996312 Centerline is valid? [True, True] Translation: X:111.44, Y:77.13, Z:54.50 [[ 4.88503137e-02 -9.98800317e-01 3.40201276e-03 1.11438799e+02] [ 7.18507443e-01 3.27750969e-02 -6.94746607e-01 7.71287043e+01] [ 6.93801630e-01 3.63829612e-02 7.19246535e-01 5.44996129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27710568099997 meters Centerline goodness : 0.996813 Centerline is valid? [True, True] Translation: X:111.44, Y:77.15, Z:54.51 [[ 4.84947280e-02 -9.98594447e-01 -2.13867068e-02 1.11444669e+02] [ 7.19995457e-01 4.97896386e-02 -6.92190389e-01 7.71517168e+01] [ 6.92282315e-01 1.81692529e-02 7.21398000e-01 5.45117726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.30710568099997 meters Centerline goodness : 0.996583 Centerline is valid? [True, True] Translation: X:111.45, Y:77.17, Z:54.53 [[ 4.66642323e-02 -9.98898780e-01 -4.86586381e-03 1.11448541e+02] [ 7.22506993e-01 3.71153363e-02 -6.90366639e-01 7.71684965e+01] [ 6.89786992e-01 2.86998086e-02 7.23443313e-01 5.45318451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33710568099997 meters Centerline goodness : 0.996990 Centerline is valid? [True, True] Translation: X:111.45, Y:77.19, Z:54.55 [[ 4.16450517e-02 -9.99122668e-01 -4.42548081e-03 1.11453163e+02] [ 7.24556986e-01 3.32499402e-02 -6.88412388e-01 7.71871630e+01] [ 6.87955568e-01 2.54624565e-02 7.25306004e-01 5.45517726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.36710568099997 meters Centerline goodness : 0.996804 Centerline is valid? [True, True] Translation: X:111.45, Y:77.21, Z:54.57 [[ 3.80397636e-02 -9.99268116e-01 -4.02613328e-03 1.11454025e+02] [ 7.24323357e-01 3.03484699e-02 -6.88792164e-01 7.72063496e+01] [ 6.88410235e-01 2.32852687e-02 7.24947684e-01 5.45711451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.39710568099997 meters Centerline goodness : 0.996753 Centerline is valid? [True, True] Translation: X:111.46, Y:77.23, Z:54.59 [[ 3.44083357e-02 -9.99401263e-01 -3.63075402e-03 1.11455074e+02] [ 7.24216856e-01 2.74372091e-02 -6.89026229e-01 7.72261485e+01] [ 6.88713302e-01 2.10787925e-02 7.24727309e-01 5.45897401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.42710568099997 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:111.46, Y:77.25, Z:54.61 [[ 2.72516032e-02 -9.99623394e-01 -3.22801550e-03 1.11458497e+02] [ 7.24835721e-01 2.19839323e-02 -6.88570900e-01 7.72457057e+01] [ 6.88382545e-01 1.64248800e-02 7.25161841e-01 5.46076464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45710568099997 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:111.46, Y:77.26, Z:54.62 [[ 2.05428832e-02 -9.99785027e-01 -2.80874891e-03 1.11462887e+02] [ 7.25440516e-01 1.68389004e-02 -6.88078854e-01 7.72649007e+01] [ 6.87978232e-01 1.20975432e-02 7.25630486e-01 5.46247129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.48710568099997 meters Centerline goodness : 0.997156 Centerline is valid? [True, True] Translation: X:111.47, Y:77.28, Z:54.64 [[ 1.74652039e-02 -9.99844597e-01 -2.39760837e-03 1.11465240e+02] [ 7.25506318e-01 1.43230555e-02 -6.88066445e-01 7.72836716e+01] [ 6.87993859e-01 1.02777408e-02 7.25643727e-01 5.46420503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.51710568099998 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:111.47, Y:77.30, Z:54.66 [[ 9.67235555e-03 -9.99951236e-01 -1.99269117e-03 1.11468718e+02] [ 7.25304366e-01 8.38753397e-03 -6.88377241e-01 7.73039700e+01] [ 6.88360387e-01 5.21292183e-03 7.25350125e-01 5.46601761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.54710568099998 meters Centerline goodness : 0.997032 Centerline is valid? [True, True] Translation: X:111.47, Y:77.32, Z:54.68 [[ 4.83664914e-03 -9.99987025e-01 -1.59876089e-03 1.11468596e+02] [ 7.25098749e-01 4.60806192e-03 -6.88629486e-01 7.73235089e+01] [ 6.88627919e-01 2.17139969e-03 7.25111629e-01 5.46791819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57710568099998 meters Centerline goodness : 0.997134 Centerline is valid? [True, True] Translation: X:111.47, Y:77.34, Z:54.70 [[-3.27180071e-03 -9.99993922e-01 -1.20477282e-03 1.11468550e+02] [ 7.24484676e-01 -1.53994196e-03 -6.89289187e-01 7.73432545e+01] [ 6.89283142e-01 -3.12805630e-03 7.24485311e-01 5.46973970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.60710568099998 meters Centerline goodness : 0.997085 Centerline is valid? [True, True] Translation: X:111.47, Y:77.36, Z:54.72 [[-9.30246927e-03 -9.99930371e-01 7.26070632e-03 1.11468883e+02] [ 7.21728574e-01 -1.17396404e-02 -6.92076619e-01 7.73629310e+01] [ 6.92113668e-01 -1.19776226e-03 7.21787528e-01 5.47175953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63710568099998 meters Centerline goodness : 0.997178 Centerline is valid? [True, True] Translation: X:111.47, Y:77.39, Z:54.73 [[-1.13801303e-02 -9.99885669e-01 -9.95697346e-03 1.11471884e+02] [ 7.23237134e-01 -1.35441724e-03 -6.90598446e-01 7.73856058e+01] [ 6.90506004e-01 -1.50603532e-02 7.23169859e-01 5.47326821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.66710568099998 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:111.47, Y:77.38, Z:54.73 [[-1.26138121e-02 -9.99920443e-01 2.01846284e-05 1.11468804e+02] [ 7.23547456e-01 -9.14135061e-03 -6.90214108e-01 7.73824796e+01] [ 6.90159381e-01 -8.69162652e-03 7.23605199e-01 5.47326275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69710568099998 meters Centerline goodness : 0.996947 Centerline is valid? [True, True] Translation: X:111.47, Y:77.40, Z:54.75 [[-1.18092786e-02 -9.99930255e-01 -1.61836781e-04 1.11467149e+02] [ 7.23684244e-01 -8.43509688e-03 -6.90079680e-01 7.74026948e+01] [ 6.90030185e-01 -8.26646191e-03 7.23733383e-01 5.47511682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.72710568099998 meters Centerline goodness : 0.996947 Centerline is valid? [True, True] Translation: X:111.46, Y:77.41, Z:54.76 [[-4.72121409e-03 -9.99988829e-01 2.26306717e-04 1.11461462e+02] [ 7.23116249e-01 -3.57034043e-03 -6.90717122e-01 7.74112507e+01] [ 6.90710214e-01 -3.09737734e-03 7.23125028e-01 5.47598778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75710568099998 meters Centerline goodness : 0.997072 Centerline is valid? [True, True] Translation: X:111.46, Y:77.41, Z:54.76 [[ 2.12142219e-04 -9.99999969e-01 1.30238518e-04 1.11456405e+02] [ 7.23182711e-01 6.34674760e-05 -6.90656761e-01 7.74083294e+01] [ 6.90656732e-01 2.40703704e-04 7.23182702e-01 5.47589313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.78710568099999 meters Centerline goodness : 0.997142 Centerline is valid? [True, True] Translation: X:111.45, Y:77.43, Z:54.78 [[ 9.64421409e-03 -9.99953482e-01 -1.50797399e-04 1.11447733e+02] [ 7.24595884e-01 7.09240790e-03 -6.89137506e-01 7.74265409e+01] [ 6.89106519e-01 6.53692248e-03 7.24630578e-01 5.47775528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.817105681 meters Centerline goodness : 0.996409 Centerline is valid? [True, True] Translation: X:111.45, Y:77.43, Z:54.78 [[ 1.44129727e-02 -9.99896094e-01 2.58977718e-04 1.11445027e+02] [ 7.25590183e-01 1.02807901e-02 -6.88050283e-01 7.74313183e+01] [ 6.87976128e-01 1.01047617e-02 7.25662966e-01 5.47809623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.847105681 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:111.44, Y:77.45, Z:54.80 [[ 2.37351676e-02 -9.99718281e-01 -3.19640709e-05 1.11439030e+02] [ 7.27878181e-01 1.73030962e-02 -6.85488115e-01 7.74492923e+01] [ 6.85295553e-01 1.62469094e-02 7.28083816e-01 5.48003817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.877105681 meters Centerline goodness : 0.995938 Centerline is valid? [True, True] Translation: X:111.43, Y:77.46, Z:54.81 [[ 3.16110575e-02 -9.99500171e-01 3.86512248e-04 1.11433550e+02] [ 7.29579747e-01 2.28100014e-02 -6.83515249e-01 7.74623437e+01] [ 6.83164792e-01 2.18886314e-02 7.29936130e-01 5.48120536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.907105681 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:111.43, Y:77.46, Z:54.81 [[ 3.58671796e-02 -9.99356562e-01 9.02735063e-05 1.11432628e+02] [ 7.30425766e-01 2.61535295e-02 -6.82491168e-01 7.74577362e+01] [ 6.82049666e-01 2.45449714e-02 7.30893835e-01 5.48067205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.93710568099996 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:111.43, Y:77.48, Z:54.83 [[ 4.03986112e-02 -9.99183403e-01 -6.92906672e-04 1.11430872e+02] [ 7.31898408e-01 3.00639257e-02 -6.80750234e-01 7.74782380e+01] [ 6.80215166e-01 2.69942267e-02 7.32515283e-01 5.48252354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.96710568099996 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:111.43, Y:77.50, Z:54.84 [[ 4.12010257e-02 -9.99150822e-01 -3.32015595e-04 1.11429972e+02] [ 7.31556484e-01 3.03928232e-02 -6.81103066e-01 7.74975198e+01] [ 6.80534779e-01 2.78192567e-02 7.32187478e-01 5.48442353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.99710568099997 meters Centerline goodness : 0.995119 Centerline is valid? [True, True] Translation: X:111.43, Y:77.50, Z:54.84 [[ 4.29168065e-02 -9.99078647e-01 7.41445035e-05 1.11431914e+02] [ 7.31285337e-01 3.13628092e-02 -6.81350225e-01 7.74964007e+01] [ 6.80720136e-01 2.92955966e-02 7.31957557e-01 5.48407343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.02710568099997 meters Centerline goodness : 0.995106 Centerline is valid? [True, True] Translation: X:111.43, Y:77.52, Z:54.86 [[ 4.31099685e-02 -9.99070084e-01 -7.05546404e-04 1.11433310e+02] [ 7.31092136e-01 3.20279909e-02 -6.81526593e-01 7.75165969e+01] [ 6.80915428e-01 2.88647705e-02 7.31793007e-01 5.48592139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05710568099997 meters Centerline goodness : 0.995396 Centerline is valid? [True, True] Translation: X:111.44, Y:77.54, Z:54.88 [[ 4.40345052e-02 -9.99029963e-01 -3.09819159e-04 1.11436016e+02] [ 7.30910122e-01 3.24279265e-02 -6.81702885e-01 7.75351876e+01] [ 6.81051655e-01 2.97919993e-02 7.31629060e-01 5.48773814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.08710568099997 meters Centerline goodness : 0.995838 Centerline is valid? [True, True] Translation: X:111.44, Y:77.55, Z:54.90 [[ 4.54837564e-02 -9.98965073e-01 1.06402399e-04 1.11440291e+02] [ 7.29348979e-01 3.31351148e-02 -6.83338958e-01 7.75546285e+01] [ 6.82628226e-01 3.11584272e-02 7.30101265e-01 5.48960931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.11710568099997 meters Centerline goodness : 0.996257 Centerline is valid? [True, True] Translation: X:111.44, Y:77.57, Z:54.91 [[ 4.54910574e-02 -9.98964742e-01 -9.28002933e-05 1.11443529e+02] [ 7.27504495e-01 3.31929080e-02 -6.85299526e-01 7.75740009e+01] [ 6.84593145e-01 3.11074875e-02 7.28261320e-01 5.49129714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.14710568099997 meters Centerline goodness : 0.996481 Centerline is valid? [True, True] Translation: X:111.45, Y:77.58, Z:54.91 [[ 4.32523854e-02 -9.99064124e-01 3.27629527e-04 1.11448809e+02] [ 7.22777460e-01 3.10647323e-02 -6.90382304e-01 7.75757585e+01] [ 6.89726015e-01 3.00974847e-02 7.23444653e-01 5.49126829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17710568099997 meters Centerline goodness : 0.996545 Centerline is valid? [True, True] Translation: X:111.45, Y:77.58, Z:54.92 [[ 4.05619406e-02 -9.99177026e-01 1.72709596e-05 1.11450734e+02] [ 7.21755590e-01 2.92879673e-02 -6.91528078e-01 7.75822695e+01] [ 6.90958462e-01 2.80621862e-02 7.22349581e-01 5.49179284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.20710568099997 meters Centerline goodness : 0.996545 Centerline is valid? [True, True] Translation: X:111.45, Y:77.60, Z:54.94 [[ 4.02599390e-02 -9.99189223e-01 -1.83224780e-04 1.11450531e+02] [ 7.21758855e-01 2.92083540e-02 -6.91528038e-01 7.76024518e+01] [ 6.90972715e-01 2.77086325e-02 7.22349596e-01 5.49367322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.23710568099997 meters Centerline goodness : 0.996400 Centerline is valid? [True, True] Translation: X:111.46, Y:77.60, Z:54.93 [[ 3.83744111e-02 -9.99263427e-01 9.32448398e-05 1.11456835e+02] [ 7.21839287e-01 2.76560487e-02 -6.91507908e-01 7.75965627e+01] [ 6.90995982e-01 2.66035165e-02 7.22368884e-01 5.49314820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.26710568099998 meters Centerline goodness : 0.996826 Centerline is valid? [True, True] Translation: X:111.46, Y:77.62, Z:54.95 [[ 3.84398509e-02 -9.99260894e-01 -2.10201104e-04 1.11459803e+02] [ 7.23015878e-01 2.79583813e-02 -6.90265434e-01 7.76157728e+01] [ 6.89761131e-01 2.63817217e-02 7.23556208e-01 5.49512290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.29710568099998 meters Centerline goodness : 0.996445 Centerline is valid? [True, True] Translation: X:111.46, Y:77.62, Z:54.96 [[ 4.08466421e-02 -9.99165409e-01 1.95095087e-04 1.11462093e+02] [ 7.23786977e-01 2.94543525e-02 -6.89394556e-01 7.76239605e+01] [ 6.88813447e-01 2.83006600e-02 7.24386022e-01 5.49622432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.32710568099998 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:111.47, Y:77.62, Z:54.96 [[ 4.37260401e-02 -9.99043555e-01 8.95637006e-05 1.11467054e+02] [ 7.23577841e-01 3.16076688e-02 -6.89518719e-01 7.76163875e+01] [ 6.88856401e-01 3.02147295e-02 7.24267857e-01 5.49565360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.35710568099998 meters Centerline goodness : 0.996812 Centerline is valid? [True, True] Translation: X:111.47, Y:77.64, Z:54.98 [[ 4.34401449e-02 -9.99056007e-01 -2.20583458e-04 1.11470687e+02] [ 7.24282376e-01 3.16447366e-02 -6.88776924e-01 7.76361042e+01] [ 6.88133703e-01 2.97608047e-02 7.24973310e-01 5.49752429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38710568099998 meters Centerline goodness : 0.996820 Centerline is valid? [True, True] Translation: X:111.48, Y:77.62, Z:54.97 [[ 4.02672316e-02 -9.99188929e-01 1.84293994e-04 1.11477714e+02] [ 7.26514154e-01 2.91518340e-02 -6.86532851e-01 7.76240121e+01] [ 6.85970652e-01 2.77786695e-02 7.27098763e-01 5.49668320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41710568099998 meters Centerline goodness : 0.997079 Centerline is valid? [True, True] Translation: X:111.48, Y:77.64, Z:54.99 [[ 3.62161295e-02 -9.99343973e-01 -1.27062331e-04 1.11481324e+02] [ 7.28017569e-01 2.64703875e-02 -6.85047253e-01 7.76422560e+01] [ 6.84601206e-01 2.47172564e-02 7.28498624e-01 5.49856722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44710568099998 meters Centerline goodness : 0.997196 Centerline is valid? [True, True] Translation: X:111.49, Y:77.64, Z:54.99 [[ 2.69398332e-02 -9.99637012e-01 2.98364932e-04 1.11489689e+02] [ 7.30113151e-01 1.94723970e-02 -6.83048763e-01 7.76418266e+01] [ 6.82795015e-01 1.86190599e-02 7.30372712e-01 5.49886432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47710568099998 meters Centerline goodness : 0.997518 Centerline is valid? [True, True] Translation: X:111.50, Y:77.67, Z:55.02 [[ 1.57258246e-02 -9.99854759e-01 6.56964818e-03 1.11495305e+02] [ 7.33883848e-01 7.07960166e-03 -6.79238085e-01 7.76733936e+01] [ 6.79092921e-01 1.55029377e-02 7.33888591e-01 5.50225445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.50710568099998 meters Centerline goodness : 0.997806 Centerline is valid? [True, True] Translation: X:111.50, Y:77.63, Z:54.98 [[ 1.35931613e-02 -9.99900039e-01 -3.89081413e-03 1.11499876e+02] [ 7.29670451e-01 1.25798701e-02 -6.83683245e-01 7.76299641e+01] [ 6.83663849e-01 6.45440452e-03 7.29768513e-01 5.49773961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53710568099999 meters Centerline goodness : 0.998069 Centerline is valid? [True, True] Translation: X:111.51, Y:77.62, Z:54.97 [[ 6.09667321e-03 -9.99981359e-01 3.35431828e-04 1.11505027e+02] [ 7.27374792e-01 4.20446223e-03 -6.86227538e-01 7.76243025e+01] [ 6.86213336e-01 4.42768971e-03 7.27386866e-01 5.49705548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.567105681 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:111.51, Y:77.62, Z:54.97 [[ 2.53139942e-03 -9.99996701e-01 4.36807658e-04 1.11506777e+02] [ 7.27083209e-01 1.54065384e-03 -6.86547619e-01 7.76204611e+01] [ 6.86544681e-01 2.05552176e-03 7.27084710e-01 5.49663460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.597105681 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:111.51, Y:77.85, Z:55.18 [[-4.34802993e-03 -9.99984164e-01 3.57288670e-03 1.11507704e+02] [ 7.27085984e-01 -5.61435104e-03 -6.86523453e-01 7.78477390e+01] [ 6.86532641e-01 -3.87228678e-04 7.27098882e-01 5.51804762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.627105681 meters Centerline goodness : 0.998198 Centerline is valid? [True, True] Translation: X:111.51, Y:77.62, Z:54.96 [[-1.24764572e-03 -9.99996694e-01 2.24837773e-03 1.11509738e+02] [ 7.25302784e-01 -2.45276989e-03 -6.88425636e-01 7.76157999e+01] [ 6.88428875e-01 7.71843327e-04 7.25303446e-01 5.49624781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.657105681 meters Centerline goodness : 0.998004 Centerline is valid? [True, True] Translation: X:111.51, Y:77.63, Z:54.98 [[ 4.16981824e-04 -9.99999061e-01 1.30534996e-03 1.11507692e+02] [ 7.23779552e-01 -5.98929600e-04 -6.90031015e-01 7.76292371e+01] [ 6.90031149e-01 1.23251600e-03 7.23778622e-01 5.49758930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.68710568099996 meters Centerline goodness : 0.997980 Centerline is valid? [True, True] Translation: X:111.50, Y:77.85, Z:55.19 [[ 2.93438328e-03 -9.99948929e-01 9.67104008e-03 1.11500761e+02] [ 7.28494718e-01 -4.48756404e-03 -6.85036720e-01 7.78549968e+01] [ 6.85045134e-01 9.05546192e-03 7.28444345e-01 5.51883068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.71710568099996 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:111.50, Y:77.83, Z:55.17 [[ 1.53076687e-02 -9.99860647e-01 6.66044535e-03 1.11498228e+02] [ 7.31638377e-01 6.66044411e-03 -6.81660416e-01 7.78332810e+01] [ 6.81521063e-01 1.53076693e-02 7.31638377e-01 5.51666159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.74710568099997 meters Centerline goodness : 0.997732 Centerline is valid? [True, True] Translation: X:111.50, Y:77.65, Z:54.99 [[ 2.69520842e-02 -9.99624236e-01 -4.99710930e-03 1.11498808e+02] [ 7.24122242e-01 2.29696874e-02 -6.89289033e-01 7.76457663e+01] [ 6.89144806e-01 1.49592581e-02 7.24469225e-01 5.49908998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77710568099997 meters Centerline goodness : 0.997294 Centerline is valid? [True, True] Translation: X:111.49, Y:77.70, Z:55.04 [[ 3.11656069e-02 -9.99431722e-01 1.28427951e-02 1.11492579e+02] [ 7.30980417e-01 1.40273682e-02 -6.82254251e-01 7.76952202e+01] [ 6.81686391e-01 3.06506995e-02 7.31002188e-01 5.50415281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.80710568099997 meters Centerline goodness : 0.997227 Centerline is valid? [True, True] Translation: X:111.49, Y:77.83, Z:55.16 [[ 3.53636786e-02 -9.99374088e-01 9.18369868e-04 1.11492492e+02] [ 7.26504134e-01 2.50769060e-02 -6.86704370e-01 7.78274373e+01] [ 6.86251524e-01 2.49515922e-02 7.26936217e-01 5.51603182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83710568099997 meters Centerline goodness : 0.997331 Centerline is valid? [True, True] Translation: X:111.49, Y:77.78, Z:55.12 [[ 4.03702755e-02 -9.99172365e-01 4.98257216e-03 1.11494886e+02] [ 7.29291179e-01 2.60566312e-02 -6.83707122e-01 7.77815639e+01] [ 6.83011433e-01 3.12351908e-02 7.29739506e-01 5.51192966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.86710568099997 meters Centerline goodness : 0.997272 Centerline is valid? [True, True] Translation: X:111.50, Y:77.67, Z:55.02 [[ 4.69547802e-02 -9.98889026e-01 -3.99524446e-03 1.11498221e+02] [ 7.23311852e-01 3.67586775e-02 -6.89542431e-01 7.76726100e+01] [ 6.88923227e-01 2.94875056e-02 7.24234267e-01 5.50166284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.89710568099997 meters Centerline goodness : 0.997479 Centerline is valid? [True, True] Translation: X:111.50, Y:77.67, Z:55.02 [[ 5.01767488e-02 -9.98740114e-01 6.92492501e-04 1.11499403e+02] [ 7.24408768e-01 3.59169925e-02 -6.88434388e-01 7.76730342e+01] [ 6.87542167e-01 3.50450470e-02 7.25298293e-01 5.50203556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.92710568099997 meters Centerline goodness : 0.997709 Centerline is valid? [True, True] Translation: X:111.50, Y:77.67, Z:55.02 [[ 5.16598741e-02 -9.98663666e-01 1.46255363e-03 1.11501039e+02] [ 7.25003971e-01 3.64964746e-02 -6.87777034e-01 7.76742381e+01] [ 6.86804557e-01 3.65908322e-02 7.25920527e-01 5.50227986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.95710568099997 meters Centerline goodness : 0.997457 Centerline is valid? [True, True] Translation: X:111.50, Y:77.67, Z:55.02 [[ 5.58271416e-02 -9.98437933e-01 2.24150037e-03 1.11504868e+02] [ 7.24629755e-01 3.89726540e-02 -6.88035501e-01 7.76721916e+01] [ 6.86873386e-01 4.00353132e-02 7.25673566e-01 5.50215376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.98710568099997 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:111.51, Y:77.68, Z:55.03 [[ 5.72109102e-02 -9.98357536e-01 3.02357147e-03 1.11507514e+02] [ 7.24382344e-01 3.94262955e-02 -6.88270141e-01 7.76793389e+01] [ 6.87020474e-01 4.15667830e-02 7.25448186e-01 5.50293878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.01710568099998 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:111.51, Y:77.67, Z:55.02 [[ 5.73344344e-02 -9.98347320e-01 3.92327106e-03 1.11509820e+02] [ 7.24128624e-01 3.88803225e-02 -6.88568120e-01 7.76717516e+01] [ 6.87277599e-01 4.23196166e-02 7.25161052e-01 5.50210498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.04710568099998 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:111.52, Y:77.67, Z:55.02 [[ 5.59421387e-02 -9.98426189e-01 3.95248617e-03 1.11517241e+02] [ 7.21194189e-01 3.76704655e-02 -6.91707942e-01 7.76745792e+01] [ 6.90470433e-01 4.15461317e-02 7.22166532e-01 5.50196485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.07710568099998 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:111.52, Y:77.68, Z:55.02 [[ 5.38407200e-02 -9.98537644e-01 4.87338362e-03 1.11520241e+02] [ 7.19512297e-01 3.54107797e-02 -6.93576335e-01 7.76770692e+01] [ 6.92389509e-01 4.08491086e-02 7.20366655e-01 5.50224545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.10710568099998 meters Centerline goodness : 0.998446 Centerline is valid? [True, True] Translation: X:111.53, Y:77.66, Z:55.01 [[ 4.64368420e-02 -9.98904571e-01 5.76863883e-03 1.11525948e+02] [ 7.21834362e-01 2.95634591e-02 -6.91434130e-01 7.76648203e+01] [ 6.90506172e-01 3.62720192e-02 7.22416477e-01 5.50121338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13710568099998 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:111.53, Y:77.78, Z:55.12 [[ 3.48310119e-02 -9.99340011e-01 1.03122476e-02 1.11530639e+02] [ 7.27046046e-01 1.82580307e-02 -6.86345898e-01 7.77760954e+01] [ 6.85704636e-01 3.14036010e-02 7.27202149e-01 5.51232246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.16710568099998 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:111.54, Y:77.66, Z:55.01 [[ 3.21442097e-02 -9.99471161e-01 4.91413600e-03 1.11535074e+02] [ 7.24481421e-01 1.99125409e-02 -6.89006649e-01 7.76572577e+01] [ 6.88544422e-01 2.57077744e-02 7.24738359e-01 5.50118485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19710568099998 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:111.54, Y:77.65, Z:55.00 [[ 2.16702495e-02 -9.99742853e-01 6.68042477e-03 1.11539147e+02] [ 7.22899605e-01 1.10529876e-02 -6.90864670e-01 7.76512780e+01] [ 6.90613178e-01 1.98004862e-02 7.22953235e-01 5.50048108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.22710568099998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:111.54, Y:77.79, Z:55.13 [[ 1.35516602e-02 -9.99781438e-01 1.59194431e-02 1.11538186e+02] [ 7.27557241e-01 -1.06209641e-03 -6.86046159e-01 7.77857423e+01] [ 6.85913124e-01 2.08793706e-02 7.27383832e-01 5.51309705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25710568099998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:111.54, Y:77.81, Z:55.16 [[ 3.09132977e-03 -9.99920641e-01 1.22129075e-02 1.11540254e+02] [ 7.29333134e-01 -6.10111010e-03 -6.84131535e-01 7.78135848e+01] [ 6.84151755e-01 1.10221543e-02 7.29256394e-01 5.51559436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.28710568099999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:111.55, Y:77.63, Z:54.99 [[ 4.20081738e-03 -9.99990001e-01 1.53314445e-03 1.11546498e+02] [ 7.22498124e-01 1.97513226e-03 -6.91370060e-01 7.76296000e+01] [ 6.91360119e-01 4.01201335e-03 7.22499197e-01 5.49850220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.317105681 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:111.54, Y:77.82, Z:55.17 [[ 1.53474797e-03 -9.99853308e-01 1.70589259e-02 1.11541153e+02] [ 7.27326378e-01 -1.05912965e-02 -6.86210000e-01 7.78249226e+01] [ 6.86290015e-01 1.34605662e-02 7.27203430e-01 5.51709788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.347105681 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:111.54, Y:77.81, Z:55.16 [[ 5.38500250e-03 -9.99957905e-01 7.42894053e-03 1.11540914e+02] [ 7.22851213e-01 -1.24091382e-03 -6.91002594e-01 7.78095194e+01] [ 6.90982725e-01 9.09106936e-03 7.22814102e-01 5.51562847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.377105681 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:111.54, Y:77.63, Z:54.99 [[ 1.21729531e-02 -9.99888892e-01 8.60361117e-03 1.11542423e+02] [ 7.21827113e-01 2.83280159e-03 -6.92067622e-01 7.76344761e+01] [ 6.91966356e-01 1.46348265e-02 7.21781396e-01 5.49932384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.407105681 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:111.54, Y:77.68, Z:55.04 [[ 1.83693048e-02 -9.99703269e-01 1.59982102e-02 1.11539331e+02] [ 7.28708170e-01 2.43068871e-03 -6.84820045e-01 7.76843078e+01] [ 6.84577951e-01 2.42376946e-02 7.28536590e-01 5.50441281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43710568099996 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:111.54, Y:77.64, Z:55.01 [[ 2.77790835e-02 -9.99589828e-01 6.96400348e-03 1.11538033e+02] [ 7.27159672e-01 1.54267961e-02 -6.86294999e-01 7.76442700e+01] [ 6.85906068e-01 2.41285885e-02 7.27289954e-01 5.50079302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.46710568099996 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:111.54, Y:77.64, Z:55.00 [[ 2.90972532e-02 -9.99527015e-01 9.95467640e-03 1.11535808e+02] [ 7.27332802e-01 1.43399165e-02 -6.86135091e-01 7.76402909e+01] [ 6.85667810e-01 2.72050092e-02 7.27406036e-01 5.50035937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49710568099997 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:111.54, Y:77.65, Z:55.01 [[ 3.27366122e-02 -9.99405229e-01 1.08398958e-02 1.11535116e+02] [ 7.26321420e-01 1.63382664e-02 -6.87161012e-01 7.76467426e+01] [ 6.86575203e-01 3.03685721e-02 7.26424284e-01 5.50055686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.52710568099997 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:111.54, Y:77.65, Z:55.01 [[ 3.35652637e-02 -9.99367740e-01 1.17257984e-02 1.11535823e+02] [ 7.25689710e-01 1.63029307e-02 -6.87828946e-01 7.76505242e+01] [ 6.87202894e-01 3.15964512e-02 7.25778098e-01 5.50059848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.55710568099997 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:111.53, Y:77.81, Z:55.15 [[ 3.05963635e-02 -9.99262590e-01 2.31978293e-02 1.11532778e+02] [ 7.31545525e-01 6.57210568e-03 -6.81760921e-01 7.78107278e+01] [ 6.81105725e-01 3.78296732e-02 7.31207158e-01 5.51548410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.58710568099997 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:111.54, Y:77.64, Z:55.00 [[ 2.78338415e-02 -9.99604429e-01 4.03281832e-03 1.11540278e+02] [ 7.23707673e-01 1.73682417e-02 -6.89888070e-01 7.76431552e+01] [ 6.89545127e-01 2.21208167e-02 7.23904819e-01 5.49961175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61710568099997 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:111.54, Y:77.64, Z:55.00 [[ 2.30204418e-02 -9.99653490e-01 1.27655750e-02 1.11540414e+02] [ 7.23995381e-01 7.86423570e-03 -6.89759989e-01 7.76409221e+01] [ 6.89420588e-01 2.51207970e-02 7.23925548e-01 5.49965651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.64710568099997 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:111.54, Y:77.64, Z:54.99 [[ 1.84178704e-02 -9.99737349e-01 1.36387265e-02 1.11541738e+02] [ 7.24101337e-01 3.93104757e-03 -6.89682392e-01 7.76366212e+01] [ 6.89447631e-01 2.25783010e-02 7.23983552e-01 5.49934627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67710568099997 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:111.55, Y:77.63, Z:54.98 [[ 1.00553210e-02 -9.99843923e-01 1.45265619e-02 1.11545416e+02] [ 7.23512446e-01 -2.75305040e-03 -6.90305846e-01 7.76267575e+01] [ 6.90238097e-01 1.74513952e-02 7.23371839e-01 5.49839486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.70710568099997 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:111.55, Y:77.62, Z:54.98 [[ 5.76149676e-03 -9.99864874e-01 1.53960935e-02 1.11549657e+02] [ 7.23264075e-01 -6.46542835e-03 -6.90541292e-01 7.76205301e+01] [ 6.90547524e-01 1.51139928e-02 7.23129092e-01 5.49785897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73710568099997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:111.55, Y:77.63, Z:54.99 [[ 4.90920306e-03 -9.99855926e-01 1.62488901e-02 1.11551110e+02] [ 7.23210069e-01 -7.67196818e-03 -6.90585503e-01 7.76288361e+01] [ 6.90610669e-01 1.51415854e-02 7.23068210e-01 5.49855380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.76710568099998 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:111.55, Y:77.74, Z:55.09 [[ 1.49685179e-03 -9.99679442e-01 2.52739646e-02 1.11548518e+02] [ 7.25995587e-01 -1.62945251e-02 -6.87506288e-01 7.77371161e+01] [ 6.87697729e-01 1.93778818e-02 7.25738473e-01 5.50867690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.79710568099998 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:111.55, Y:77.70, Z:55.05 [[ 9.69062207e-03 -9.99756746e-01 1.98126203e-02 1.11551828e+02] [ 7.20865575e-01 -6.74698465e-03 -6.93042063e-01 7.77041735e+01] [ 6.93007153e-01 2.09982447e-02 7.20624839e-01 5.50513581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.82710568099998 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:111.56, Y:77.64, Z:54.99 [[ 1.46798714e-02 -9.99793220e-01 1.40718786e-02 1.11556365e+02] [ 7.16413118e-01 6.99385553e-04 -6.97675967e-01 7.76350088e+01] [ 6.97521860e-01 2.03230719e-02 7.16275246e-01 5.49856025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.85710568099998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:111.56, Y:77.65, Z:55.00 [[ 9.44757028e-03 -9.99809680e-01 1.70688941e-02 1.11559491e+02] [ 7.18815727e-01 -5.07589404e-03 -6.95182124e-01 7.76480171e+01] [ 6.95136457e-01 1.88371715e-02 7.18630967e-01 5.49998252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:111.56, Y:77.63, Z:54.98 [[ 3.64404103e-03 -9.99832293e-01 1.79473353e-02 1.11561204e+02] [ 7.19387734e-01 -9.84529617e-03 -6.94538954e-01 7.76258536e+01] [ 6.94599172e-01 1.54420213e-02 7.19231211e-01 5.49823949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91710568099998 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:111.56, Y:77.61, Z:54.97 [[-1.14919812e-02 -9.99757231e-01 1.87992909e-02 1.11561773e+02] [ 7.20514400e-01 -2.13153323e-02 -6.93112297e-01 7.76084438e+01] [ 6.93344744e-01 5.57992630e-03 7.20584436e-01 5.49703085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:111.56, Y:77.60, Z:54.97 [[-1.96898475e-02 -9.99613903e-01 1.96049547e-02 1.11561736e+02] [ 7.21964444e-01 -2.77804174e-02 -6.91372251e-01 7.76034638e+01] [ 6.91649948e-01 5.41066090e-04 7.22232688e-01 5.49669486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.56, Y:77.59, Z:54.95 [[-3.17363516e-02 -9.99288777e-01 2.03652680e-02 1.11563232e+02] [ 7.24000924e-01 -3.70311694e-02 -6.88804294e-01 7.75893505e+01] [ 6.89068550e-01 -7.11566246e-03 7.24661232e-01 5.49542271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.00710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.56, Y:77.57, Z:54.94 [[-3.85321901e-02 -9.99032557e-01 2.11948137e-02 1.11560222e+02] [ 7.23483739e-01 -4.25224255e-02 -6.89030567e-01 7.75747093e+01] [ 6.89265224e-01 -1.12157537e-02 7.24422292e-01 5.49414479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:111.56, Y:77.56, Z:54.93 [[-4.08236021e-02 -9.98923732e-01 2.20184387e-02 1.11555540e+02] [ 7.22685399e-01 -4.47374989e-02 -6.89727751e-01 7.75627845e+01] [ 6.89970469e-01 -1.22447672e-02 7.23733942e-01 5.49302941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.067105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:111.55, Y:77.56, Z:54.92 [[-4.13023570e-02 -9.98886100e-01 2.28183032e-02 1.11548667e+02] [ 7.22144835e-01 -4.56271101e-02 -6.90235470e-01 7.75596308e+01] [ 6.90507750e-01 -1.20302320e-02 7.23224945e-01 5.49245903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.097105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:111.55, Y:77.56, Z:54.92 [[-4.21080860e-02 -9.98834524e-01 2.35903324e-02 1.11548701e+02] [ 7.22098494e-01 -4.67429299e-02 -6.90209290e-01 7.75576384e+01] [ 6.90507548e-01 -1.20288486e-02 7.23225160e-01 5.49228718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.127105681 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:111.55, Y:77.57, Z:54.93 [[-4.22691867e-02 -9.98808268e-01 2.43999829e-02 1.11546347e+02] [ 7.21044891e-01 -4.74013263e-02 -6.91265057e-01 7.75680289e+01] [ 6.91597846e-01 -1.16257287e-02 7.22189215e-01 5.49315783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.157105681 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:111.54, Y:77.59, Z:54.95 [[-4.54350783e-02 -9.98407029e-01 3.34523382e-02 1.11539071e+02] [ 7.23280995e-01 -5.59761190e-02 -6.88281393e-01 7.75882984e+01] [ 6.89057513e-01 -7.07667852e-03 7.24672109e-01 5.49526077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.18710568099996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:111.54, Y:77.56, Z:54.92 [[-3.95315779e-02 -9.99017860e-01 2.00142343e-02 1.11536124e+02] [ 7.21895001e-01 -4.24031707e-02 -6.90702236e-01 7.75619298e+01] [ 6.90872536e-01 -1.28563736e-02 7.22862264e-01 5.49244844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.21710568099996 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:111.52, Y:77.80, Z:55.15 [[-3.82646402e-02 -9.98743998e-01 3.23456861e-02 1.11523656e+02] [ 7.27014304e-01 -5.00320114e-02 -6.84797050e-01 7.77968178e+01] [ 6.85555263e-01 -2.68773625e-03 7.28015630e-01 5.51473647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.24710568099997 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:111.53, Y:77.56, Z:54.93 [[-2.61193107e-02 -9.99459172e-01 1.99786102e-02 1.11526334e+02] [ 7.25382702e-01 -3.27008469e-02 -6.87568608e-01 7.75637440e+01] [ 6.87850069e-01 -3.46667981e-03 7.25844518e-01 5.49288244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.27710568099997 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:111.52, Y:77.57, Z:54.94 [[-2.14432081e-02 -9.99456254e-01 2.50476400e-02 1.11520233e+02] [ 7.26291091e-01 -3.27896690e-02 -6.86604754e-01 7.75703231e+01] [ 6.87052720e-01 3.46886914e-03 7.26599289e-01 5.49364579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.30710568099997 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:111.51, Y:77.58, Z:54.94 [[-1.12224914e-02 -9.99603477e-01 2.58252660e-02 1.11511522e+02] [ 7.26854856e-01 -2.58913436e-02 -6.86302890e-01 7.75754972e+01] [ 6.86699406e-01 1.10691917e-02 7.26857206e-01 5.49397116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.33710568099997 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:111.50, Y:77.60, Z:54.96 [[-3.75196950e-03 -9.99623185e-01 2.71921056e-02 1.11504527e+02] [ 7.28321694e-01 -2.13646250e-02 -6.84902229e-01 7.75951907e+01] [ 6.85225096e-01 1.72348681e-02 7.28127411e-01 5.49557062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.36710568099997 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:111.50, Y:77.57, Z:54.93 [[ 2.67173501e-03 -9.99566839e-01 2.93086440e-02 1.11500672e+02] [ 7.28455993e-01 -1.81337134e-02 -6.84852564e-01 7.75722902e+01] [ 6.85087387e-01 2.31798019e-02 7.28092006e-01 5.49344217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39710568099997 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:111.49, Y:77.59, Z:54.94 [[ 6.52285414e-03 -9.99623035e-01 2.66690951e-02 1.11493387e+02] [ 7.26522812e-01 -1.35880011e-02 -6.87007983e-01 7.75854391e+01] [ 6.87111385e-01 2.38569588e-02 7.26160306e-01 5.49449484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.42710568099997 meters Centerline goodness : 0.997833 Centerline is valid? [True, True] Translation: X:111.49, Y:77.58, Z:54.94 [[ 1.04282606e-02 -9.99567228e-01 2.75065062e-02 1.11489843e+02] [ 7.25893146e-01 -1.13517139e-02 -6.87713806e-01 7.75797748e+01] [ 6.87728429e-01 2.71384431e-02 7.25460622e-01 5.49379090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45710568099997 meters Centerline goodness : 0.997773 Centerline is valid? [True, True] Translation: X:111.49, Y:77.59, Z:54.95 [[ 1.18157951e-02 -9.99557254e-01 2.73071859e-02 1.11487984e+02] [ 7.25921474e-01 -1.02063819e-02 -6.87701857e-01 7.75913747e+01] [ 6.87676088e-01 2.79486168e-02 7.25479478e-01 5.49497868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.48710568099997 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:111.49, Y:77.59, Z:54.95 [[ 1.75072956e-02 -9.99450128e-01 2.81591417e-02 1.11485600e+02] [ 7.25290632e-01 -6.69084463e-03 -6.88410293e-01 7.75949055e+01] [ 6.88220164e-01 3.24757642e-02 7.24774676e-01 5.49525126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.51710568099998 meters Centerline goodness : 0.997263 Centerline is valid? [True, True] Translation: X:111.49, Y:77.59, Z:54.95 [[ 1.95539723e-02 -9.99412919e-01 2.81328992e-02 1.11485936e+02] [ 7.25876867e-01 -5.15921041e-03 -6.87805319e-01 7.75948914e+01] [ 6.87546665e-01 3.38703469e-02 7.25349835e-01 5.49513239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.54710568099998 meters Centerline goodness : 0.997482 Centerline is valid? [True, True] Translation: X:111.49, Y:77.60, Z:54.95 [[ 2.15316609e-02 -9.99379800e-01 2.78640053e-02 1.11488662e+02] [ 7.27337856e-01 -3.46360999e-03 -6.86270826e-01 7.75987219e+01] [ 6.85941711e-01 3.50430965e-02 7.26812184e-01 5.49541018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.57710568099998 meters Centerline goodness : 0.997706 Centerline is valid? [True, True] Translation: X:111.49, Y:77.60, Z:54.96 [[ 2.10256367e-02 -9.99365990e-01 2.87322309e-02 1.11493214e+02] [ 7.26898654e-01 -4.45060902e-03 -6.86730325e-01 7.76028136e+01] [ 6.86422807e-01 3.53243623e-02 7.26344216e-01 5.49558531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.60710568099998 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:111.50, Y:77.60, Z:54.95 [[ 1.84861022e-02 -9.99391196e-01 2.95888738e-02 1.11497513e+02] [ 7.26932895e-01 -6.88394546e-03 -6.86673997e-01 7.76006709e+01] [ 6.86459635e-01 3.42030514e-02 7.26363078e-01 5.49531135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63710568099998 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:111.51, Y:77.59, Z:54.94 [[ 1.15575511e-02 -9.99470633e-01 3.04117961e-02 1.11506500e+02] [ 7.27619376e-01 -1.24555729e-02 -6.85867992e-01 7.75860884e+01] [ 6.85883712e-01 3.00551665e-02 7.27090242e-01 5.49392887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.66710568099998 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:111.52, Y:77.59, Z:54.95 [[ 1.78824783e-03 -9.99538880e-01 3.03121993e-02 1.11515680e+02] [ 7.27438218e-01 -1.94991701e-02 -6.85896072e-01 7.75911805e+01] [ 6.86170855e-01 2.32768044e-02 7.27067912e-01 5.49451588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69710568099998 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:111.53, Y:77.60, Z:54.95 [[-8.06037540e-03 -9.99479503e-01 3.12370468e-02 1.11528365e+02] [ 7.25440523e-01 -2.73445680e-02 -6.87741465e-01 7.75985323e+01] [ 6.88237661e-01 1.71171652e-02 7.25283341e-01 5.49496592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.72710568099998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:111.53, Y:77.58, Z:54.93 [[-1.40694887e-02 -9.99384792e-01 3.21261066e-02 1.11534786e+02] [ 7.24584049e-01 -3.23309183e-02 -6.88427678e-01 7.75812281e+01] [ 6.89042818e-01 1.35922389e-02 7.24593159e-01 5.49334172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75710568099998 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:111.54, Y:77.58, Z:54.93 [[-2.51472711e-02 -9.99137949e-01 3.30298995e-02 1.11541425e+02] [ 7.23083941e-01 -4.09944517e-02 -6.89542652e-01 7.75757098e+01] [ 6.90302274e-01 6.54327389e-03 7.23491504e-01 5.49307845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.78710568099999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:111.54, Y:77.57, Z:54.93 [[-2.89121432e-02 -9.99008401e-01 3.38570950e-02 1.11543462e+02] [ 7.23007201e-01 -4.42893415e-02 -6.89419351e-01 7.75730526e+01] [ 6.90235232e-01 4.54633252e-03 7.23570767e-01 5.49289391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.817105681 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:111.55, Y:77.58, Z:54.94 [[-3.45982749e-02 -9.98723626e-01 3.67978130e-02 1.11547705e+02] [ 7.23304062e-01 -5.04315672e-02 -6.88685625e-01 7.75806063e+01] [ 6.89662376e-01 2.78867305e-03 7.24125701e-01 5.49367917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.847105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:111.55, Y:77.58, Z:54.93 [[-3.01056794e-02 -9.98824913e-01 3.79794755e-02 1.11550294e+02] [ 7.22520520e-01 -4.80021008e-02 -6.89681011e-01 7.75764542e+01] [ 6.90693670e-01 6.67763502e-03 7.23116632e-01 5.49328002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.877105681 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:111.55, Y:77.57, Z:54.93 [[-2.66523916e-02 -9.98988728e-01 3.62101131e-02 1.11552795e+02] [ 7.23512575e-01 -4.42728981e-02 -6.88890023e-01 7.75749909e+01] [ 6.89796494e-01 7.83790558e-03 7.23960886e-01 5.49331752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.907105681 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:111.55, Y:77.58, Z:54.94 [[-1.87252533e-02 -9.99142302e-01 3.69327001e-02 1.11552576e+02] [ 7.25906101e-01 -3.89874544e-02 -6.86687929e-01 7.75750770e+01] [ 6.87538870e-01 1.39512669e-02 7.26013543e-01 5.49380124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93710568099996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:111.55, Y:77.57, Z:54.93 [[-1.37810326e-02 -9.99193844e-01 3.77060262e-02 1.11552732e+02] [ 7.27302151e-01 -3.58947962e-02 -6.85378103e-01 7.75688520e+01] [ 6.86179032e-01 1.79784560e-02 7.27210500e-01 5.49336274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.96710568099996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:111.55, Y:77.58, Z:54.94 [[-3.35191767e-03 -9.99255100e-01 3.84449025e-02 1.11553066e+02] [ 7.29373518e-01 -2.87437469e-02 -6.83511571e-01 7.75762239e+01] [ 6.84107474e-01 2.57496192e-02 7.28926554e-01 5.49410529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99710568099997 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:111.55, Y:77.59, Z:54.95 [[ 9.95791916e-04 -9.99226960e-01 3.93000056e-02 1.11552733e+02] [ 7.29388983e-01 -2.61593415e-02 -6.83598860e-01 7.75870445e+01] [ 6.84098473e-01 2.93457133e-02 7.28799087e-01 5.49503920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.02710568099997 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:111.55, Y:77.59, Z:54.95 [[ 7.79857466e-03 -9.99160522e-01 4.02173212e-02 1.11553933e+02] [ 7.28835590e-01 -2.18567831e-02 -6.84339802e-01 7.75866197e+01] [ 6.84644335e-01 3.46486900e-02 7.28053297e-01 5.49456485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05710568099997 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:111.56, Y:77.59, Z:54.94 [[ 9.11321605e-03 -9.99112141e-01 4.11324672e-02 1.11556297e+02] [ 7.28404412e-01 -2.15488881e-02 -6.84808483e-01 7.75903247e+01] [ 6.85086828e-01 3.62018782e-02 7.27561312e-01 5.49445515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.08710568099997 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:111.56, Y:77.58, Z:54.94 [[ 1.77661012e-03 -9.98676954e-01 5.13924599e-02 1.11557206e+02] [ 7.34219190e-01 -3.35882745e-02 -6.78081122e-01 7.75833374e+01] [ 6.78910174e-01 3.89380161e-02 7.33188111e-01 5.49381147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11710568099997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:111.56, Y:77.59, Z:54.94 [[ 2.59164367e-03 -9.99248870e-01 3.86649509e-02 1.11563763e+02] [ 7.27705667e-01 -2.46353244e-02 -6.85446981e-01 7.75884013e+01] [ 6.85884645e-01 2.99131382e-02 7.27095219e-01 5.49376417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.14710568099997 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:111.56, Y:77.63, Z:54.97 [[-7.46864732e-03 -9.98813877e-01 4.81150518e-02 1.11563404e+02] [ 7.30131878e-01 -3.83241192e-02 -6.82230681e-01 7.76258504e+01] [ 6.83265438e-01 3.00349928e-02 7.29552082e-01 5.49738918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.17710568099997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:111.57, Y:77.58, Z:54.93 [[-1.11074320e-02 -9.98957625e-01 4.42751501e-02 1.11572341e+02] [ 7.26088595e-01 -3.85009951e-02 -6.86522415e-01 7.75831197e+01] [ 6.87511438e-01 2.45221805e-02 7.25759385e-01 5.49322687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.20710568099997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:111.57, Y:77.57, Z:54.92 [[-2.08141951e-02 -9.98784294e-01 4.46844771e-02 1.11574689e+02] [ 7.23893533e-01 -4.58831324e-02 -6.88384261e-01 7.75728627e+01] [ 6.89597652e-01 1.80186398e-02 7.23968512e-01 5.49206173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.23710568099997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:111.58, Y:77.57, Z:54.92 [[-2.52435991e-02 -9.98641389e-01 4.55865954e-02 1.11576456e+02] [ 7.23321073e-01 -4.97231484e-02 -6.88719271e-01 7.75698739e+01] [ 6.90050278e-01 1.55879919e-02 7.23593552e-01 5.49166867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.26710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:111.58, Y:77.56, Z:54.91 [[-3.28130632e-02 -9.98387102e-01 4.63302984e-02 1.11581030e+02] [ 7.24613621e-01 -5.56909660e-02 -6.86901461e-01 7.75633844e+01] [ 6.88373738e-01 1.10322242e-02 7.25272284e-01 5.49121667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.29710568099998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:111.58, Y:77.55, Z:54.91 [[-3.65287521e-02 -9.98221567e-01 4.71100146e-02 1.11582301e+02] [ 7.25449438e-01 -5.89102106e-02 -6.85749736e-01 7.75531440e+01] [ 6.87305437e-01 9.12635150e-03 7.26311191e-01 5.49050182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.32710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:111.57, Y:77.66, Z:55.00 [[-3.75818368e-02 -9.97613427e-01 5.79228358e-02 1.11573084e+02] [ 7.33361151e-01 -6.69077862e-02 -6.76538816e-01 7.76576008e+01] [ 6.78799696e-01 1.70527861e-02 7.34125449e-01 5.50038120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.35710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:111.58, Y:77.55, Z:54.90 [[-4.39160629e-02 -9.98419700e-01 3.50639733e-02 1.11583935e+02] [ 7.25123265e-01 -5.59988047e-02 -6.86338390e-01 7.75525703e+01] [ 6.87217310e-01 -4.71557714e-03 7.26436599e-01 5.48998950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.38710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:111.58, Y:77.55, Z:54.90 [[-4.54859852e-02 -9.97821618e-01 4.77812014e-02 1.11581592e+02] [ 7.25264204e-01 -6.58778738e-02 -6.85311564e-01 7.75531210e+01] [ 6.86966418e-01 3.48192333e-03 7.26680822e-01 5.49018131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:111.58, Y:77.55, Z:54.91 [[-4.79197345e-02 -9.97661453e-01 4.87373021e-02 1.11579070e+02] [ 7.23482466e-01 -6.83091584e-02 -6.86954861e-01 7.75534230e+01] [ 6.88677588e-01 2.34188894e-03 7.25063925e-01 5.49052174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.44710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:111.58, Y:77.54, Z:54.89 [[-4.85759715e-02 -9.97588049e-01 4.95828464e-02 1.11578737e+02] [ 7.23396727e-01 -6.93674058e-02 -6.86939109e-01 7.75359122e+01] [ 6.88721679e-01 2.49933420e-03 7.25021519e-01 5.48895518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:111.57, Y:77.54, Z:54.90 [[-4.68793292e-02 -9.97634171e-01 5.02830848e-02 1.11574014e+02] [ 7.25186677e-01 -6.86088113e-02 -6.85125620e-01 7.75442385e+01] [ 6.86954592e-01 4.34639374e-03 7.26687345e-01 5.49020744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.50710568099998 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:111.57, Y:77.53, Z:54.89 [[-4.08159338e-02 -9.97864317e-01 5.09986754e-02 1.11570615e+02] [ 7.26986006e-01 -6.46734193e-02 -6.83599807e-01 7.75302394e+01] [ 6.85438113e-01 9.17355892e-03 7.28073100e-01 5.48912828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:111.57, Y:77.54, Z:54.90 [[-3.73368124e-02 -9.97961647e-01 5.17543569e-02 1.11567524e+02] [ 7.28091494e-01 -6.26404367e-02 -6.82611860e-01 7.75372038e+01] [ 6.84462372e-01 1.21953561e-02 7.28946181e-01 5.48988897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.567105681 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:111.56, Y:77.53, Z:54.90 [[-3.19739092e-02 -9.98117860e-01 5.23297969e-02 1.11562632e+02] [ 7.31420232e-01 -5.90485692e-02 -6.79365668e-01 7.75338156e+01] [ 6.81177006e-01 1.65530960e-02 7.31931610e-01 5.48986382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.597105681 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:111.56, Y:77.53, Z:54.90 [[-2.87331855e-02 -9.98180822e-01 5.30042442e-02 1.11558773e+02] [ 7.33442608e-01 -5.70804358e-02 -6.77350548e-01 7.75325875e+01] [ 6.79143833e-01 1.94131322e-02 7.33748448e-01 5.48983863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.627105681 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:111.56, Y:77.53, Z:54.90 [[-2.71867872e-02 -9.98180794e-01 5.38143296e-02 1.11557539e+02] [ 7.33760917e-01 -5.64866516e-02 -6.77055518e-01 7.75329516e+01] [ 6.78863606e-01 2.10798875e-02 7.33961745e-01 5.48979398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.657105681 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:111.55, Y:77.54, Z:54.90 [[-2.08385958e-02 -9.98287077e-01 5.46686890e-02 1.11553336e+02] [ 7.33870780e-01 -5.24077654e-02 -6.77264427e-01 7.75396513e+01] [ 6.78969389e-01 2.60065138e-02 7.33705820e-01 5.49018584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.68710568099996 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:111.55, Y:77.55, Z:54.91 [[-1.36752393e-02 -9.98348093e-01 5.58038798e-02 1.11550627e+02] [ 7.30957899e-01 -4.80626794e-02 -6.80727940e-01 7.75511499e+01] [ 6.82285525e-01 3.14811693e-02 7.30407693e-01 5.49065127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71710568099996 meters Centerline goodness : 0.998110 Centerline is valid? [True, True] Translation: X:111.55, Y:77.56, Z:54.91 [[-1.11852404e-02 -9.98321237e-01 5.68295485e-02 1.11550665e+02] [ 7.29310044e-01 -4.70263319e-02 -6.82565296e-01 7.75593454e+01] [ 6.84091916e-01 3.38117036e-02 7.28611706e-01 5.49108589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.74710568099997 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:111.55, Y:77.55, Z:54.90 [[-9.46536422e-03 -9.98278980e-01 5.78747381e-02 1.11554168e+02] [ 7.27680126e-01 -4.65735420e-02 -6.84333647e-01 7.75513669e+01] [ 6.85851326e-01 3.56368294e-02 7.26868609e-01 5.48991538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77710568099997 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:111.56, Y:77.55, Z:54.90 [[-1.08602732e-02 -9.98211894e-01 5.87798402e-02 1.11555310e+02] [ 7.27472860e-01 -4.82180530e-02 -6.84440105e-01 7.75541301e+01] [ 6.86050503e-01 3.53275319e-02 7.26695723e-01 5.49019398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.80710568099997 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:111.55, Y:77.58, Z:54.93 [[-1.64199433e-02 -9.97663487e-01 6.63170603e-02 1.11553935e+02] [ 7.31532919e-01 -5.72013494e-02 -6.79402381e-01 7.75838054e+01] [ 6.81608373e-01 3.73573642e-02 7.30762925e-01 5.49315410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.83710568099997 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:111.56, Y:77.55, Z:54.90 [[-1.42393663e-02 -9.98311707e-01 5.63114261e-02 1.11560382e+02] [ 7.26959821e-01 -4.90035222e-02 -6.84929247e-01 7.75483774e+01] [ 6.86532343e-01 3.11831858e-02 7.26430279e-01 5.48967794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.86710568099997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:111.57, Y:77.55, Z:54.90 [[-1.67150440e-02 -9.98000905e-01 6.09491641e-02 1.11565835e+02] [ 7.26159505e-01 -5.40203820e-02 -6.85400738e-01 7.75504214e+01] [ 6.87323054e-01 3.28023113e-02 7.25610797e-01 5.48985358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89710568099997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:111.57, Y:77.60, Z:54.94 [[-2.37063419e-02 -9.97160993e-01 7.14700143e-02 1.11568061e+02] [ 7.31918189e-01 -6.60085902e-02 -6.78187755e-01 7.75993335e+01] [ 6.80980010e-01 3.62328526e-02 7.31405090e-01 5.49448733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.92710568099997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:111.56, Y:77.70, Z:55.04 [[-2.59896314e-02 -9.97799763e-01 6.09932063e-02 1.11562717e+02] [ 7.28669376e-01 -6.06792296e-02 -6.82172245e-01 7.77026438e+01] [ 6.84372325e-01 2.67144764e-02 7.28643162e-01 5.50406698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.95710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.58, Y:77.54, Z:54.89 [[-3.05851272e-02 -9.97907663e-01 5.69635483e-02 1.11580430e+02] [ 7.26207819e-01 -6.13443243e-02 -6.84732851e-01 7.75413791e+01] [ 6.86794550e-01 2.04247328e-02 7.26564572e-01 5.48917370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.98710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.58, Y:77.54, Z:54.89 [[-3.56502483e-02 -9.97467539e-01 6.15432257e-02 1.11583217e+02] [ 7.26813606e-01 -6.81451223e-02 -6.83445846e-01 7.75361252e+01] [ 6.85908916e-01 2.03654397e-02 7.27402370e-01 5.48862292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.01710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.58, Y:77.53, Z:54.88 [[-3.65728387e-02 -9.97379994e-01 6.24145352e-02 1.11583332e+02] [ 7.26768123e-01 -6.94138423e-02 -6.83366530e-01 7.75341597e+01] [ 6.85908538e-01 2.03682408e-02 7.27402648e-01 5.48845083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.59, Y:77.53, Z:54.88 [[-4.51906823e-02 -9.96961866e-01 6.34416237e-02 1.11591933e+02] [ 7.24534411e-01 -7.64311452e-02 -6.84987714e-01 7.75292493e+01] [ 6.87755545e-01 1.50105773e-02 7.25787154e-01 5.48790008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.59, Y:77.57, Z:54.91 [[-5.08939308e-02 -9.96021840e-01 7.31457652e-02 1.11589313e+02] [ 7.28683500e-01 -8.71190976e-02 -6.79286846e-01 7.75660736e+01] [ 6.82956927e-01 1.87285345e-02 7.30218514e-01 5.49144249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.10710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.59, Y:77.57, Z:54.92 [[-6.12212059e-02 -9.95933588e-01 6.60927566e-02 1.11591439e+02] [ 7.26653034e-01 -8.98678847e-02 -6.81101411e-01 7.75683087e+01] [ 6.84271388e-01 6.32865237e-03 7.29199983e-01 5.49160658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.59, Y:77.60, Z:54.95 [[-6.60343583e-02 -9.95447747e-01 6.87258792e-02 1.11588906e+02] [ 7.27508212e-01 -9.51706922e-02 -6.79466218e-01 7.76002621e+01] [ 6.82913805e-01 5.13052579e-03 7.30480946e-01 5.49488055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.16710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.59, Y:77.61, Z:54.96 [[-7.11262022e-02 -9.95174934e-01 6.75863393e-02 1.11589102e+02] [ 7.28719169e-01 -9.81109381e-02 -6.77748196e-01 7.76110067e+01] [ 6.81108975e-01 1.04580583e-03 7.32181310e-01 5.49630233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:111.60, Y:77.50, Z:54.86 [[-6.98008185e-02 -9.95952937e-01 5.66179528e-02 1.11600294e+02] [ 7.24752718e-01 -8.96298763e-02 -6.83154436e-01 7.74980507e+01] [ 6.85464327e-01 -6.65072362e-03 7.28075837e-01 5.48603304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.59, Y:77.60, Z:54.96 [[-7.30358243e-02 -9.95070289e-01 6.70886614e-02 1.11588338e+02] [ 7.25323461e-01 -9.91661498e-02 -6.81228267e-01 7.75963806e+01] [ 6.84522933e-01 -1.09308799e-03 7.28990507e-01 5.49579004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.60, Y:77.49, Z:54.87 [[-6.60693347e-02 -9.95470763e-01 6.83579080e-02 1.11596964e+02] [ 7.28641983e-01 -9.49368906e-02 -6.78283014e-01 7.74949773e+01] [ 6.81700597e-01 4.99473423e-03 7.31614208e-01 5.48653677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.28710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:111.60, Y:77.49, Z:54.86 [[-6.34566927e-02 -9.95818709e-01 6.57141330e-02 1.11596630e+02] [ 7.30254720e-01 -9.12132496e-02 -6.77058481e-01 7.74922270e+01] [ 6.80221502e-01 5.02416376e-03 7.32989403e-01 5.48632259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.317105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:111.59, Y:77.50, Z:54.87 [[-5.57153997e-02 -9.96229238e-01 6.65063944e-02 1.11592916e+02] [ 7.31122370e-01 -8.60705449e-02 -6.76795347e-01 7.74994881e+01] [ 6.79967554e-01 1.09163895e-02 7.33160936e-01 5.48680161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.347105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:111.59, Y:77.51, Z:54.87 [[-4.84757208e-02 -9.96534264e-01 6.75985597e-02 1.11587916e+02] [ 7.29178156e-01 -8.15596903e-02 -6.79446270e-01 7.75069881e+01] [ 6.82604806e-01 1.63547454e-02 7.30604682e-01 5.48716671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.377105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:111.59, Y:77.50, Z:54.87 [[-4.52467973e-02 -9.96627276e-01 6.84602063e-02 1.11586311e+02] [ 7.29222935e-01 -7.97902366e-02 -6.79608291e-01 7.75048206e+01] [ 6.82778616e-01 1.91726540e-02 7.30373720e-01 5.48677076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.407105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:111.58, Y:77.52, Z:54.88 [[-3.90014672e-02 -9.96834015e-01 6.92880322e-02 1.11583287e+02] [ 7.29870243e-01 -7.57783112e-02 -6.79372560e-01 7.75152565e+01] [ 6.82472207e-01 2.40747463e-02 7.30514951e-01 5.48775396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:111.58, Y:77.51, Z:54.88 [[-3.60061087e-02 -9.96878860e-01 7.02573702e-02 1.11583590e+02] [ 7.29084481e-01 -7.42850898e-02 -6.80380442e-01 7.75124923e+01] [ 6.83475954e-01 2.67257061e-02 7.29483623e-01 5.48755975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.46710568099996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:111.58, Y:77.52, Z:54.87 [[-2.89046178e-02 -9.97015136e-01 7.15914938e-02 1.11581251e+02] [ 7.25444014e-01 -7.01963484e-02 -6.84692234e-01 7.75151154e+01] [ 6.87673983e-01 3.21448533e-02 7.25307660e-01 5.48715706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49710568099997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:111.58, Y:77.52, Z:54.88 [[-2.29923838e-02 -9.97082699e-01 7.27835226e-02 1.11578541e+02] [ 7.23039180e-01 -6.68627545e-02 -6.87563609e-01 7.75247680e+01] [ 6.90424286e-01 3.68166121e-02 7.22467191e-01 5.48773844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.52710568099997 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:111.58, Y:77.50, Z:54.86 [[-2.13513837e-02 -9.97051467e-01 7.37054315e-02 1.11580588e+02] [ 7.22904179e-01 -6.63220503e-02 -6.87757903e-01 7.75030895e+01] [ 6.90618322e-01 3.85973816e-02 7.22188740e-01 5.48562711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.55710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:111.58, Y:77.51, Z:54.87 [[-2.19508199e-02 -9.96368166e-01 8.22717359e-02 1.11580579e+02] [ 7.26982292e-01 -7.23983104e-02 -6.82828845e-01 7.75112458e+01] [ 6.86305259e-01 4.48214422e-02 7.25931216e-01 5.48655862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.58710568099997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:111.58, Y:77.54, Z:54.89 [[-3.15486421e-02 -9.97047505e-01 7.00068234e-02 1.11583761e+02] [ 7.24021604e-01 -7.10837912e-02 -6.86104811e-01 7.75374232e+01] [ 6.89055440e-01 2.90407775e-02 7.24126531e-01 5.48880913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.58, Y:77.58, Z:54.93 [[-3.56621057e-02 -9.96158134e-01 7.99824079e-02 1.11578627e+02] [ 7.27637675e-01 -8.07427578e-02 -6.81193087e-01 7.75828465e+01] [ 6.85034035e-01 3.39054334e-02 7.27721645e-01 5.49347354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.59, Y:77.51, Z:54.87 [[-4.46980317e-02 -9.96333842e-01 7.29449224e-02 1.11590876e+02] [ 7.26626986e-01 -8.25339531e-02 -6.82056720e-01 7.75123877e+01] [ 6.85576625e-01 2.25171562e-02 7.27652162e-01 5.48688673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.59, Y:77.54, Z:54.89 [[-5.46590952e-02 -9.95052080e-01 8.29683176e-02 1.11588975e+02] [ 7.30165391e-01 -9.65091574e-02 -6.76420346e-01 7.75365451e+01] [ 6.81080675e-01 2.36080699e-02 7.31827694e-01 5.48939325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.60, Y:77.53, Z:54.88 [[-6.14460999e-02 -9.95095808e-01 7.75158710e-02 1.11596257e+02] [ 7.26608592e-01 -9.78417070e-02 -6.80049230e-01 7.75264671e+01] [ 6.84298423e-01 1.45373250e-02 7.29057155e-01 5.48803771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.60, Y:77.56, Z:54.91 [[-7.19485067e-02 -9.94391445e-01 7.75181751e-02 1.11598102e+02] [ 7.23428200e-01 -1.05531058e-01 -6.82286476e-01 7.75561768e+01] [ 6.86640409e-01 6.98934084e-03 7.26963615e-01 5.49051386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.61, Y:77.49, Z:54.84 [[-7.08863017e-02 -9.94530257e-01 7.67118049e-02 1.11607262e+02] [ 7.20900808e-01 -1.04231613e-01 -6.85155308e-01 7.74880509e+01] [ 6.89403479e-01 6.73347626e-03 7.24346259e-01 5.48395847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.79710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.61, Y:77.48, Z:54.84 [[-7.93171361e-02 -9.93781110e-01 7.81530366e-02 1.11606689e+02] [ 7.20059355e-01 -1.11334216e-01 -6.84922783e-01 7.74827067e+01] [ 6.89364430e-01 1.94871153e-03 7.24412096e-01 5.48365980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.82710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.61, Y:77.48, Z:54.83 [[-8.29614710e-02 -9.93414927e-01 7.90201122e-02 1.11605524e+02] [ 7.19378683e-01 -1.14572177e-01 -6.85104027e-01 7.74751987e+01] [ 6.89646073e-01 8.14643936e-06 7.24146597e-01 5.48311910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.60, Y:77.47, Z:54.82 [[-8.82014131e-02 -9.92882036e-01 8.00360701e-02 1.11603412e+02] [ 7.17223990e-01 -1.19060102e-01 -6.86596271e-01 7.74662332e+01] [ 6.91238207e-01 -3.15497180e-03 7.22620085e-01 5.48217172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.59, Y:77.59, Z:54.93 [[-9.76233059e-02 -9.91040381e-01 9.11518135e-02 1.11587042e+02] [ 7.21595344e-01 -1.33561482e-01 -6.79309568e-01 7.75858141e+01] [ 6.85397585e-01 -5.41721553e-04 7.28168839e-01 5.49348265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.60, Y:77.45, Z:54.81 [[-1.01639888e-01 -9.92012826e-01 7.46986332e-02 1.11602041e+02] [ 7.18785684e-01 -1.25141446e-01 -6.83876275e-01 7.74497106e+01] [ 6.87761931e-01 -1.58167999e-02 7.25763980e-01 5.48070875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.59, Y:77.46, Z:54.82 [[-1.12407025e-01 -9.89808140e-01 8.74328643e-02 1.11594845e+02] [ 7.21504966e-01 -1.41803626e-01 -6.77733218e-01 7.74564483e+01] [ 6.83224154e-01 -1.30987293e-02 7.30091213e-01 5.48189842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.58, Y:77.51, Z:54.87 [[-1.21150095e-01 -9.89231894e-01 8.21152467e-02 1.11577739e+02] [ 7.19981056e-01 -1.44520103e-01 -6.78779212e-01 7.75081578e+01] [ 6.83337350e-01 -2.31127440e-02 7.29736848e-01 5.48689244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.58, Y:77.41, Z:54.77 [[-1.26215542e-01 -9.88835456e-01 7.92090742e-02 1.11582487e+02] [ 7.18331425e-01 -1.46172313e-01 -6.80171757e-01 7.74081532e+01] [ 6.84156123e-01 -2.89498799e-02 7.28760800e-01 5.47734819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.58, Y:77.41, Z:54.78 [[-1.29882065e-01 -9.88288861e-01 8.00985404e-02 1.11577279e+02] [ 7.18280833e-01 -1.49469876e-01 -6.79508205e-01 7.74136286e+01] [ 6.83522709e-01 -3.07226825e-02 7.29282403e-01 5.47780530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.067105681 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:111.57, Y:77.39, Z:54.76 [[-1.33311346e-01 -9.87784611e-01 8.06823857e-02 1.11565789e+02] [ 7.18851682e-01 -1.52415651e-01 -6.78249017e-01 7.73894260e+01] [ 6.82261199e-01 -3.24196209e-02 7.30389365e-01 5.47577025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.097105681 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:111.56, Y:77.38, Z:54.76 [[-1.33127897e-01 -9.87767280e-01 8.11958406e-02 1.11557501e+02] [ 7.20427411e-01 -1.52706756e-01 -6.76509417e-01 7.73847028e+01] [ 6.80633020e-01 -3.15665668e-02 7.31944154e-01 5.47555179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.127105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:111.54, Y:77.38, Z:54.75 [[-1.29785916e-01 -9.88169738e-01 8.17079238e-02 1.11541713e+02] [ 7.22351285e-01 -1.50679147e-01 -6.74910673e-01 7.73774741e+01] [ 6.79237983e-01 -2.85720760e-02 7.33361711e-01 5.47507323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.157105681 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:111.53, Y:77.40, Z:54.76 [[-1.29780880e-01 -9.86892286e-01 9.59194424e-02 1.11530904e+02] [ 7.33068537e-01 -1.60638278e-01 -6.60912902e-01 7.73978817e+01] [ 6.67658178e-01 -1.54583328e-02 7.44307461e-01 5.47641534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.18710568099996 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:111.52, Y:77.38, Z:54.75 [[-1.21177840e-01 -9.90046026e-01 7.15876938e-02 1.11521235e+02] [ 7.20687917e-01 -1.37343696e-01 -6.79518679e-01 7.73830524e+01] [ 6.82586886e-01 -3.07502195e-02 7.30157221e-01 5.47499994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21710568099996 meters Centerline goodness : 0.998442 Centerline is valid? [True, True] Translation: X:111.51, Y:77.38, Z:54.75 [[-1.14753151e-01 -9.89914954e-01 8.30668343e-02 1.11505270e+02] [ 7.20719904e-01 -1.40510771e-01 -6.78836905e-01 7.73845809e+01] [ 6.83662588e-01 -1.80307533e-02 7.29575464e-01 5.47546087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.24710568099997 meters Centerline goodness : 0.997907 Centerline is valid? [True, True] Translation: X:111.49, Y:77.43, Z:54.80 [[-1.14321090e-01 -9.89750807e-01 8.55805389e-02 1.11492458e+02] [ 7.20326147e-01 -1.41909025e-01 -6.78963968e-01 7.74273527e+01] [ 6.84149786e-01 -1.59740009e-02 7.29166580e-01 5.47954248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27710568099997 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:111.48, Y:77.40, Z:54.77 [[-9.39846106e-02 -9.91597588e-01 8.88882250e-02 1.11479520e+02] [ 7.19151644e-01 -1.29360605e-01 -6.82705461e-01 7.74014505e+01] [ 6.88467723e-01 -2.39693787e-04 7.25266942e-01 5.47709225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.30710568099997 meters Centerline goodness : 0.997613 Centerline is valid? [True, True] Translation: X:111.46, Y:77.41, Z:54.78 [[-7.99921181e-02 -9.93212418e-01 8.44414194e-02 1.11463682e+02] [ 7.18768254e-01 -1.16166860e-01 -6.85476081e-01 7.74145974e+01] [ 6.90632651e-01 5.86112789e-03 7.23181989e-01 5.47791324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33710568099997 meters Centerline goodness : 0.997396 Centerline is valid? [True, True] Translation: X:111.46, Y:77.42, Z:54.78 [[-7.59189138e-02 -9.93472264e-01 8.51421096e-02 1.11457292e+02] [ 7.19620285e-01 -1.13696986e-01 -6.84996088e-01 7.74156362e+01] [ 6.90205016e-01 9.26583025e-03 7.23554546e-01 5.47786610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.36710568099997 meters Centerline goodness : 0.996782 Centerline is valid? [True, True] Translation: X:111.45, Y:77.41, Z:54.78 [[-7.26310813e-02 -9.93740990e-01 8.48738470e-02 1.11447034e+02] [ 7.22066909e-01 -1.11095522e-01 -6.82844905e-01 7.74146653e+01] [ 6.88000076e-01 1.16888326e-02 7.25616473e-01 5.47797977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39710568099997 meters Centerline goodness : 0.996468 Centerline is valid? [True, True] Translation: X:111.44, Y:77.41, Z:54.78 [[-7.21705532e-02 -9.93796963e-01 8.46109210e-02 1.11442452e+02] [ 7.22668989e-01 -1.10570729e-01 -6.82292933e-01 7.74138541e+01] [ 6.87416136e-01 1.19042302e-02 7.26166197e-01 5.47796573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.42710568099997 meters Centerline goodness : 0.996154 Centerline is valid? [True, True] Translation: X:111.44, Y:77.42, Z:54.79 [[-7.20060299e-02 -9.93807025e-01 8.46329077e-02 1.11435373e+02] [ 7.21030998e-01 -1.10494824e-01 -6.84035960e-01 7.74242321e+01] [ 6.89151240e-01 1.17682362e-02 7.24521964e-01 5.47875079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.45710568099997 meters Centerline goodness : 0.996003 Centerline is valid? [True, True] Translation: X:111.43, Y:77.42, Z:54.78 [[-7.22105047e-02 -9.93785864e-01 8.47071456e-02 1.11434813e+02] [ 7.19665011e-01 -1.10716806e-01 -6.85437131e-01 7.74176663e+01] [ 6.90556236e-01 1.14650077e-02 7.23187831e-01 5.47793630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.48710568099997 meters Centerline goodness : 0.996021 Centerline is valid? [True, True] Translation: X:111.43, Y:77.42, Z:54.79 [[-7.27149597e-02 -9.93764012e-01 8.45317891e-02 1.11430934e+02] [ 7.18687024e-01 -1.10975710e-01 -6.86420683e-01 7.74240120e+01] [ 6.91521147e-01 1.08388476e-02 7.22274894e-01 5.47858097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51710568099998 meters Centerline goodness : 0.996113 Centerline is valid? [True, True] Translation: X:111.43, Y:77.42, Z:54.79 [[-7.29973024e-02 -9.93766530e-01 8.42583930e-02 1.11429348e+02] [ 7.19284388e-01 -1.10981500e-01 -6.85793756e-01 7.74211862e+01] [ 6.90870005e-01 1.05446524e-02 7.22902101e-01 5.47854642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.54710568099998 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:111.43, Y:77.42, Z:54.79 [[-7.18827308e-02 -9.93894391e-01 8.37067000e-02 1.11428264e+02] [ 7.21455840e-01 -1.09761152e-01 -6.83706048e-01 7.74189205e+01] [ 6.88719350e-01 1.12440298e-02 7.24940845e-01 5.47862932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57710568099998 meters Centerline goodness : 0.995502 Centerline is valid? [True, True] Translation: X:111.43, Y:77.41, Z:54.78 [[-7.13594203e-02 -9.93964538e-01 8.33206439e-02 1.11431171e+02] [ 7.22273483e-01 -1.09103144e-01 -6.82947670e-01 7.74149062e+01] [ 6.87916310e-01 1.14455418e-02 7.25699766e-01 5.47813454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.60710568099998 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:111.43, Y:77.42, Z:54.79 [[-7.20249844e-02 -9.93942577e-01 8.30093693e-02 1.11431493e+02] [ 7.22396281e-01 -1.09369812e-01 -6.82775114e-01 7.74237258e+01] [ 6.87717976e-01 1.07887927e-02 7.25897780e-01 5.47885901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63710568099998 meters Centerline goodness : 0.995696 Centerline is valid? [True, True] Translation: X:111.43, Y:77.42, Z:54.79 [[-7.40036641e-02 -9.93809555e-01 8.28614853e-02 1.11433405e+02] [ 7.21841748e-01 -1.10710725e-01 -6.83145392e-01 7.74216916e+01] [ 6.88090073e-01 9.25761728e-03 7.25566226e-01 5.47850558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.66710568099998 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:111.43, Y:77.42, Z:54.78 [[-7.43226961e-02 -9.93801377e-01 8.26738216e-02 1.11434020e+02] [ 7.21011272e-01 -1.10823644e-01 -6.84003557e-01 7.74237891e+01] [ 6.88925891e-01 8.77176875e-03 7.24778706e-01 5.47843425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69710568099998 meters Centerline goodness : 0.996092 Centerline is valid? [True, True] Translation: X:111.43, Y:77.43, Z:54.79 [[-7.39170510e-02 -9.93815501e-01 8.28674868e-02 1.11434287e+02] [ 7.17976661e-01 -1.10702535e-01 -6.87207730e-01 7.74304720e+01] [ 6.92131335e-01 8.70055265e-03 7.21719139e-01 5.47882610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.72710568099998 meters Centerline goodness : 0.996006 Centerline is valid? [True, True] Translation: X:111.44, Y:77.43, Z:54.79 [[-7.24309110e-02 -9.93932940e-01 8.27712110e-02 1.11436088e+02] [ 7.17374301e-01 -1.09572890e-01 -6.88017365e-01 7.74340671e+01] [ 6.92912603e-01 9.54421505e-03 7.20958412e-01 5.47897771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75710568099998 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:111.44, Y:77.44, Z:54.79 [[-7.06701744e-02 -9.94083637e-01 8.24830288e-02 1.11437549e+02] [ 7.18355015e-01 -1.08090436e-01 -6.87228150e-01 7.74367802e+01] [ 6.92077885e-01 1.06855642e-02 7.21743736e-01 5.47925825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.78710568099999 meters Centerline goodness : 0.996507 Centerline is valid? [True, True] Translation: X:111.44, Y:77.44, Z:54.80 [[-6.86913317e-02 -9.94235556e-01 8.23235136e-02 1.11438378e+02] [ 7.19088647e-01 -1.06541081e-01 -6.86702640e-01 7.74403541e+01] [ 6.91515017e-01 1.20273853e-02 7.22261950e-01 5.47970003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.817105681 meters Centerline goodness : 0.996575 Centerline is valid? [True, True] Translation: X:111.44, Y:77.44, Z:54.80 [[-6.28329284e-02 -9.94630898e-01 8.22277356e-02 1.11438114e+02] [ 7.19693911e-01 -1.02237061e-01 -6.86722839e-01 7.74424569e+01] [ 6.91442476e-01 1.60299937e-02 7.22253655e-01 5.48029754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.847105681 meters Centerline goodness : 0.996065 Centerline is valid? [True, True] Translation: X:111.44, Y:77.45, Z:54.81 [[-5.63972564e-02 -9.95046521e-01 8.18643458e-02 1.11438318e+02] [ 7.21703127e-01 -9.72882262e-02 -6.85331743e-01 7.74487205e+01] [ 6.89901404e-01 2.04309243e-02 7.23614974e-01 5.48084443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.877105681 meters Centerline goodness : 0.995878 Centerline is valid? [True, True] Translation: X:111.44, Y:77.45, Z:54.81 [[-5.32979464e-02 -9.95239487e-01 8.15946896e-02 1.11439537e+02] [ 7.22595096e-01 -9.48350748e-02 -6.84735450e-01 7.74523579e+01] [ 6.89213796e-01 2.24649292e-02 7.24209687e-01 5.48108831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.907105681 meters Centerline goodness : 0.995878 Centerline is valid? [True, True] Translation: X:111.44, Y:77.45, Z:54.81 [[-5.30893958e-02 -9.95266777e-01 8.13975394e-02 1.11439441e+02] [ 7.22610473e-01 -9.45481604e-02 -6.84758899e-01 7.74536466e+01] [ 6.89213769e-01 2.24652783e-02 7.24209701e-01 5.48120274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93710568099996 meters Centerline goodness : 0.996222 Centerline is valid? [True, True] Translation: X:111.44, Y:77.46, Z:54.82 [[-4.98587299e-02 -9.95440977e-01 8.13103176e-02 1.11441740e+02] [ 7.22028926e-01 -9.21737808e-02 -6.85695431e-01 7.74626440e+01] [ 6.90064009e-01 2.45204980e-02 7.23332847e-01 5.48180867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.96710568099996 meters Centerline goodness : 0.996692 Centerline is valid? [True, True] Translation: X:111.44, Y:77.46, Z:54.82 [[-4.94819169e-02 -9.95451009e-01 8.14176150e-02 1.11442813e+02] [ 7.21985083e-01 -9.19772034e-02 -6.85767988e-01 7.74644105e+01] [ 6.90137001e-01 2.48491889e-02 7.23251988e-01 5.48185659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.99710568099997 meters Centerline goodness : 0.996251 Centerline is valid? [True, True] Translation: X:111.44, Y:77.47, Z:54.82 [[-5.01353210e-02 -9.95445201e-01 8.10882306e-02 1.11443834e+02] [ 7.23786632e-01 -9.21585665e-02 -6.83841875e-01 7.74670857e+01] [ 6.88200088e-01 2.44059455e-02 7.25110329e-01 5.48203854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.02710568099997 meters Centerline goodness : 0.996905 Centerline is valid? [True, True] Translation: X:111.45, Y:77.46, Z:54.81 [[-5.10838146e-02 -9.95408447e-01 8.09473146e-02 1.11446701e+02] [ 7.24022051e-01 -9.27402485e-02 -6.83513947e-01 7.74581507e+01] [ 6.87882631e-01 2.36911410e-02 7.25435191e-01 5.48124522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.05710568099997 meters Centerline goodness : 0.996569 Centerline is valid? [True, True] Translation: X:111.45, Y:77.46, Z:54.81 [[-5.24242357e-02 -9.95352910e-01 8.07730467e-02 1.11447890e+02] [ 7.22861360e-01 -9.36294279e-02 -6.84620321e-01 7.74609626e+01] [ 6.89001563e-01 2.24970173e-02 7.24410609e-01 5.48149011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.08710568099997 meters Centerline goodness : 0.996759 Centerline is valid? [True, True] Translation: X:111.45, Y:77.46, Z:54.81 [[-5.66536443e-02 -9.95108431e-01 8.09294492e-02 1.11452989e+02] [ 7.21172440e-01 -9.68445628e-02 -6.85952945e-01 7.74576072e+01] [ 6.90435135e-01 1.95023542e-02 7.23131373e-01 5.48084591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.11710568099997 meters Centerline goodness : 0.997216 Centerline is valid? [True, True] Translation: X:111.46, Y:77.47, Z:54.82 [[-6.10799684e-02 -9.94851073e-01 8.08738503e-02 1.11455215e+02] [ 7.20450229e-01 -1.00020246e-01 -6.86256088e-01 7.74655504e+01] [ 6.90811628e-01 1.63490838e-02 7.22849917e-01 5.48150306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.14710568099997 meters Centerline goodness : 0.996573 Centerline is valid? [True, True] Translation: X:111.46, Y:77.45, Z:54.81 [[-6.88485551e-02 -9.94272600e-01 8.17427219e-02 1.11461326e+02] [ 7.18964030e-01 -1.06255427e-01 -6.86877360e-01 7.74547418e+01] [ 6.91628947e-01 1.14795630e-02 7.22161768e-01 5.48063488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.17710568099997 meters Centerline goodness : 0.996723 Centerline is valid? [True, True] Translation: X:111.46, Y:77.45, Z:54.80 [[-7.36703903e-02 -9.93923239e-01 8.17879534e-02 1.11464554e+02] [ 7.17284464e-01 -1.09786182e-01 -6.88077025e-01 7.74479288e+01] [ 6.92874932e-01 7.97432533e-03 7.21013688e-01 5.47999296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.20710568099997 meters Centerline goodness : 0.997010 Centerline is valid? [True, True] Translation: X:111.47, Y:77.45, Z:54.80 [[-8.56701559e-02 -9.92950435e-01 8.19149479e-02 1.11472205e+02] [ 7.15722162e-01 -1.18529838e-01 -6.88253198e-01 7.74495062e+01] [ 6.93110677e-01 -3.34415066e-04 7.20831102e-01 5.47997659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.23710568099997 meters Centerline goodness : 0.997052 Centerline is valid? [True, True] Translation: X:111.48, Y:77.43, Z:54.79 [[-9.17351713e-02 -9.92363809e-01 8.24544079e-02 1.11477422e+02] [ 7.16809828e-01 -1.23285165e-01 -6.86283060e-01 7.74343145e+01] [ 6.91207876e-01 -3.85216405e-03 7.22645717e-01 5.47871254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.26710568099998 meters Centerline goodness : 0.997229 Centerline is valid? [True, True] Translation: X:111.48, Y:77.43, Z:54.79 [[-1.00982042e-01 -9.91493735e-01 8.21145604e-02 1.11482870e+02] [ 7.18395589e-01 -1.29767937e-01 -6.83423778e-01 7.74292906e+01] [ 6.88266232e-01 -1.00227909e-02 7.25388956e-01 5.47862696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.29710568099998 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:111.49, Y:77.42, Z:54.77 [[-1.06276902e-01 -9.90878684e-01 8.28532068e-02 1.11487886e+02] [ 7.17736236e-01 -1.34113813e-01 -6.83277528e-01 7.74174001e+01] [ 6.88156897e-01 -1.31498702e-02 7.25442738e-01 5.47733718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.32710568099998 meters Centerline goodness : 0.997732 Centerline is valid? [True, True] Translation: X:111.49, Y:77.42, Z:54.78 [[-1.07770345e-01 -9.90661429e-01 8.35193789e-02 1.11488810e+02] [ 7.17340837e-01 -1.35651105e-01 -6.83389275e-01 7.74211582e+01] [ 6.88336892e-01 -1.37372371e-02 7.25261065e-01 5.47752186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35710568099998 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:111.49, Y:77.43, Z:54.78 [[-1.05165839e-01 -9.90867587e-01 8.43893988e-02 1.11487175e+02] [ 7.16605277e-01 -1.34346917e-01 -6.84417842e-01 7.74270813e+01] [ 6.89504911e-01 -1.15034878e-02 7.24189648e-01 5.47820868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38710568099998 meters Centerline goodness : 0.997855 Centerline is valid? [True, True] Translation: X:111.49, Y:77.42, Z:54.78 [[-1.01434597e-01 -9.91193788e-01 8.51228315e-02 1.11485355e+02] [ 7.17165852e-01 -1.32155141e-01 -6.84257378e-01 7.74245914e+01] [ 6.89481082e-01 -8.36018346e-03 7.24255441e-01 5.47828861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41710568099998 meters Centerline goodness : 0.997332 Centerline is valid? [True, True] Translation: X:111.48, Y:77.43, Z:54.80 [[-8.78976870e-02 -9.92433381e-01 8.57320271e-02 1.11480272e+02] [ 7.19972077e-01 -1.22772729e-01 -6.83057147e-01 7.74329622e+01] [ 6.88414269e-01 1.68552235e-03 7.25315761e-01 5.47960844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44710568099998 meters Centerline goodness : 0.996973 Centerline is valid? [True, True] Translation: X:111.48, Y:77.44, Z:54.80 [[-7.36371832e-02 -9.93511746e-01 8.66716500e-02 1.11475995e+02] [ 7.20311252e-01 -1.13090922e-01 -6.84369888e-01 7.74401369e+01] [ 6.89731299e-01 1.20354939e-02 7.23965387e-01 5.48035216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47710568099998 meters Centerline goodness : 0.996828 Centerline is valid? [True, True] Translation: X:111.47, Y:77.45, Z:54.81 [[-6.84672004e-02 -9.93802651e-01 8.75701644e-02 1.11473663e+02] [ 7.20015714e-01 -1.09981010e-01 -6.85187236e-01 7.74451251e+01] [ 6.90571947e-01 1.61390427e-02 7.23083618e-01 5.48084538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.50710568099998 meters Centerline goodness : 0.996848 Centerline is valid? [True, True] Translation: X:111.47, Y:77.45, Z:54.81 [[-6.06046231e-02 -9.94265029e-01 8.81143116e-02 1.11473415e+02] [ 7.22746866e-01 -1.04597115e-01 -6.83151821e-01 7.74454536e+01] [ 6.88450468e-01 2.22821839e-02 7.24941002e-01 5.48072476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53710568099999 meters Centerline goodness : 0.997016 Centerline is valid? [True, True] Translation: X:111.47, Y:77.45, Z:54.81 [[-5.80562370e-02 -9.94364602e-01 8.87046299e-02 1.11473285e+02] [ 7.24572801e-01 -1.03094180e-01 -6.81443942e-01 7.74451038e+01] [ 6.86748666e-01 2.47108911e-02 7.26474805e-01 5.48078817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.567105681 meters Centerline goodness : 0.997038 Centerline is valid? [True, True] Translation: X:111.47, Y:77.45, Z:54.81 [[-5.33417942e-02 -9.94565670e-01 8.94079516e-02 1.11471932e+02] [ 7.25790718e-01 -1.00109374e-01 -6.80592350e-01 7.74450378e+01] [ 6.85844360e-01 2.85874443e-02 7.27186545e-01 5.48084735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.597105681 meters Centerline goodness : 0.996932 Centerline is valid? [True, True] Translation: X:111.47, Y:77.45, Z:54.81 [[-5.19434477e-02 -9.94561276e-01 9.02759466e-02 1.11472865e+02] [ 7.25506216e-01 -9.97014425e-02 -6.80955471e-01 7.74460778e+01] [ 6.86252584e-01 3.01245855e-02 7.26739224e-01 5.48079322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.627105681 meters Centerline goodness : 0.996989 Centerline is valid? [True, True] Translation: X:111.47, Y:77.46, Z:54.81 [[-4.84372952e-02 -9.94636275e-01 9.13920597e-02 1.11474494e+02] [ 7.23701286e-01 -9.80114008e-02 -6.83118009e-01 7.74550075e+01] [ 6.88411416e-01 3.30521624e-02 7.24566958e-01 5.48134277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65710568099996 meters Centerline goodness : 0.996497 Centerline is valid? [True, True] Translation: X:111.47, Y:77.46, Z:54.82 [[-4.76642095e-02 -9.94572709e-01 9.24837800e-02 1.11474867e+02] [ 7.21904119e-01 -9.82916884e-02 -6.84976778e-01 7.74596547e+01] [ 6.90349597e-01 3.41155450e-02 7.22671131e-01 5.48168589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.68710568099996 meters Centerline goodness : 0.996666 Centerline is valid? [True, True] Translation: X:111.48, Y:77.46, Z:54.81 [[-5.05265026e-02 -9.94329571e-01 9.35723041e-02 1.11482308e+02] [ 7.19892760e-01 -1.01200615e-01 -6.86667932e-01 7.74577936e+01] [ 6.92243805e-01 3.26670952e-02 7.20923973e-01 5.48118943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.71710568099996 meters Centerline goodness : 0.996987 Centerline is valid? [True, True] Translation: X:111.49, Y:77.46, Z:54.82 [[-5.46202847e-02 -9.94028614e-01 9.44655443e-02 1.11487021e+02] [ 7.19168389e-01 -1.04794189e-01 -6.86887914e-01 7.74625523e+01] [ 6.92685681e-01 3.04186199e-02 7.20597845e-01 5.48155465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.74710568099997 meters Centerline goodness : 0.997271 Centerline is valid? [True, True] Translation: X:111.50, Y:77.44, Z:54.80 [[-6.43583336e-02 -9.93352761e-01 9.54373962e-02 1.11497192e+02] [ 7.17279367e-01 -1.12537323e-01 -6.87637739e-01 7.74449492e+01] [ 6.93807116e-01 2.42000562e-02 7.19754155e-01 5.48012166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.77710568099997 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:111.51, Y:77.43, Z:54.79 [[-7.43897740e-02 -9.92583158e-01 9.61500709e-02 1.11507257e+02] [ 7.17021202e-01 -1.20247649e-01 -6.86601121e-01 7.74322291e+01] [ 6.93070529e-01 1.78655372e-02 7.20648364e-01 5.47909884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.80710568099997 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:111.51, Y:77.43, Z:54.79 [[-7.91304061e-02 -9.92144643e-01 9.68885262e-02 1.11511805e+02] [ 7.16984624e-01 -1.24170478e-01 -6.85940770e-01 7.74325318e+01] [ 6.92583155e-01 1.51888118e-02 7.21178115e-01 5.47913310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83710568099997 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:111.52, Y:77.43, Z:54.79 [[-8.61735462e-02 -9.91467938e-01 9.78031029e-02 1.11519257e+02] [ 7.15363701e-01 -1.29902564e-01 -6.86571263e-01 7.74255879e+01] [ 6.93418269e-01 1.08005091e-02 7.20454338e-01 5.47859306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.86710568099997 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:111.52, Y:77.42, Z:54.78 [[-9.01610845e-02 -9.91016307e-01 9.87808569e-02 1.11521478e+02] [ 7.13673571e-01 -1.33470801e-01 -6.87644951e-01 7.74228477e+01] [ 6.94651721e-01 8.49847233e-03 7.19296019e-01 5.47817859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89710568099997 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:111.52, Y:77.43, Z:54.78 [[-9.73035066e-02 -9.90236421e-01 9.98191254e-02 1.11524927e+02] [ 7.11090578e-01 -1.39342879e-01 -6.89154374e-01 7.74258307e+01] [ 6.96334845e-01 3.92330243e-03 7.17706340e-01 5.47827555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.92710568099997 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:111.53, Y:77.42, Z:54.78 [[-1.01245602e-01 -9.89771487e-01 1.00507374e-01 1.11527762e+02] [ 7.11314756e-01 -1.42650363e-01 -6.88245735e-01 7.74211311e+01] [ 6.95543417e-01 1.81052425e-03 7.18481786e-01 5.47792632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.95710568099997 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:111.53, Y:77.40, Z:54.77 [[-1.10389128e-01 -9.88717829e-01 1.01248683e-01 1.11534139e+02] [ 7.10384744e-01 -1.49736909e-01 -6.87700788e-01 7.74035483e+01] [ 6.95102694e-01 -3.98917026e-03 7.18899388e-01 5.47655007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.98710568099997 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:111.50, Y:77.64, Z:55.00 [[-1.25890916e-01 -9.85642491e-01 1.12518255e-01 1.11498682e+02] [ 7.13990049e-01 -1.68765407e-01 -6.79511919e-01 7.76437773e+01] [ 6.88745009e-01 -5.20746374e-03 7.24984962e-01 5.49970749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.01710568099998 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:111.78, Y:77.51, Z:54.74 [[-1.03581020e-01 -3.83670109e-01 -9.17642752e-01 1.11784611e+02] [ 6.86249906e-01 6.40256585e-01 -3.45155867e-01 7.75133539e+01] [ 7.19952804e-01 -6.65483848e-01 1.96975146e-01 5.47422560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.04710568099998 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:111.53, Y:77.45, Z:54.78 [[-1.07727659e-01 -9.90214542e-01 8.87125237e-02 1.11528039e+02] [ 6.61410267e-01 -1.38003146e-01 -7.37218822e-01 7.74496099e+01] [ 7.42247405e-01 -2.07434838e-02 6.69804820e-01 5.47826609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07710568099998 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:111.53, Y:77.45, Z:54.78 [[-1.09450563e-01 -9.89992964e-01 8.90758412e-02 1.11526099e+02] [ 6.60837369e-01 -1.39414640e-01 -7.37466968e-01 7.74470747e+01] [ 7.42505586e-01 -2.18515300e-02 6.69483357e-01 5.47824214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.10710568099998 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:111.52, Y:77.44, Z:54.78 [[-1.06749593e-01 -9.90224342e-01 8.97790460e-02 1.11523423e+02] [ 6.62672588e-01 -1.38172852e-01 -7.36052514e-01 7.74409726e+01] [ 7.41262143e-01 -1.90791936e-02 6.70944424e-01 5.47784974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13710568099998 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:111.52, Y:77.43, Z:54.77 [[-1.03211702e-01 -9.90534454e-01 9.04922097e-02 1.11522022e+02] [ 6.64475832e-01 -1.36362782e-01 -7.34763268e-01 7.74310973e+01] [ 7.40148102e-01 -1.57062811e-02 6.72260441e-01 5.47713457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.16710568099998 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:111.51, Y:77.44, Z:54.78 [[-9.17179045e-02 -9.91620677e-01 9.09739476e-02 1.11510565e+02] [ 6.69280080e-01 -1.29033659e-01 -7.31720226e-01 7.74354620e+01] [ 7.37327607e-01 -6.22479480e-03 6.75506663e-01 5.47820564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19710568099998 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:111.50, Y:77.44, Z:54.78 [[-8.62271169e-02 -9.92052083e-01 9.16381425e-02 1.11504846e+02] [ 6.71607337e-01 -1.25819978e-01 -7.30145820e-01 7.74360566e+01] [ 7.35872590e-01 -1.41352004e-03 6.77118552e-01 5.47840567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.22710568099998 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:111.50, Y:77.45, Z:54.79 [[-7.41939329e-02 -9.92946506e-01 9.24797118e-02 1.11497368e+02] [ 6.73261420e-01 -1.18285507e-01 -7.29881908e-01 7.74482467e+01] [ 7.35672700e-01 8.11021272e-03 6.77288641e-01 5.47947518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25710568099998 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:111.49, Y:77.46, Z:54.81 [[-6.33990525e-02 -9.93568875e-01 9.38160486e-02 1.11489035e+02] [ 6.70587453e-01 -1.12032479e-01 -7.33322025e-01 7.74645723e+01] [ 7.39116384e-01 1.64199435e-02 6.73377574e-01 5.48076541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.28710568099999 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:111.49, Y:77.46, Z:54.80 [[-5.91010898e-02 -9.93728354e-01 9.49263924e-02 1.11485165e+02] [ 6.69388996e-01 -1.09996166e-01 -7.34723904e-01 7.74620501e+01] [ 7.40557515e-01 2.01196991e-02 6.71691719e-01 5.48036440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.317105681 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:111.48, Y:77.47, Z:54.82 [[-5.29014681e-02 -9.94000737e-01 9.57286294e-02 1.11480571e+02] [ 6.71179116e-01 -1.06373286e-01 -7.33623417e-01 7.74746422e+01] [ 7.39405186e-01 2.54413011e-02 6.72779839e-01 5.48162700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.347105681 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:111.48, Y:77.46, Z:54.80 [[-5.23510583e-02 -9.93947741e-01 9.65777119e-02 1.11482980e+02] [ 6.72062836e-01 -1.06598694e-01 -7.32781184e-01 7.74626207e+01] [ 7.38641260e-01 2.65444205e-02 6.73575892e-01 5.48043604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.377105681 meters Centerline goodness : 0.997580 Centerline is valid? [True, True] Translation: X:111.48, Y:77.46, Z:54.80 [[-5.52980349e-02 -9.93700944e-01 9.74708248e-02 1.11484103e+02] [ 6.72228920e-01 -1.09233106e-01 -7.32240676e-01 7.74620192e+01] [ 7.38275292e-01 2.50312369e-02 6.74034888e-01 5.48033752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40710568099996 meters Centerline goodness : 0.998127 Centerline is valid? [True, True] Translation: X:111.49, Y:77.45, Z:54.80 [[-5.83392856e-02 -9.93429218e-01 9.84627657e-02 1.11485782e+02] [ 6.71472325e-01 -1.12034484e-01 -7.32511564e-01 7.74542487e+01] [ 7.38729616e-01 2.33808209e-02 6.73596238e-01 5.47956772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43710568099996 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:111.49, Y:77.46, Z:54.80 [[-6.29325056e-02 -9.93046875e-01 9.94856970e-02 1.11487480e+02] [ 6.70233418e-01 -1.15912675e-01 -7.33042575e-01 7.74600155e+01] [ 7.39477292e-01 2.05464328e-02 6.72867876e-01 5.48008647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.46710568099996 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:111.49, Y:77.46, Z:54.80 [[-6.45665013e-02 -9.92850067e-01 1.00398759e-01 1.11489277e+02] [ 6.70240702e-01 -1.17684084e-01 -7.32753614e-01 7.74563254e+01] [ 7.39329811e-01 1.99799978e-02 6.73046975e-01 5.47968950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.49710568099997 meters Centerline goodness : 0.997902 Centerline is valid? [True, True] Translation: X:111.49, Y:77.45, Z:54.79 [[-6.69889268e-02 -9.92590817e-01 1.01370382e-01 1.11490051e+02] [ 6.69717853e-01 -1.20042291e-01 -7.32849129e-01 7.74522704e+01] [ 7.39588049e-01 1.87967776e-02 6.72797294e-01 5.47900812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.52710568099997 meters Centerline goodness : 0.998294 Centerline is valid? [True, True] Translation: X:111.49, Y:77.45, Z:54.79 [[-7.15598569e-02 -9.92140897e-01 1.02643203e-01 1.11490967e+02] [ 6.66473486e-01 -1.24123668e-01 -7.35123396e-01 7.74546829e+01] [ 7.42086437e-01 1.58036484e-02 6.70117874e-01 5.47915951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.55710568099997 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:111.49, Y:77.44, Z:54.78 [[-7.60524499e-02 -9.91711483e-01 1.03558485e-01 1.11494563e+02] [ 6.66087102e-01 -1.27815964e-01 -7.34840835e-01 7.74414146e+01] [ 7.41986521e-01 1.30925254e-02 6.70286945e-01 5.47765317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.58710568099997 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:111.49, Y:77.47, Z:54.82 [[-9.28838274e-02 -9.89438963e-01 1.11279528e-01 1.11492752e+02] [ 6.70469537e-01 -1.44780015e-01 -7.27673929e-01 7.74734804e+01] [ 7.36099989e-01 7.02039409e-03 6.76836406e-01 5.48164870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.61710568099997 meters Centerline goodness : 0.998294 Centerline is valid? [True, True] Translation: X:111.50, Y:77.42, Z:54.76 [[-9.48409536e-02 -9.90222501e-01 1.02296586e-01 1.11502503e+02] [ 6.67342854e-01 -1.39492482e-01 -7.31570477e-01 7.74247184e+01] [ 7.38687152e-01 -1.11594602e-03 6.74047510e-01 5.47609068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.64710568099997 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:111.51, Y:77.42, Z:54.75 [[-1.04623509e-01 -9.88994731e-01 1.04610435e-01 1.11506221e+02] [ 6.66749348e-01 -1.47800025e-01 -7.30479609e-01 7.74159539e+01] [ 7.37901910e-01 -6.67640080e-03 6.74874949e-01 5.47534287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.67710568099997 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:111.51, Y:77.41, Z:54.75 [[-1.08643269e-01 -9.88481121e-01 1.05364665e-01 1.11506940e+02] [ 6.67017525e-01 -1.51077445e-01 -7.29563724e-01 7.74087044e+01] [ 7.37078193e-01 -8.98210991e-03 6.75747778e-01 5.47484332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.70710568099997 meters Centerline goodness : 0.998068 Centerline is valid? [True, True] Translation: X:111.50, Y:77.42, Z:54.76 [[-1.11603014e-01 -9.87257817e-01 1.13431786e-01 1.11504848e+02] [ 6.70696888e-01 -1.59057216e-01 -7.24476698e-01 7.74156726e+01] [ 7.33287428e-01 -4.77543719e-03 6.79902010e-01 5.47610868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.73710568099997 meters Centerline goodness : 0.997623 Centerline is valid? [True, True] Translation: X:111.51, Y:77.40, Z:54.74 [[-1.05018668e-01 -9.89167992e-01 1.02556143e-01 1.11509615e+02] [ 6.69508266e-01 -1.46579848e-01 -7.28198482e-01 7.74040989e+01] [ 7.35343295e-01 -7.81224926e-03 6.77649768e-01 5.47430947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.76710568099998 meters Centerline goodness : 0.997372 Centerline is valid? [True, True] Translation: X:111.51, Y:77.41, Z:54.75 [[-1.02097996e-01 -9.88989724e-01 1.07122946e-01 1.11508454e+02] [ 6.69531891e-01 -1.47961462e-01 -7.27897281e-01 7.74124605e+01] [ 7.35732999e-01 -2.59462516e-03 6.77266729e-01 5.47528619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.79710568099998 meters Centerline goodness : 0.997561 Centerline is valid? [True, True] Translation: X:111.51, Y:77.42, Z:54.77 [[-9.30966097e-02 -9.89774866e-01 1.08068202e-01 1.11506154e+02] [ 6.70211281e-01 -1.42563512e-01 -7.28349150e-01 7.74247093e+01] [ 7.36308264e-01 4.62169171e-03 6.76630460e-01 5.47655631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.82710568099998 meters Centerline goodness : 0.997561 Centerline is valid? [True, True] Translation: X:111.51, Y:77.42, Z:54.76 [[-9.39233330e-02 -9.89599886e-01 1.08951699e-01 1.11506376e+02] [ 6.70096127e-01 -1.43773429e-01 -7.28217263e-01 7.74227744e+01] [ 7.36308080e-01 4.61151885e-03 6.76630731e-01 5.47637239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85710568099998 meters Centerline goodness : 0.997249 Centerline is valid? [True, True] Translation: X:111.51, Y:77.42, Z:54.76 [[-8.85892808e-02 -9.90002867e-01 1.09755467e-01 1.11505406e+02] [ 6.71557944e-01 -1.40742823e-01 -7.27462291e-01 7.74195303e+01] [ 7.35637048e-01 9.26179446e-03 6.77312596e-01 5.47600774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88710568099998 meters Centerline goodness : 0.997290 Centerline is valid? [True, True] Translation: X:111.50, Y:77.43, Z:54.77 [[-7.57405951e-02 -9.90987309e-01 1.10487629e-01 1.11502319e+02] [ 6.74525443e-01 -1.32526021e-01 -7.26259101e-01 7.74266085e+01] [ 7.34356037e-01 1.95194205e-02 6.78483753e-01 5.47670144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91710568099998 meters Centerline goodness : 0.997186 Centerline is valid? [True, True] Translation: X:111.50, Y:77.43, Z:54.77 [[-7.06892532e-02 -9.91249684e-01 1.11476876e-01 1.11501873e+02] [ 6.74593074e-01 -1.29830888e-01 -7.26682960e-01 7.74296552e+01] [ 7.34797396e-01 2.38328529e-02 6.77867820e-01 5.47683568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94710568099998 meters Centerline goodness : 0.997030 Centerline is valid? [True, True] Translation: X:111.50, Y:77.44, Z:54.78 [[-6.51701843e-02 -9.91507134e-01 1.12545326e-01 1.11501020e+02] [ 6.74252938e-01 -1.26897474e-01 -7.27516327e-01 7.74411918e+01] [ 7.35619346e-01 2.84716437e-02 6.76796530e-01 5.47791895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97710568099998 meters Centerline goodness : 0.997506 Centerline is valid? [True, True] Translation: X:111.50, Y:77.47, Z:54.81 [[-6.74313753e-02 -9.90407691e-01 1.20605201e-01 1.11498866e+02] [ 6.78111281e-01 -1.34163442e-01 -7.22610035e-01 7.74722918e+01] [ 7.31859345e-01 3.30571589e-02 6.80653453e-01 5.48128210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.00710568099998 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:111.51, Y:77.44, Z:54.77 [[-6.46432443e-02 -9.91795057e-01 1.10289694e-01 1.11509152e+02] [ 6.73720067e-01 -1.24906250e-01 -7.28354103e-01 7.74379479e+01] [ 7.36153871e-01 2.72212076e-02 6.76266578e-01 5.47711909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03710568099999 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:111.51, Y:77.43, Z:54.77 [[-6.98333634e-02 -9.90948280e-01 1.14650804e-01 1.11514553e+02] [ 6.74416230e-01 -1.31585251e-01 -7.26531534e-01 7.74327524e+01] [ 7.35041530e-01 2.65862227e-02 6.77500644e-01 5.47690646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.067105681 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:111.52, Y:77.43, Z:54.76 [[-7.31092826e-02 -9.90587577e-01 1.15720722e-01 1.11517451e+02] [ 6.73101352e-01 -1.34628443e-01 -7.27193064e-01 7.74268322e+01] [ 7.35927716e-01 2.47272111e-02 6.76608426e-01 5.47638504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.097105681 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:111.52, Y:77.43, Z:54.77 [[-8.07866090e-02 -9.89864909e-01 1.16794629e-01 1.11521622e+02] [ 6.71094492e-01 -1.40656588e-01 -7.27906523e-01 7.74309670e+01] [ 7.36957059e-01 1.95751324e-02 6.75656057e-01 5.47658926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.127105681 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:111.53, Y:77.42, Z:54.76 [[-8.57887343e-02 -9.89329161e-01 1.17762916e-01 1.11525534e+02] [ 6.70171238e-01 -1.44763633e-01 -7.27951923e-01 7.74236454e+01] [ 7.37231853e-01 1.64712448e-02 6.75439037e-01 5.47555831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15710568099996 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:111.53, Y:77.41, Z:54.74 [[-9.65874060e-02 -9.88217735e-01 1.18729023e-01 1.11533618e+02] [ 6.68333097e-01 -1.52787701e-01 -7.28001916e-01 7.74106831e+01] [ 7.37564739e-01 9.03471879e-03 6.75215987e-01 5.47421884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.18710568099996 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:111.54, Y:77.41, Z:54.74 [[-1.03772224e-01 -9.87398486e-01 1.19480360e-01 1.11536752e+02] [ 6.68296215e-01 -1.58192003e-01 -7.26880636e-01 7.74104868e+01] [ 7.36621676e-01 4.41825201e-03 6.76290607e-01 5.47409306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21710568099996 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:111.54, Y:77.40, Z:54.73 [[-1.18199809e-01 -9.85685018e-01 1.20224171e-01 1.11544744e+02] [ 6.66947897e-01 -1.68504053e-01 -7.25800858e-01 7.73990017e+01] [ 7.35669292e-01 -5.60626523e-03 6.77317697e-01 5.47283986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.24710568099997 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:111.55, Y:77.38, Z:54.71 [[-1.33203844e-01 -9.82836884e-01 1.27626001e-01 1.11550869e+02] [ 6.68046034e-01 -1.84161714e-01 -7.20970845e-01 7.73805468e+01] [ 7.32100562e-01 -1.07760441e-02 6.81111330e-01 5.47104764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.27710568099997 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:111.55, Y:77.42, Z:54.76 [[-1.41154959e-01 -9.81657873e-01 1.28152638e-01 1.11545115e+02] [ 6.67431545e-01 -1.89969771e-01 -7.20032374e-01 7.74213404e+01] [ 7.31170575e-01 -1.61030271e-02 6.82004606e-01 5.47558724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.30710568099997 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:111.56, Y:77.37, Z:54.70 [[-1.40048912e-01 -9.82730804e-01 1.20939940e-01 1.11556151e+02] [ 6.64624314e-01 -1.83840360e-01 -7.24208011e-01 7.73731959e+01] [ 7.33935163e-01 -2.10449192e-02 6.78893429e-01 5.47012700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.33710568099997 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:111.55, Y:77.38, Z:54.71 [[-1.40668793e-01 -9.82429103e-01 1.22659479e-01 1.11554747e+02] [ 6.64524148e-01 -1.85527167e-01 -7.23869690e-01 7.73808311e+01] [ 7.33907316e-01 -2.03156897e-02 6.78945745e-01 5.47110525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.36710568099997 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:111.55, Y:77.37, Z:54.70 [[-1.36357223e-01 -9.82933640e-01 1.23483467e-01 1.11553199e+02] [ 6.65439763e-01 -1.83219063e-01 -7.23616402e-01 7.73672458e+01] [ 7.33891429e-01 -1.64995138e-02 6.79066371e-01 5.47011297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.39710568099997 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:111.55, Y:77.38, Z:54.71 [[-1.32234447e-01 -9.83384487e-01 1.24374441e-01 1.11548897e+02] [ 6.65882579e-01 -1.81077083e-01 -7.23748217e-01 7.73762211e+01] [ 7.34244130e-01 -1.28856717e-02 6.78763226e-01 5.47111595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.42710568099997 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:111.55, Y:77.37, Z:54.71 [[-1.23055680e-01 -9.84487493e-01 1.25066682e-01 1.11546231e+02] [ 6.68514985e-01 -1.75373897e-01 -7.22725197e-01 7.73737973e+01] [ 7.33447349e-01 -5.32648952e-03 6.79725396e-01 5.47068917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.45710568099997 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:111.54, Y:77.39, Z:54.72 [[-1.13954860e-01 -9.85461877e-01 1.26012613e-01 1.11540818e+02] [ 6.69523359e-01 -1.69885310e-01 -7.23102658e-01 7.73862369e+01] [ 7.33997794e-01 1.96732565e-03 6.79149003e-01 5.47201903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.48710568099997 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:111.53, Y:77.43, Z:54.77 [[-1.14816729e-01 -9.84498358e-01 1.32589975e-01 1.11529383e+02] [ 6.72216135e-01 -1.75271805e-01 -7.19308878e-01 7.74296714e+01] [ 7.31397694e-01 6.54042836e-03 6.81919816e-01 5.47695118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.51710568099998 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:111.53, Y:77.39, Z:54.73 [[-1.03233804e-01 -9.86519637e-01 1.26971602e-01 1.11532189e+02] [ 6.71276034e-01 -1.63299547e-01 -7.22994982e-01 7.73929182e+01] [ 7.33983152e-01 1.05954707e-02 6.79085023e-01 5.47283358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.54710568099998 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:111.53, Y:77.39, Z:54.73 [[-9.87395748e-02 -9.86762392e-01 1.28648661e-01 1.11529530e+02] [ 6.71618108e-01 -1.61476985e-01 -7.23086648e-01 7.73930521e+01] [ 7.34288508e-01 1.50055024e-02 6.78671660e-01 5.47292208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57710568099998 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:111.50, Y:77.53, Z:54.87 [[-1.02248096e-01 -9.85744161e-01 1.33618020e-01 1.11503164e+02] [ 6.72438410e-01 -1.67475850e-01 -7.20956604e-01 7.75251787e+01] [ 7.33056554e-01 1.61334489e-02 6.79976323e-01 5.48736431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.60710568099998 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:111.53, Y:77.39, Z:54.73 [[-9.89085540e-02 -9.86597686e-01 1.29777130e-01 1.11526180e+02] [ 6.70449131e-01 -1.62443013e-01 -7.23954577e-01 7.73926806e+01] [ 7.35333299e-01 1.54036635e-02 6.77530565e-01 5.47257424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63710568099998 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:111.53, Y:77.39, Z:54.72 [[-1.00783725e-01 -9.86411155e-01 1.29752356e-01 1.11527718e+02] [ 6.70077999e-01 -1.63700106e-01 -7.24015021e-01 7.73924118e+01] [ 7.35416968e-01 1.39752682e-02 6.77470719e-01 5.47224130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.66710568099998 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:111.53, Y:77.39, Z:54.72 [[-1.04915129e-01 -9.85853300e-01 1.30713755e-01 1.11532819e+02] [ 6.69065442e-01 -1.67216727e-01 -7.24147775e-01 7.73890356e+01] [ 7.35761001e-01 1.14819986e-02 6.77143939e-01 5.47170203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69710568099998 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:111.50, Y:77.55, Z:54.89 [[-1.13670728e-01 -9.84577943e-01 1.32985865e-01 1.11504502e+02] [ 6.68262860e-01 -1.74819103e-01 -7.23092685e-01 7.75483222e+01] [ 7.35189578e-01 6.67504272e-03 6.77828687e-01 5.48921924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.72710568099998 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:111.54, Y:77.38, Z:54.72 [[-1.09082115e-01 -9.84534057e-01 1.37090421e-01 1.11535309e+02] [ 6.67661544e-01 -1.74740268e-01 -7.23666982e-01 7.73825258e+01] [ 7.36430007e-01 1.25908768e-02 6.76396566e-01 5.47163611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75710568099998 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:111.54, Y:77.39, Z:54.72 [[-1.10458916e-01 -9.85146711e-01 1.31471612e-01 1.11536003e+02] [ 6.66686203e-01 -1.71549512e-01 -7.25327699e-01 7.73898414e+01] [ 7.37108089e-01 7.53139791e-03 6.75732894e-01 5.47237911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.78710568099999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:111.54, Y:77.39, Z:54.72 [[-1.11196431e-01 -9.84923176e-01 1.32520529e-01 1.11542326e+02] [ 6.65681551e-01 -1.72829914e-01 -7.25946206e-01 7.73900059e+01] [ 7.37904755e-01 7.49384347e-03 6.74863257e-01 5.47184279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.817105681 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:111.53, Y:77.45, Z:54.78 [[-1.18438597e-01 -9.83114029e-01 1.39495898e-01 1.11534332e+02] [ 6.67711652e-01 -1.82832964e-01 -7.21618499e-01 7.74457063e+01] [ 7.34937718e-01 7.67555395e-03 6.78091171e-01 5.47802163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.847105681 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:111.54, Y:77.40, Z:54.73 [[-1.20692914e-01 -9.83501508e-01 1.34751638e-01 1.11543918e+02] [ 6.65103207e-01 -1.80886787e-01 -7.24512039e-01 7.74020326e+01] [ 7.36933474e-01 2.18027767e-03 6.75961760e-01 5.47328904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.877105681 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:111.54, Y:77.43, Z:54.77 [[-1.32764795e-01 -9.81235516e-01 1.39822641e-01 1.11541586e+02] [ 6.65181692e-01 -1.92793209e-01 -7.21362665e-01 7.74293587e+01] [ 7.34783523e-01 -2.76410570e-03 6.78296052e-01 5.47654229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90710568099996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:111.56, Y:77.37, Z:54.71 [[-1.36409750e-01 -9.80555256e-01 1.41080719e-01 1.11555056e+02] [ 6.65138502e-01 -1.96192887e-01 -7.20485339e-01 7.73741480e+01] [ 7.34154720e-01 -4.44300676e-03 6.78967677e-01 5.47066359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.93710568099996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:111.56, Y:77.36, Z:54.69 [[-1.41842308e-01 -9.80895347e-01 1.33135560e-01 1.11564359e+02] [ 6.60241121e-01 -1.93955760e-01 -7.25577581e-01 7.73611005e+01] [ 7.37538082e-01 -1.50160274e-02 6.75138576e-01 5.46883364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.96710568099996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:111.56, Y:77.41, Z:54.74 [[-1.46604124e-01 -9.79223815e-01 1.40099792e-01 1.11556035e+02] [ 6.59444498e-01 -2.02315336e-01 -7.24017581e-01 7.74089668e+01] [ 7.37319595e-01 -1.37559257e-02 6.75404020e-01 5.47425826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99710568099997 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:111.57, Y:77.36, Z:54.69 [[-1.41920495e-01 -9.80254414e-01 1.37694797e-01 1.11565002e+02] [ 6.58738164e-01 -1.97355453e-01 -7.26026760e-01 7.73629825e+01] [ 7.38865755e-01 -1.23332594e-02 6.73739776e-01 5.46919361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.02710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.56, Y:77.37, Z:54.70 [[-1.34327116e-01 -9.81298597e-01 1.37874181e-01 1.11562979e+02] [ 6.60647366e-01 -1.92385799e-01 -7.25625773e-01 7.73653987e+01] [ 7.38580588e-01 -6.38500298e-03 6.74134962e-01 5.47004001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05710568099997 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:111.53, Y:77.52, Z:54.87 [[-1.33968318e-01 -9.80678688e-01 1.42554557e-01 1.11531122e+02] [ 6.64265005e-01 -1.95615648e-01 -7.21447518e-01 7.75175959e+01] [ 7.35394107e-01 -1.95710754e-03 6.77636833e-01 5.48677669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.08710568099997 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:111.55, Y:77.39, Z:54.73 [[-1.21966348e-01 -9.82701457e-01 1.39363039e-01 1.11554678e+02] [ 6.64515847e-01 -1.85146657e-01 -7.23974726e-01 7.73937771e+01] [ 7.37253619e-01 4.30839493e-03 6.75602353e-01 5.47309517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11710568099997 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:111.56, Y:77.39, Z:54.72 [[-1.16977827e-01 -9.83101650e-01 1.40809565e-01 1.11556353e+02] [ 6.66362903e-01 -1.82825585e-01 -7.22866023e-01 7.73876070e+01] [ 7.36394371e-01 9.27097370e-03 6.76489009e-01 5.47227332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.14710568099997 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:111.56, Y:77.39, Z:54.72 [[-1.14073178e-01 -9.83760732e-01 1.38571757e-01 1.11557811e+02] [ 6.68792184e-01 -1.79185164e-01 -7.21532876e-01 7.73870751e+01] [ 7.34645714e-01 1.03681601e-02 6.78371710e-01 5.47235827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.17710568099997 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:111.56, Y:77.38, Z:54.71 [[-1.14095576e-01 -9.83657056e-01 1.39287460e-01 1.11559266e+02] [ 6.70065813e-01 -1.79706150e-01 -7.20220457e-01 7.73779839e+01] [ 7.33480747e-01 1.11577971e-02 6.79618641e-01 5.47132519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.20710568099997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:111.56, Y:77.38, Z:54.72 [[-1.12007475e-01 -9.83794432e-01 1.40010147e-01 1.11560819e+02] [ 6.71627064e-01 -1.78790971e-01 -7.18992960e-01 7.73830732e+01] [ 7.32373820e-01 1.35020176e-02 6.80768891e-01 5.47197175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.23710568099997 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:111.56, Y:77.39, Z:54.72 [[-1.07695020e-01 -9.84104398e-01 1.41210183e-01 1.11560987e+02] [ 6.70870155e-01 -1.76758786e-01 -7.20201060e-01 7.73884173e+01] [ 7.33713172e-01 1.71716299e-02 6.79242311e-01 5.47235898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.26710568099998 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:111.56, Y:77.40, Z:54.73 [[-1.01603263e-01 -9.84553978e-01 1.42584157e-01 1.11559996e+02] [ 6.69542972e-01 -1.73682149e-01 -7.22181916e-01 7.73970667e+01] [ 7.35791401e-01 2.20901806e-02 6.76847869e-01 5.47302921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.29710568099998 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:111.56, Y:77.39, Z:54.72 [[-9.87389938e-02 -9.84671245e-01 1.43781607e-01 1.11562568e+02] [ 6.68754434e-01 -1.72655561e-01 -7.23158049e-01 7.73945905e+01] [ 7.36897631e-01 2.47506892e-02 6.75551097e-01 5.47246760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.32710568099998 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:111.57, Y:77.40, Z:54.73 [[-9.39000774e-02 -9.84916352e-01 1.45336010e-01 1.11565862e+02] [ 6.66357814e-01 -1.70636241e-01 -7.25844706e-01 7.74006825e+01] [ 7.39695910e-01 2.86889119e-02 6.72329463e-01 5.47255502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35710568099998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:111.57, Y:77.41, Z:54.73 [[-9.36443109e-02 -9.84782144e-01 1.46406530e-01 1.11566719e+02] [ 6.65928281e-01 -1.71270997e-01 -7.26089368e-01 7.74063676e+01] [ 7.40115037e-01 2.95021102e-02 6.71832835e-01 5.47309652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38710568099998 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:111.57, Y:77.41, Z:54.73 [[-9.51651152e-02 -9.84492175e-01 1.47372857e-01 1.11573958e+02] [ 6.65859583e-01 -1.73004107e-01 -7.25741410e-01 7.74058995e+01] [ 7.39982849e-01 2.90643642e-02 6.71997505e-01 5.47330762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41710568099998 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:111.58, Y:77.40, Z:54.72 [[-9.80521541e-02 -9.84090607e-01 1.48160224e-01 1.11579089e+02] [ 6.66593305e-01 -1.75490461e-01 -7.24469781e-01 7.73974527e+01] [ 7.38944612e-01 2.77267908e-02 6.73195428e-01 5.47226774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44710568099998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:111.59, Y:77.40, Z:54.73 [[-1.03842069e-01 -9.83339729e-01 1.49197194e-01 1.11585481e+02] [ 6.65361263e-01 -1.80180418e-01 -7.24451107e-01 7.74048049e+01] [ 7.39263968e-01 2.40415316e-02 6.72986471e-01 5.47313214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:111.59, Y:77.40, Z:54.73 [[-1.07523978e-01 -9.82777463e-01 1.50289897e-01 1.11589839e+02] [ 6.64193168e-01 -1.83490762e-01 -7.24692056e-01 7.74028607e+01] [ 7.39787828e-01 2.18997505e-02 6.72483733e-01 5.47281287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.60, Y:77.39, Z:54.71 [[-1.13488728e-01 -9.81944719e-01 1.51343576e-01 1.11600598e+02] [ 6.62843070e-01 -1.88302829e-01 -7.24693804e-01 7.73918606e+01] [ 7.40107677e-01 1.80724624e-02 6.72245501e-01 5.47137454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.61, Y:77.39, Z:54.71 [[-1.19384389e-01 -9.81147224e-01 1.51978589e-01 1.11607862e+02] [ 6.63647764e-01 -1.92711825e-01 -7.22795820e-01 7.73875703e+01] [ 7.38457184e-01 1.45697136e-02 6.74142945e-01 5.47106334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.567105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.61, Y:77.38, Z:54.71 [[-1.21654667e-01 -9.80730322e-01 1.52866536e-01 1.11611950e+02] [ 6.63668402e-01 -1.94892843e-01 -7.22191825e-01 7.73824795e+01] [ 7.38068015e-01 1.35946838e-02 6.74589349e-01 5.47065904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.597105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:111.62, Y:77.39, Z:54.72 [[-1.24075232e-01 -9.80242112e-01 1.54047845e-01 1.11616549e+02] [ 6.62048363e-01 -1.97419758e-01 -7.22991981e-01 7.73906823e+01] [ 7.39119275e-01 1.22817257e-02 6.73462588e-01 5.47168536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.627105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:111.62, Y:77.38, Z:54.71 [[-1.25283175e-01 -9.79924733e-01 1.55085920e-01 1.11619716e+02] [ 6.61483119e-01 -1.99006464e-01 -7.23074346e-01 7.73849973e+01] [ 7.39421537e-01 1.19976683e-02 6.73135831e-01 5.47099995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.62, Y:77.38, Z:54.71 [[-1.25821769e-01 -9.79696429e-01 1.56089044e-01 1.11623456e+02] [ 6.61279890e-01 -2.00111772e-01 -7.22955175e-01 7.73821976e+01] [ 7.39511859e-01 1.22550472e-02 6.73031964e-01 5.47056166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.68710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.63, Y:77.38, Z:54.71 [[-1.26107869e-01 -9.79502986e-01 1.57069110e-01 1.11625929e+02] [ 6.61204080e-01 -2.01028390e-01 -7.22770193e-01 7.73827968e+01] [ 7.39530912e-01 1.27077272e-02 6.73002633e-01 5.47072006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.63, Y:77.38, Z:54.71 [[-1.27003055e-01 -9.79230477e-01 1.58043969e-01 1.11626237e+02] [ 6.61033013e-01 -2.02351792e-01 -7.22557339e-01 7.73810035e+01] [ 7.39530649e-01 1.27052918e-02 6.73002968e-01 5.47053634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.74710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.63, Y:77.38, Z:54.69 [[-1.31823769e-01 -9.75832051e-01 1.74282247e-01 1.11630079e+02] [ 6.86881734e-01 -2.16686412e-01 -6.93714987e-01 7.73772630e+01] [ 7.14713913e-01 2.82631678e-02 6.98845631e-01 5.46866642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.63, Y:77.39, Z:54.72 [[-1.33125702e-01 -9.80329108e-01 1.45713377e-01 1.11633470e+02] [ 6.65819115e-01 -1.97365974e-01 -7.19535668e-01 7.73880639e+01] [ 7.34140622e-01 1.23006138e-03 6.78996343e-01 5.47174372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.80710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.64, Y:77.37, Z:54.70 [[-1.35177277e-01 -9.78799866e-01 1.53876337e-01 1.11636784e+02] [ 6.64743962e-01 -2.04753784e-01 -7.18464580e-01 7.73685253e+01] [ 7.34739797e-01 5.16827983e-03 6.78329359e-01 5.47019803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.64, Y:77.36, Z:54.70 [[-1.43649809e-01 -9.76829668e-01 1.58645932e-01 1.11642128e+02] [ 6.65795964e-01 -2.13997934e-01 -7.14787114e-01 7.73631470e+01] [ 7.32175161e-01 2.94678924e-03 6.81110013e-01 5.46979567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.86710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.65, Y:77.35, Z:54.68 [[-1.54199695e-01 -9.75127634e-01 1.59212285e-01 1.11648334e+02] [ 6.65363003e-01 -2.21608159e-01 -7.12868781e-01 7.73495491e+01] [ 7.30420789e-01 -3.99018402e-03 6.82985761e-01 5.46815766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:111.65, Y:77.35, Z:54.68 [[-1.59528884e-01 -9.74104182e-01 1.60223522e-01 1.11648243e+02] [ 6.63715822e-01 -2.25978290e-01 -7.13032341e-01 7.73454043e+01] [ 7.30774823e-01 -7.40636705e-03 6.82578423e-01 5.46763889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.92710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.65, Y:77.35, Z:54.68 [[-1.63365262e-01 -9.73193310e-01 1.61884441e-01 1.11645474e+02] [ 6.59067231e-01 -2.29757987e-01 -7.16129634e-01 7.73489959e+01] [ 7.34126812e-01 -1.02979753e-02 6.78934294e-01 5.46776340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.95710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.65, Y:77.34, Z:54.67 [[-1.63675384e-01 -9.72935136e-01 1.63118328e-01 1.11646702e+02] [ 6.57393100e-01 -2.30854308e-01 -7.17314854e-01 7.73432240e+01] [ 7.35557394e-01 -1.01739205e-02 6.77386013e-01 5.46696246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.98710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.63, Y:77.40, Z:54.74 [[-1.66442206e-01 -9.71790760e-01 1.67091922e-01 1.11630252e+02] [ 6.56795166e-01 -2.35654184e-01 -7.16301065e-01 7.74028990e+01] [ 7.35470667e-01 -9.47756226e-03 6.77490276e-01 5.47359510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.01710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:111.64, Y:77.34, Z:54.67 [[-1.59644388e-01 -9.72868575e-01 1.67452698e-01 1.11641676e+02] [ 6.56855682e-01 -2.31313161e-01 -7.17659275e-01 7.73408867e+01] [ 7.36922169e-01 -4.57801971e-03 6.75962099e-01 5.46693928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.63, Y:77.36, Z:54.68 [[-1.62887292e-01 -9.69034651e-01 1.85579028e-01 1.11629380e+02] [ 6.77031093e-01 -2.46598220e-01 -6.93410569e-01 7.73560976e+01] [ 7.17702326e-01 1.26950023e-02 6.96234305e-01 5.46784097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.07710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.62, Y:77.40, Z:54.74 [[-1.54207934e-01 -9.74594336e-01 1.62437043e-01 1.11620243e+02] [ 6.64265623e-01 -2.23967818e-01 -7.13154681e-01 7.74010116e+01] [ 7.31417183e-01 -2.07276642e-03 6.81927128e-01 5.47385452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.10710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.62, Y:77.37, Z:54.71 [[-1.45941653e-01 -9.76039263e-01 1.61395137e-01 1.11621641e+02] [ 6.61595928e-01 -2.17584812e-01 -7.17598549e-01 7.73723673e+01] [ 7.35521489e-01 2.05084699e-03 6.77498290e-01 5.47094025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.62, Y:77.36, Z:54.69 [[-1.29564102e-01 -9.77070165e-01 1.68958679e-01 1.11619446e+02] [ 6.64397053e-01 -2.12031852e-01 -7.16672205e-01 7.73555418e+01] [ 7.36063652e-01 1.94006583e-02 6.76634255e-01 5.46940483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.62, Y:77.35, Z:54.69 [[-1.27369142e-01 -9.77593292e-01 1.67596112e-01 1.11620417e+02] [ 6.65709477e-01 -2.09516730e-01 -7.16193851e-01 7.73509213e+01] [ 7.35260494e-01 2.03493240e-02 6.77479085e-01 5.46887267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.62, Y:77.36, Z:54.70 [[-1.26368381e-01 -9.77604482e-01 1.68286983e-01 1.11619050e+02] [ 6.67290458e-01 -2.09300713e-01 -7.14784343e-01 7.73578513e+01] [ 7.33998963e-01 2.19701573e-02 6.78795135e-01 5.46954428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.59, Y:77.46, Z:54.81 [[-1.32553238e-01 -9.74909402e-01 1.78833155e-01 1.11592507e+02] [ 6.70894461e-01 -2.21060456e-01 -7.07836773e-01 7.74621036e+01] [ 7.29609663e-01 2.61521166e-02 6.83363597e-01 5.48094735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.61, Y:77.39, Z:54.72 [[-1.34955553e-01 -9.76010504e-01 1.70852259e-01 1.11614325e+02] [ 6.69806004e-01 -2.16927473e-01 -7.10142512e-01 7.73852176e+01] [ 7.30169100e-01 1.86001934e-02 6.83013263e-01 5.47221810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.63, Y:77.35, Z:54.69 [[-1.35533472e-01 -9.77432032e-01 1.62041045e-01 1.11627204e+02] [ 6.61940884e-01 -2.11023598e-01 -7.19238005e-01 7.73545835e+01] [ 7.37200749e-01 9.78076852e-03 6.75602984e-01 5.46861415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.317105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.63, Y:77.34, Z:54.68 [[-1.38994574e-01 -9.75202420e-01 1.72222960e-01 1.11629343e+02] [ 6.62931014e-01 -2.20823470e-01 -7.15373654e-01 7.73441227e+01] [ 7.35664991e-01 1.47388858e-02 6.77185194e-01 5.46786177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.347105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.63, Y:77.34, Z:54.68 [[-1.48796116e-01 -9.73650218e-01 1.72814841e-01 1.11631391e+02] [ 6.62453731e-01 -2.27895452e-01 -7.13595626e-01 7.73370058e+01] [ 7.34176253e-01 8.30157807e-03 6.78908178e-01 5.46762662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.377105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.63, Y:77.33, Z:54.67 [[-1.57122098e-01 -9.72183433e-01 1.73700949e-01 1.11634893e+02] [ 6.60800029e-01 -2.34204751e-01 -7.13085869e-01 7.73325591e+01] [ 7.33931855e-01 2.74004413e-03 6.79217582e-01 5.46702903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.64, Y:77.32, Z:54.66 [[-1.60791604e-01 -9.71411540e-01 1.74658753e-01 1.11637946e+02] [ 6.59856540e-01 -2.37400999e-01 -7.12902597e-01 7.73244451e+01] [ 7.33985972e-01 6.20968135e-04 6.79164345e-01 5.46598694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.43710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.64, Y:77.32, Z:54.65 [[-1.67076231e-01 -9.70092677e-01 1.76084445e-01 1.11639016e+02] [ 6.56007857e-01 -2.42703643e-01 -7.14666799e-01 7.73219964e+01] [ 7.36029364e-01 -3.89105548e-03 6.76938428e-01 5.46540249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.46710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.64, Y:77.32, Z:54.65 [[-1.77001492e-01 -9.65106612e-01 1.92975905e-01 1.11636476e+02] [ 6.69879488e-01 -2.61781665e-01 -6.94789055e-01 7.73212888e+01] [ 7.21063065e-01 6.29190081e-03 6.92840868e-01 5.46454930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.49710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:111.64, Y:77.32, Z:54.65 [[-1.79049868e-01 -9.70492669e-01 1.61508899e-01 1.11642330e+02] [ 6.50493265e-01 -2.39936687e-01 -7.20617026e-01 7.73189742e+01] [ 7.38105451e-01 -2.39659321e-02 6.74259577e-01 5.46463898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.52710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:111.63, Y:77.35, Z:54.69 [[-1.88613745e-01 -9.63316243e-01 1.90910116e-01 1.11627416e+02] [ 6.56447440e-01 -2.68259407e-01 -7.05062869e-01 7.73537025e+01] [ 7.30411948e-01 -7.66209101e-03 6.82963893e-01 5.46917398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.55710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:111.63, Y:77.35, Z:54.68 [[-1.93605383e-01 -9.65144311e-01 1.76106261e-01 1.11629458e+02] [ 6.52143066e-01 -2.60708083e-01 -7.11857231e-01 7.73454905e+01] [ 7.32957282e-01 -2.29729149e-02 6.79886658e-01 5.46845864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.58710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.62, Y:77.37, Z:54.71 [[-1.99803077e-01 -9.62663177e-01 1.82642654e-01 1.11622989e+02] [ 6.54739994e-01 -2.69848013e-01 -7.06043618e-01 7.73675229e+01] [ 7.28967949e-01 -2.14862370e-02 6.84210546e-01 5.47097018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.61710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.64, Y:77.29, Z:54.63 [[-2.00897210e-01 -9.65330021e-01 1.66668115e-01 1.11643216e+02] [ 6.47205315e-01 -2.58509600e-01 -7.17145778e-01 7.72924348e+01] [ 7.35367657e-01 -3.62040965e-02 6.76700578e-01 5.46252372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.64710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:111.64, Y:77.28, Z:54.62 [[-2.02905088e-01 -9.62578180e-01 1.79646243e-01 1.11636103e+02] [ 6.48056084e-01 -2.69542522e-01 -7.12299193e-01 7.72822749e+01] [ 7.34065962e-01 -2.81082901e-02 6.78496196e-01 5.46218508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.67710568099997 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:111.63, Y:77.28, Z:54.62 [[-2.01222996e-01 -9.62789506e-01 1.80404192e-01 1.11632220e+02] [ 6.48985319e-01 -2.68986879e-01 -7.11662922e-01 7.72771276e+01] [ 7.33707954e-01 -2.61232735e-02 6.78962601e-01 5.46188596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.62, Y:77.28, Z:54.63 [[-1.93168502e-01 -9.64246414e-01 1.81424315e-01 1.11621324e+02] [ 6.50461680e-01 -2.64285823e-01 -7.12076265e-01 7.72803373e+01] [ 7.34564860e-01 -1.95411406e-02 6.78257039e-01 5.46265851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.73710568099997 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:111.62, Y:77.27, Z:54.62 [[-1.88246420e-01 -9.65067369e-01 1.82231331e-01 1.11618938e+02] [ 6.52051373e-01 -2.61564222e-01 -7.11627125e-01 7.72728774e+01] [ 7.34433314e-01 -1.51370691e-02 6.78512031e-01 5.46197300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.76710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:111.61, Y:77.28, Z:54.64 [[-1.75940671e-01 -9.67192217e-01 1.83259641e-01 1.11605701e+02] [ 6.54610292e-01 -2.53990199e-01 -7.12021309e-01 7.72842931e+01] [ 7.35207621e-01 -5.30985959e-03 6.77821185e-01 5.46361001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.79710568099998 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:111.59, Y:77.28, Z:54.64 [[-1.64256576e-01 -9.69011500e-01 1.84489808e-01 1.11591607e+02] [ 6.56077947e-01 -2.46984778e-01 -7.13134102e-01 7.72819779e+01] [ 7.36601320e-01 3.90272866e-03 6.76315950e-01 5.46371257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.82710568099998 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:111.53, Y:77.47, Z:54.85 [[-1.60572320e-01 -9.68961439e-01 1.87963455e-01 1.11534493e+02] [ 6.57421500e-01 -2.47038294e-01 -7.11877133e-01 7.74741942e+01] [ 7.36215662e-01 9.26345342e-03 6.76683595e-01 5.48500247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.85710568099998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:111.57, Y:77.30, Z:54.65 [[-1.50082147e-01 -9.71183959e-01 1.85140667e-01 1.11572843e+02] [ 6.57241990e-01 -2.37898634e-01 -7.15148381e-01 7.73020687e+01] [ 7.38585348e-01 1.43512160e-02 6.74007216e-01 5.46533222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.88710568099998 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:111.58, Y:77.29, Z:54.64 [[-1.49090681e-01 -9.71188714e-01 1.85915172e-01 1.11575114e+02] [ 6.57613139e-01 -2.37795066e-01 -7.14841567e-01 7.72873890e+01] [ 7.38455772e-01 1.56840439e-02 6.74119487e-01 5.46359353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91710568099998 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:111.57, Y:77.29, Z:54.64 [[-1.51400675e-01 -9.70748323e-01 1.86347873e-01 1.11568781e+02] [ 6.59292520e-01 -2.39632961e-01 -7.12677639e-01 7.72930198e+01] [ 7.36485715e-01 1.49578831e-02 6.76287700e-01 5.46442715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94710568099998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:111.55, Y:77.32, Z:54.68 [[-1.58134279e-01 -9.68862670e-01 1.90522116e-01 1.11554653e+02] [ 6.58227029e-01 -2.47259070e-01 -7.11055645e-01 7.73246544e+01] [ 7.36023592e-01 1.29645345e-02 6.76831731e-01 5.46793982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97710568099998 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:111.56, Y:77.29, Z:54.64 [[-1.65009938e-01 -9.67406309e-01 1.92085280e-01 1.11564856e+02] [ 6.58039282e-01 -2.53055553e-01 -7.09187698e-01 7.72855161e+01] [ 7.34680900e-01 9.37664183e-03 6.78348033e-01 5.46361003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.00710568099998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:111.56, Y:77.29, Z:54.64 [[-1.73949343e-01 -9.65635925e-01 1.93103304e-01 1.11562917e+02] [ 6.56517705e-01 -2.59873668e-01 -7.08131471e-01 7.72940416e+01] [ 7.33979652e-01 3.59673393e-03 6.79161935e-01 5.46444012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03710568099999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:111.57, Y:77.27, Z:54.61 [[-1.75925709e-01 -9.67052606e-01 1.84009244e-01 1.11571343e+02] [ 6.50439875e-01 -2.54500758e-01 -7.15651684e-01 7.72680016e+01] [ 7.38903319e-01 -6.21458024e-03 6.73782802e-01 5.46125960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.067105681 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:111.57, Y:77.25, Z:54.60 [[-1.83565676e-01 -9.64135591e-01 1.91692996e-01 1.11573218e+02] [ 6.45739615e-01 -2.65300000e-01 -7.15986215e-01 7.72523332e+01] [ 7.41163944e-01 -7.64673232e-03 6.71280519e-01 5.45972886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.097105681 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:111.55, Y:77.31, Z:54.66 [[-1.88253210e-01 -9.61808510e-01 1.98708631e-01 1.11554062e+02] [ 6.46789793e-01 -2.73668132e-01 -7.11876898e-01 7.73109501e+01] [ 7.39069478e-01 -5.49039655e-03 6.73606831e-01 5.46643982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.127105681 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:111.57, Y:77.25, Z:54.59 [[-1.86455121e-01 -9.64107471e-01 1.89027174e-01 1.11568760e+02] [ 6.42252691e-01 -2.65209075e-01 -7.19149238e-01 7.72464480e+01] [ 7.43468875e-01 -1.26858468e-02 6.68650208e-01 5.45899386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15710568099996 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:111.57, Y:77.25, Z:54.60 [[-1.84919824e-01 -9.63610208e-01 1.93028564e-01 1.11565344e+02] [ 6.43461844e-01 -2.67177988e-01 -7.17337283e-01 7.72510803e+01] [ 7.42806512e-01 -8.44336782e-03 6.69452908e-01 5.45978577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.18710568099996 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:111.57, Y:77.25, Z:54.59 [[-1.83485500e-01 -9.63694657e-01 1.93973398e-01 1.11565632e+02] [ 6.43513007e-01 -2.66920005e-01 -7.17387427e-01 7.72467853e+01] [ 7.43117811e-01 -6.80578618e-03 6.69125997e-01 5.45928085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.21710568099996 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:111.56, Y:77.25, Z:54.60 [[-1.77736454e-01 -9.64640400e-01 1.94624387e-01 1.11561385e+02] [ 6.46060281e-01 -2.63564796e-01 -7.16337708e-01 7.72486114e+01] [ 7.42304430e-01 -1.58023740e-03 6.70060920e-01 5.45983929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.24710568099997 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:111.56, Y:77.25, Z:54.60 [[-1.74303688e-01 -9.65129706e-01 1.95302010e-01 1.11558886e+02] [ 6.47851621e-01 -2.61765714e-01 -7.15378912e-01 7.72482006e+01] [ 7.41556809e-01 1.83354111e-03 6.70887574e-01 5.46007011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.27710568099997 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:111.55, Y:77.25, Z:54.61 [[-1.67762017e-01 -9.66074637e-01 1.96356058e-01 1.11553621e+02] [ 6.48881436e-01 -2.58158851e-01 -7.15756167e-01 7.72541703e+01] [ 7.42164933e-01 7.33510257e-03 6.70177147e-01 5.46079222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.30710568099997 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:111.55, Y:77.26, Z:54.61 [[-1.65685248e-01 -9.66243247e-01 1.97287572e-01 1.11552895e+02] [ 6.49291437e-01 -2.57455303e-01 -7.15637755e-01 7.72574759e+01] [ 7.42272880e-01 9.52651215e-03 6.70030012e-01 5.46106030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.33710568099997 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:111.55, Y:77.26, Z:54.61 [[-1.61509448e-01 -9.66829691e-01 1.97876340e-01 1.11553385e+02] [ 6.51782725e-01 -2.55058644e-01 -7.14229912e-01 7.72611627e+01] [ 7.41008757e-01 1.36175012e-02 6.71357272e-01 5.46122677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.36710568099997 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:111.56, Y:77.26, Z:54.61 [[-1.58627481e-01 -9.67185315e-01 1.98468862e-01 1.11555078e+02] [ 6.53934808e-01 -2.53521570e-01 -7.12808586e-01 7.72572788e+01] [ 7.39734134e-01 1.67146670e-02 6.72691631e-01 5.46110982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.39710568099997 meters Centerline goodness : 0.998025 Centerline is valid? [True, True] Translation: X:111.56, Y:77.25, Z:54.60 [[-1.58570270e-01 -9.67082333e-01 1.99015654e-01 1.11557632e+02] [ 6.55533603e-01 -2.53848537e-01 -7.11221917e-01 7.72471028e+01] [ 7.38329983e-01 1.76827979e-02 6.74207797e-01 5.46038687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.42710568099997 meters Centerline goodness : 0.997784 Centerline is valid? [True, True] Translation: X:111.56, Y:77.25, Z:54.61 [[-1.61592979e-01 -9.66628511e-01 1.98788909e-01 1.11557536e+02] [ 6.59459692e-01 -2.55627044e-01 -7.06942522e-01 7.72467550e+01] [ 7.34166619e-01 1.68563244e-02 6.78760076e-01 5.46066560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.45710568099997 meters Centerline goodness : 0.997739 Centerline is valid? [True, True] Translation: X:111.56, Y:77.25, Z:54.61 [[-1.66612814e-01 -9.65649000e-01 1.99404563e-01 1.11560325e+02] [ 6.59304599e-01 -2.59478337e-01 -7.05682958e-01 7.72472631e+01] [ 7.33183207e-01 1.38925217e-02 6.79889243e-01 5.46069230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.48710568099997 meters Centerline goodness : 0.997701 Centerline is valid? [True, True] Translation: X:111.56, Y:77.24, Z:54.60 [[-1.68857430e-01 -9.65056044e-01 2.00384630e-01 1.11563990e+02] [ 6.58404596e-01 -2.61732080e-01 -7.05690943e-01 7.72426081e+01] [ 7.33478396e-01 1.27730023e-02 6.79592741e-01 5.46005462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.51710568099998 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:111.57, Y:77.25, Z:54.61 [[-1.69016890e-01 -9.64825091e-01 2.01359963e-01 1.11567597e+02] [ 6.58077486e-01 -2.62559178e-01 -7.05688812e-01 7.72487502e+01] [ 7.33735179e-01 1.32371297e-02 6.79306606e-01 5.46052392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.54710568099998 meters Centerline goodness : 0.998319 Centerline is valid? [True, True] Translation: X:111.57, Y:77.25, Z:54.61 [[-1.67239597e-01 -9.64900139e-01 2.02481208e-01 1.11567687e+02] [ 6.57701255e-01 -2.62184257e-01 -7.06178784e-01 7.72536323e+01] [ 7.34479391e-01 1.50710897e-02 6.78463622e-01 5.46102355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57710568099998 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:111.53, Y:77.37, Z:54.74 [[-1.65919866e-01 -9.63614872e-01 2.09563776e-01 1.11534416e+02] [ 6.60115903e-01 -2.66403691e-01 -7.02336150e-01 7.73683230e+01] [ 7.32610123e-01 2.18048613e-02 6.80299166e-01 5.47377254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.60710568099998 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:111.57, Y:77.27, Z:54.63 [[-1.58112998e-01 -9.66605446e-01 2.01678438e-01 1.11566404e+02] [ 6.55575514e-01 -2.55498396e-01 -7.10592229e-01 7.72727736e+01] [ 7.38390835e-01 1.98615778e-02 6.74080479e-01 5.46252292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63710568099998 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:111.57, Y:77.27, Z:54.62 [[-1.59001045e-01 -9.65874277e-01 2.04464051e-01 1.11566654e+02] [ 6.55403898e-01 -2.58146495e-01 -7.09793011e-01 7.72706186e+01] [ 7.38352490e-01 2.11487060e-02 6.74083328e-01 5.46235915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.66710568099998 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:111.58, Y:77.26, Z:54.61 [[-1.59065730e-01 -9.65578431e-01 2.05806673e-01 1.11577955e+02] [ 6.53904265e-01 -2.59220628e-01 -7.10783988e-01 7.72641072e+01] [ 7.39667023e-01 2.15164870e-02 6.72628973e-01 5.46109202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69710568099998 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:111.56, Y:77.34, Z:54.70 [[-1.70112507e-01 -9.62226986e-01 2.12558141e-01 1.11561263e+02] [ 6.57590694e-01 -2.71495896e-01 -7.02754906e-01 7.73387634e+01] [ 7.33918397e-01 2.02288564e-02 6.78936359e-01 5.46977599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.72710568099998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:111.54, Y:77.41, Z:54.78 [[-1.74885384e-01 -9.62609727e-01 2.06875847e-01 1.11543291e+02] [ 6.53835098e-01 -2.70639618e-01 -7.06578985e-01 7.74082215e+01] [ 7.36148604e-01 1.16923522e-02 6.76718938e-01 5.47757626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75710568099998 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:111.59, Y:77.25, Z:54.60 [[-1.72899598e-01 -9.62761490e-01 2.07836577e-01 1.11594534e+02] [ 6.51172632e-01 -2.70053401e-01 -7.09256910e-01 7.72529682e+01] [ 7.38972214e-01 1.27072569e-02 6.73616058e-01 5.46025260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.78710568099999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:111.60, Y:77.25, Z:54.60 [[-1.79045965e-01 -9.61647746e-01 2.07788726e-01 1.11599708e+02] [ 6.48796489e-01 -2.74178896e-01 -7.09851427e-01 7.72540362e+01] [ 7.39598309e-01 7.71656180e-03 6.73004306e-01 5.46024095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.817105681 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:111.60, Y:77.25, Z:54.59 [[-1.82702181e-01 -9.60738109e-01 2.08811397e-01 1.11602660e+02] [ 6.47382429e-01 -2.77402649e-01 -7.09889964e-01 7.72487422e+01] [ 7.39943176e-01 5.48238439e-03 6.72647039e-01 5.45945403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.847105681 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:111.56, Y:77.40, Z:54.76 [[-1.92238473e-01 -9.56615670e-01 2.18931107e-01 1.11557456e+02] [ 6.51798805e-01 -2.91240587e-01 -7.00240843e-01 7.73956523e+01] [ 7.33622987e-01 8.08580318e-03 6.79508596e-01 5.47610378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.877105681 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:111.57, Y:77.35, Z:54.71 [[-1.97012080e-01 -9.57663763e-01 2.09919885e-01 1.11571644e+02] [ 6.48261779e-01 -2.87875545e-01 -7.04900231e-01 7.73533502e+01] [ 7.35488209e-01 -2.79082292e-03 6.77531775e-01 5.47140929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90710568099996 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:111.57, Y:77.35, Z:54.72 [[-1.99607642e-01 -9.56262983e-01 2.13817439e-01 1.11570874e+02] [ 6.48093728e-01 -2.92502889e-01 -7.03147623e-01 7.73525228e+01] [ 7.34936262e-01 -1.77989769e-03 6.78133853e-01 5.47156343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93710568099996 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:111.60, Y:77.25, Z:54.60 [[-1.92310219e-01 -9.59099475e-01 2.07713692e-01 1.11604552e+02] [ 6.43169330e-01 -2.83050801e-01 -7.11488199e-01 7.72473852e+01] [ 7.41181484e-01 -3.23137524e-03 6.71296928e-01 5.45957636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.96710568099996 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:111.54, Y:77.44, Z:54.81 [[-1.98298103e-01 -9.55615523e-01 2.17891795e-01 1.11542500e+02] [ 6.43837458e-01 -2.94616542e-01 -7.06168833e-01 7.74387992e+01] [ 7.39020426e-01 2.54959169e-04 6.73682971e-01 5.48122757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:111.56, Y:77.38, Z:54.75 [[-1.93274277e-01 -9.57518593e-01 2.14016819e-01 1.11559809e+02] [ 6.40738272e-01 -2.88371270e-01 -7.11545134e-01 7.73819955e+01] [ 7.43033997e-01 -3.94604840e-04 6.69253557e-01 5.47476805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.02710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:111.60, Y:77.25, Z:54.60 [[-1.81663872e-01 -9.59084699e-01 2.17151508e-01 1.11598487e+02] [ 6.42249201e-01 -2.82940701e-01 -7.12362635e-01 7.72507633e+01] [ 7.44657103e-01 1.00548279e-02 6.67371485e-01 5.46002907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05710568099997 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:111.60, Y:77.25, Z:54.60 [[-1.79826357e-01 -9.60067250e-01 2.14320687e-01 1.11599899e+02] [ 6.43180982e-01 -2.79602518e-01 -7.12839853e-01 7.72494286e+01] [ 7.44298801e-01 9.65959581e-03 6.67776899e-01 5.45992096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.08710568099997 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:111.55, Y:77.40, Z:54.78 [[-1.89544235e-01 -9.57525335e-01 2.17297529e-01 1.11551417e+02] [ 6.42786118e-01 -2.88303124e-01 -7.09723408e-01 7.74044746e+01] [ 7.42225700e-01 5.15185467e-03 6.70130188e-01 5.47757386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11710568099997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:111.56, Y:77.39, Z:54.76 [[-1.80062197e-01 -9.58626911e-01 2.20481407e-01 1.11556093e+02] [ 6.50088696e-01 -2.84190364e-01 -7.04713080e-01 7.73931290e+01] [ 7.38215614e-01 1.64402848e-02 6.74364460e-01 5.47644655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.14710568099997 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:111.60, Y:77.25, Z:54.60 [[-1.73635761e-01 -9.61079523e-01 2.14887815e-01 1.11604354e+02] [ 6.53677136e-01 -2.75678777e-01 -7.04774726e-01 7.72472479e+01] [ 7.36584567e-01 1.80931550e-02 6.76103404e-01 5.46020833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.17710568099997 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:111.61, Y:77.25, Z:54.60 [[-1.75003524e-01 -9.61377939e-01 2.12429342e-01 1.11608632e+02] [ 6.54765935e-01 -2.74773814e-01 -7.04117122e-01 7.72471656e+01] [ 7.35292688e-01 1.58685191e-02 6.77563910e-01 5.45995177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.20710568099997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:111.60, Y:77.31, Z:54.67 [[-1.80650500e-01 -9.59342075e-01 2.16859816e-01 1.11599454e+02] [ 6.55061029e-01 -2.81824887e-01 -7.01049057e-01 7.73072898e+01] [ 7.33662351e-01 1.54115512e-02 6.79339414e-01 5.46696440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.23710568099997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:111.60, Y:77.32, Z:54.68 [[-1.79123470e-01 -9.59732630e-01 2.16397924e-01 1.11596763e+02] [ 6.52294051e-01 -2.80512943e-01 -7.04148394e-01 7.73223398e+01] [ 7.36496608e-01 1.50255744e-02 6.76274337e-01 5.46844225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.26710568099998 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:111.58, Y:77.38, Z:54.74 [[-1.76679668e-01 -9.59469928e-01 2.19548974e-01 1.11581239e+02] [ 6.53485092e-01 -2.81149131e-01 -7.02789016e-01 7.73764937e+01] [ 7.36030930e-01 1.93034518e-02 6.76672629e-01 5.47439751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.29710568099998 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:111.61, Y:77.31, Z:54.66 [[-1.69411157e-01 -9.60557676e-01 2.20519412e-01 1.11609853e+02] [ 6.59033113e-01 -2.76781101e-01 -6.99333667e-01 7.73082443e+01] [ 7.32785928e-01 2.68546684e-02 6.79929122e-01 5.46615997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.32710568099998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:111.62, Y:77.31, Z:54.66 [[-1.63590204e-01 -9.62881338e-01 2.14703921e-01 1.11618079e+02] [ 6.55492372e-01 -2.68738632e-01 -7.05768587e-01 7.73085851e+01] [ 7.37270639e-01 2.52799556e-02 6.75124380e-01 5.46573096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35710568099998 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:111.63, Y:77.27, Z:54.61 [[-1.56352649e-01 -9.62960266e-01 2.19684716e-01 1.11630742e+02] [ 6.54671783e-01 -2.67581091e-01 -7.06969035e-01 7.72707978e+01] [ 7.39566566e-01 3.32849039e-02 6.72259927e-01 5.46142135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:111.59, Y:77.40, Z:54.75 [[-1.60600456e-01 -9.61037945e-01 2.24974580e-01 1.11593711e+02] [ 6.59391662e-01 -2.74073167e-01 -7.00061808e-01 7.73980394e+01] [ 7.34445457e-01 3.59161170e-02 6.77716683e-01 5.47543458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:111.64, Y:77.28, Z:54.62 [[-1.57396028e-01 -9.63130251e-01 2.18189388e-01 1.11636472e+02] [ 6.59243817e-01 -2.66979099e-01 -7.02936519e-01 7.72788904e+01] [ 7.35271433e-01 3.32005893e-02 6.76959113e-01 5.46193001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.64, Y:77.29, Z:54.63 [[-1.67952267e-01 -9.63517770e-01 2.08387964e-01 1.11644567e+02] [ 6.47601664e-01 -2.67217856e-01 -7.13587207e-01 7.72940936e+01] [ 7.43238939e-01 1.51038034e-02 6.68855556e-01 5.46339453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.64, Y:77.33, Z:54.68 [[-1.74303625e-01 -9.58042435e-01 2.27536675e-01 1.11638891e+02] [ 6.49265345e-01 -2.85546195e-01 -7.04924027e-01 7.73330270e+01] [ 7.40319363e-01 2.48608644e-02 6.71795489e-01 5.46784016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.65, Y:77.30, Z:54.64 [[-1.79263579e-01 -9.56783221e-01 2.28976937e-01 1.11653296e+02] [ 6.52826561e-01 -2.89808426e-01 -6.99877530e-01 7.73007083e+01] [ 7.35990523e-01 2.40196754e-02 6.76565595e-01 5.46398406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.67, Y:77.27, Z:54.59 [[-1.91326068e-01 -9.54682160e-01 2.27983133e-01 1.11667237e+02] [ 6.63192825e-01 -2.96970980e-01 -6.87010563e-01 7.72690030e+01] [ 7.23581103e-01 1.97537485e-02 6.89956648e-01 5.45883572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.567105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:77.27, Z:54.60 [[-1.93799276e-01 -9.57572442e-01 2.13299928e-01 1.11672927e+02] [ 6.48361653e-01 -2.88187490e-01 -7.04680876e-01 7.72740900e+01] [ 7.36253358e-01 1.72885030e-03 6.76703779e-01 5.46040825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.597105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:77.26, Z:54.56 [[-2.03321502e-01 -9.51806327e-01 2.29619430e-01 1.11677756e+02] [ 6.69270329e-01 -3.06280113e-01 -6.76956216e-01 7.72551869e+01] [ 7.14659075e-01 1.60377171e-02 6.99289067e-01 5.45636410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.627105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:77.30, Z:54.63 [[-1.92682051e-01 -9.59211283e-01 2.06851015e-01 1.11671995e+02] [ 6.44380010e-01 -2.82666980e-01 -7.10544707e-01 7.73000247e+01] [ 7.40032451e-01 -3.61855277e-03 6.72561430e-01 5.46282293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:111.68, Y:77.26, Z:54.57 [[-2.03995780e-01 -9.51061249e-01 2.32095287e-01 1.11678004e+02] [ 6.70093615e-01 -3.08489284e-01 -6.75136215e-01 7.72643292e+01] [ 7.13694801e-01 1.78006317e-02 7.00230583e-01 5.45715668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.68710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:77.28, Z:54.61 [[-1.98151121e-01 -9.56778175e-01 2.12865351e-01 1.11675697e+02] [ 6.48434839e-01 -2.90815456e-01 -7.03532963e-01 7.72802329e+01] [ 7.35029519e-01 -1.37653630e-03 6.78033710e-01 5.46092771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:77.26, Z:54.57 [[-2.09211190e-01 -9.51451623e-01 2.25766442e-01 1.11676426e+02] [ 6.62994083e-01 -3.07720879e-01 -6.82456377e-01 7.72645220e+01] [ 7.18797276e-01 6.90430463e-03 6.95185448e-01 5.45724059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.74710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:77.25, Z:54.56 [[-2.12589495e-01 -9.51535851e-01 2.22227881e-01 1.11679587e+02] [ 6.61765681e-01 -3.07533097e-01 -6.83732095e-01 7.72543522e+01] [ 7.18938030e-01 1.70852421e-03 6.95072076e-01 5.45627543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.77710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:77.30, Z:54.64 [[-2.07348450e-01 -9.54645383e-01 2.13679231e-01 1.11666846e+02] [ 6.42372276e-01 -2.97603682e-01 -7.06250599e-01 7.73042097e+01] [ 7.37810599e-01 -9.17835305e-03 6.74945389e-01 5.46367565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.80710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.69, Y:77.24, Z:54.57 [[-2.06340008e-01 -9.53482134e-01 2.19762647e-01 1.11686227e+02] [ 6.41936755e-01 -3.01417392e-01 -7.05028197e-01 7.72424672e+01] [ 7.38472074e-01 -4.40180275e-03 6.74269694e-01 5.45730043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.83710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:77.24, Z:54.58 [[-2.03976131e-01 -9.53052283e-01 2.23796970e-01 1.11684015e+02] [ 6.45632005e-01 -3.02802107e-01 -7.01049355e-01 7.72419805e+01] [ 7.35902882e-01 1.49315137e-03 6.77085459e-01 5.45760650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.86710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.66, Y:77.30, Z:54.64 [[-2.02601474e-01 -9.52936256e-01 2.25533001e-01 1.11664907e+02] [ 6.46800689e-01 -3.03143146e-01 -6.99823622e-01 7.72961331e+01] [ 7.35256085e-01 4.08960272e-03 6.77777076e-01 5.46376559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.89710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:77.25, Z:54.58 [[-1.97948148e-01 -9.54105910e-01 2.24718588e-01 1.11676029e+02] [ 6.49263438e-01 -2.99375375e-01 -6.99164768e-01 7.72458590e+01] [ 7.34352448e-01 7.50319228e-03 6.78726884e-01 5.45833423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.92710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:77.24, Z:54.58 [[-1.96323153e-01 -9.54174970e-01 2.25848060e-01 1.11676141e+02] [ 6.51267380e-01 -2.99076528e-01 -6.97426720e-01 7.72392720e+01] [ 7.33012973e-01 1.01664620e-02 6.80138680e-01 5.45767163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.95710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:77.24, Z:54.58 [[-1.94665728e-01 -9.54483462e-01 2.25979147e-01 1.11675313e+02] [ 6.54717328e-01 -2.97992192e-01 -6.94655219e-01 7.72421201e+01] [ 7.30376940e-01 1.27268992e-02 6.82925729e-01 5.45797749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.98710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:77.24, Z:54.58 [[-1.95384677e-01 -9.54145704e-01 2.26783605e-01 1.11675098e+02] [ 6.54969517e-01 -2.99062421e-01 -6.93957203e-01 7.72427699e+01] [ 7.29958738e-01 1.29477442e-02 6.83368566e-01 5.45801111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.01710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:77.23, Z:54.56 [[-1.97884725e-01 -9.53325154e-01 2.28063119e-01 1.11677221e+02] [ 6.52982355e-01 -3.01728225e-01 -6.94675552e-01 7.72275352e+01] [ 7.31064757e-01 1.14555120e-02 6.82211911e-01 5.45627935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.66, Y:77.29, Z:54.63 [[-2.01921017e-01 -9.51967834e-01 2.30185025e-01 1.11657249e+02] [ 6.47251685e-01 -3.06092933e-01 -6.98120600e-01 7.72856460e+01] [ 7.35046365e-01 8.02242372e-03 6.77969381e-01 5.46255916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:77.23, Z:54.56 [[-2.01610130e-01 -9.51297657e-01 2.33208325e-01 1.11674497e+02] [ 6.47370386e-01 -3.08097559e-01 -6.97128021e-01 7.72309671e+01] [ 7.35027169e-01 1.04240921e-02 6.77957520e-01 5.45633096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.10710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.65, Y:77.30, Z:54.64 [[-2.00574774e-01 -9.51966340e-01 2.31365181e-01 1.11650782e+02] [ 6.48254789e-01 -3.06034752e-01 -6.97214787e-01 7.72975704e+01] [ 7.34530795e-01 1.01398884e-02 6.78499591e-01 5.46370753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:77.24, Z:54.57 [[-2.00115523e-01 -9.51766886e-01 2.32580249e-01 1.11668902e+02] [ 6.47715109e-01 -3.06622197e-01 -6.97458218e-01 7.72378212e+01] [ 7.35131903e-01 1.10735252e-02 6.77833654e-01 5.45713492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:77.25, Z:54.58 [[-1.92835568e-01 -9.53012753e-01 2.33626059e-01 1.11666597e+02] [ 6.50024712e-01 -3.02428362e-01 -6.97140559e-01 7.72450820e+01] [ 7.35038990e-01 1.74292160e-02 6.77800786e-01 5.45773995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:77.24, Z:54.57 [[-1.88633875e-01 -9.53593740e-01 2.34683275e-01 1.11669739e+02] [ 6.51046683e-01 -3.00342292e-01 -6.97088749e-01 7.72361004e+01] [ 7.35224780e-01 2.12952162e-02 6.77488772e-01 5.45658391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.22710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.67, Y:77.22, Z:54.55 [[-1.79967732e-01 -9.54968137e-01 2.35897164e-01 1.11670768e+02] [ 6.52897194e-01 -2.95337416e-01 -6.97496283e-01 7.72240512e+01] [ 7.35755985e-01 2.84897728e-02 6.76647222e-01 5.45531704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:77.23, Z:54.56 [[-1.77560045e-01 -9.55120301e-01 2.37102594e-01 1.11668468e+02] [ 6.52745125e-01 -2.94608381e-01 -6.97946777e-01 7.72280060e+01] [ 7.36475548e-01 3.08401010e-02 6.75760798e-01 5.45571184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:77.23, Z:54.55 [[-1.77129075e-01 -9.54892940e-01 2.38337501e-01 1.11671615e+02] [ 6.51865684e-01 -2.95259797e-01 -6.98493223e-01 7.72293473e+01] [ 7.37357729e-01 3.16405794e-02 6.74761034e-01 5.45544035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.317105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:77.23, Z:54.55 [[-1.82878307e-01 -9.53442224e-01 2.39798772e-01 1.11673868e+02] [ 6.48287744e-01 -3.00318834e-01 -6.99665348e-01 7.72284357e+01] [ 7.39106573e-01 2.75049909e-02 6.73026708e-01 5.45508460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.347105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:77.23, Z:54.55 [[-1.88019360e-01 -9.52198848e-01 2.40761447e-01 1.11674653e+02] [ 6.46631214e-01 -3.04519901e-01 -6.99382373e-01 7.72268665e+01] [ 7.39267741e-01 2.41864406e-02 6.72977134e-01 5.45491374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.377105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:77.23, Z:54.56 [[-1.97376679e-01 -9.50206643e-01 2.41142659e-01 1.11673773e+02] [ 6.45611125e-01 -3.11098544e-01 -6.97426678e-01 7.72333341e+01] [ 7.37718592e-01 1.80286221e-02 6.74867578e-01 5.45589521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:77.23, Z:54.55 [[-2.02202384e-01 -9.48950122e-01 2.42090606e-01 1.11677544e+02] [ 6.44066139e-01 -3.15070599e-01 -6.97071966e-01 7.72258864e+01] [ 7.37762160e-01 1.49727490e-02 6.74894668e-01 5.45507058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.43710568099996 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:111.68, Y:77.22, Z:54.54 [[-2.11221360e-01 -9.46708061e-01 2.43165342e-01 1.11680691e+02] [ 6.40646545e-01 -3.21979475e-01 -6.97066154e-01 7.72227883e+01] [ 7.38212396e-01 8.54777554e-03 6.74514191e-01 5.45447022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.46710568099996 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:111.68, Y:77.21, Z:54.53 [[-2.20758363e-01 -9.44281994e-01 2.44125503e-01 1.11684024e+02] [ 6.37324716e-01 -3.29132778e-01 -6.96770278e-01 7.72125239e+01] [ 7.38297333e-01 1.76935123e-03 6.74473067e-01 5.45344782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.49710568099997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:111.69, Y:77.21, Z:54.53 [[-2.24952832e-01 -9.43071907e-01 2.44972657e-01 1.11685382e+02] [ 6.36157245e-01 -3.32588012e-01 -6.96196218e-01 7.72101616e+01] [ 7.38038063e-01 -7.70180406e-04 6.74758641e-01 5.45322988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.52710568099997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:111.69, Y:77.21, Z:54.53 [[-2.25795514e-01 -9.42630471e-01 2.45894653e-01 1.11685912e+02] [ 6.35858978e-01 -3.33837088e-01 -6.95870792e-01 7.72084446e+01] [ 7.38037768e-01 -7.70180090e-04 6.74758965e-01 5.45304646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.55710568099997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:111.69, Y:77.20, Z:54.52 [[-2.29741608e-01 -9.41458148e-01 2.46729303e-01 1.11689071e+02] [ 6.34752337e-01 -3.37115373e-01 -6.95300436e-01 7.72025274e+01] [ 7.37772502e-01 -3.12743817e-03 6.75042187e-01 5.45243084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.58710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:111.69, Y:77.20, Z:54.52 [[-2.36964572e-01 -9.39505944e-01 2.47338579e-01 1.11691212e+02] [ 6.33191576e-01 -3.42442200e-01 -6.94119419e-01 7.71955138e+01] [ 7.36828487e-01 -7.86900642e-03 6.76033919e-01 5.45175557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.61710568099997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:111.69, Y:77.19, Z:54.52 [[-2.44596270e-01 -9.37387144e-01 2.47947588e-01 1.11690072e+02] [ 6.31381585e-01 -3.48048311e-01 -6.92978836e-01 7.71914062e+01] [ 7.35887192e-01 -1.29504977e-02 6.76980299e-01 5.45155897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.64710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:111.68, Y:77.21, Z:54.54 [[-2.53489285e-01 -9.33517678e-01 2.53550638e-01 1.11681769e+02] [ 6.31467881e-01 -3.58249632e-01 -6.87681261e-01 7.72080584e+01] [ 7.32797037e-01 -1.42107468e-02 6.80298874e-01 5.45376933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.69, Y:77.17, Z:54.50 [[-2.55990579e-01 -9.34166424e-01 2.48599910e-01 1.11690729e+02] [ 6.28540294e-01 -3.56234579e-01 -6.91400046e-01 7.71703942e+01] [ 7.34442592e-01 -2.07368377e-02 6.78353936e-01 5.44961826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.70710568099997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:111.69, Y:77.17, Z:54.49 [[-2.60656412e-01 -9.32479959e-01 2.50078708e-01 1.11689465e+02] [ 6.27298039e-01 -3.60484666e-01 -6.90324544e-01 7.71652948e+01] [ 7.33863342e-01 -2.30636354e-02 6.78905490e-01 5.44904728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.73710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.69, Y:77.16, Z:54.49 [[-2.67395750e-01 -9.30363606e-01 2.50844720e-01 1.11686296e+02] [ 6.24943039e-01 -3.65591888e-01 -6.89774434e-01 7.71604147e+01] [ 7.33447825e-01 -2.76790905e-02 6.79181976e-01 5.44865878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.76710568099998 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:111.68, Y:77.15, Z:54.47 [[-2.68439003e-01 -9.29803837e-01 2.51804143e-01 1.11679809e+02] [ 6.24129300e-01 -3.66988656e-01 -6.89769485e-01 7.71468932e+01] [ 7.33759578e-01 -2.80026891e-02 6.78831887e-01 5.44742071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.79710568099998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:111.67, Y:77.15, Z:54.48 [[-2.66719514e-01 -9.30020037e-01 2.52830837e-01 1.11671819e+02] [ 6.24141876e-01 -3.66571661e-01 -6.89979808e-01 7.71518591e+01] [ 7.34375666e-01 -2.62287661e-02 6.78236266e-01 5.44807946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.82710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.66, Y:77.15, Z:54.48 [[-2.61375380e-01 -9.31244957e-01 2.53901044e-01 1.11661124e+02] [ 6.25430295e-01 -3.63751160e-01 -6.90305758e-01 7.71470761e+01] [ 7.35200555e-01 -2.16315246e-02 6.77504406e-01 5.44781746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.85710568099998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:111.65, Y:77.14, Z:54.48 [[-2.58610182e-01 -9.31719349e-01 2.54989860e-01 1.11654701e+02] [ 6.25672014e-01 -3.62678111e-01 -6.90651228e-01 7.71425418e+01] [ 7.35972353e-01 -1.90694206e-02 6.76742974e-01 5.44764057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88710568099998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:111.64, Y:77.14, Z:54.48 [[-2.53974900e-01 -9.32723165e-01 2.55977044e-01 1.11640262e+02] [ 6.26979650e-01 -3.60283930e-01 -6.90718472e-01 7.71381548e+01] [ 7.36473535e-01 -1.49327576e-02 6.76301519e-01 5.44775682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91710568099998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:111.63, Y:77.14, Z:54.48 [[-2.53424476e-01 -9.32664020e-01 2.56736947e-01 1.11633740e+02] [ 6.27474597e-01 -3.60481814e-01 -6.90165554e-01 7.71406087e+01] [ 7.36241581e-01 -1.38089310e-02 6.76577895e-01 5.44805903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94710568099998 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:111.63, Y:77.13, Z:54.47 [[-2.53914363e-01 -9.32191615e-01 2.57965673e-01 1.11626661e+02] [ 6.26030422e-01 -3.61697423e-01 -6.90840709e-01 7.71330541e+01] [ 7.37301436e-01 -1.39200195e-02 6.75420481e-01 5.44724080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:111.63, Y:77.11, Z:54.45 [[-2.56074532e-01 -9.31282399e-01 2.59111806e-01 1.11628150e+02] [ 6.24213909e-01 -3.63977504e-01 -6.91286752e-01 7.71145882e+01] [ 7.38094053e-01 -1.52797382e-02 6.74524795e-01 5.44530676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.00710568099998 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:111.62, Y:77.11, Z:54.46 [[-2.60546209e-01 -9.29905713e-01 2.59597840e-01 1.11618659e+02] [ 6.23609985e-01 -3.67362179e-01 -6.90040300e-01 7.71134380e+01] [ 7.37038845e-01 -1.78995796e-02 6.75613311e-01 5.44555798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03710568099999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:111.62, Y:77.10, Z:54.44 [[-2.62264744e-01 -9.29367197e-01 2.59795723e-01 1.11615238e+02] [ 6.24983833e-01 -3.68713149e-01 -6.88073994e-01 7.70973631e+01] [ 7.35263499e-01 -1.80894233e-02 6.77539933e-01 5.44425026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.067105681 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:111.61, Y:77.10, Z:54.45 [[-2.60950668e-01 -9.29557961e-01 2.60435685e-01 1.11609442e+02] [ 6.26065940e-01 -3.68315401e-01 -6.87302847e-01 7.70989043e+01] [ 7.34810307e-01 -1.63022254e-02 6.78076729e-01 5.44470501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.097105681 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:111.60, Y:77.09, Z:54.44 [[-2.54483440e-01 -9.31086858e-01 2.61372228e-01 1.11604191e+02] [ 6.28186954e-01 -3.64639938e-01 -6.87327336e-01 7.70939142e+01] [ 7.35268203e-01 -1.07228016e-02 6.77691443e-01 5.44393536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12710568099996 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:111.57, Y:77.18, Z:54.53 [[-2.55378862e-01 -9.31590524e-01 2.58690418e-01 1.11570990e+02] [ 6.23653287e-01 -3.63181238e-01 -6.92210926e-01 7.71767062e+01] [ 7.38808646e-01 -1.54429091e-02 6.73738303e-01 5.45318641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15710568099996 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:111.59, Y:77.10, Z:54.45 [[-2.45160116e-01 -9.29792967e-01 2.74557017e-01 1.11587866e+02] [ 6.30317788e-01 -3.68042154e-01 -6.83552821e-01 7.71010140e+01] [ 7.36611162e-01 5.47828251e-03 6.76294303e-01 5.44543237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.18710568099996 meters Centerline goodness : 0.997812 Centerline is valid? [True, True] Translation: X:111.58, Y:77.10, Z:54.45 [[-2.43252912e-01 -9.33773569e-01 2.62478460e-01 1.11580880e+02] [ 6.31090236e-01 -3.57860029e-01 -6.88230567e-01 7.70998879e+01] [ 7.36582063e-01 -1.76649670e-03 6.76345876e-01 5.44528244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.21710568099996 meters Centerline goodness : 0.997646 Centerline is valid? [True, True] Translation: X:111.58, Y:77.09, Z:54.45 [[-2.43592002e-01 -9.33560746e-01 2.62920655e-01 1.11580933e+02] [ 6.32239500e-01 -3.58417556e-01 -6.86884320e-01 7.70929920e+01] [ 7.35483617e-01 -1.09070343e-03 6.77541630e-01 5.44462351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.24710568099997 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:111.58, Y:77.10, Z:54.45 [[-2.42901016e-01 -9.33560001e-01 2.63561797e-01 1.11579283e+02] [ 6.33122597e-01 -3.58421087e-01 -6.86068584e-01 7.70953932e+01] [ 7.34952294e-01 2.20173119e-04 6.78118778e-01 5.44488027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.27710568099997 meters Centerline goodness : 0.997393 Centerline is valid? [True, True] Translation: X:111.55, Y:77.17, Z:54.54 [[-2.46446119e-01 -9.31831814e-01 2.66371509e-01 1.11549801e+02] [ 6.33113560e-01 -3.62890411e-01 -6.83723460e-01 7.71704435e+01] [ 7.33778938e-01 1.42420677e-04 6.79388291e-01 5.45354661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.30710568099997 meters Centerline goodness : 0.997567 Centerline is valid? [True, True] Translation: X:111.58, Y:77.09, Z:54.45 [[-2.40648797e-01 -9.33457359e-01 2.65980290e-01 1.11577034e+02] [ 6.34453202e-01 -3.58666332e-01 -6.84709863e-01 7.70901095e+01] [ 7.34545636e-01 3.97744187e-03 6.78547632e-01 5.44466812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.33710568099997 meters Centerline goodness : 0.997724 Centerline is valid? [True, True] Translation: X:111.57, Y:77.09, Z:54.45 [[-2.34052633e-01 -9.35444601e-01 2.64882547e-01 1.11573183e+02] [ 6.34899902e-01 -3.53396447e-01 -6.87032070e-01 7.70909814e+01] [ 7.36288992e-01 7.37223787e-03 6.76627055e-01 5.44487086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.36710568099997 meters Centerline goodness : 0.997136 Centerline is valid? [True, True] Translation: X:111.57, Y:77.10, Z:54.45 [[-2.30460240e-01 -9.36056573e-01 2.65868709e-01 1.11571268e+02] [ 6.35776939e-01 -3.51687270e-01 -6.87098063e-01 7.70960096e+01] [ 7.36665298e-01 1.06844094e-02 6.76173115e-01 5.44529433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.39710568099997 meters Centerline goodness : 0.997691 Centerline is valid? [True, True] Translation: X:111.57, Y:77.10, Z:54.46 [[-2.24533502e-01 -9.37365674e-01 2.66327429e-01 1.11569060e+02] [ 6.39239643e-01 -3.47966926e-01 -6.85778169e-01 7.71044191e+01] [ 7.35498052e-01 1.62668767e-02 6.77331532e-01 5.44619693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.42710568099997 meters Centerline goodness : 0.997462 Centerline is valid? [True, True] Translation: X:111.57, Y:77.10, Z:54.46 [[-2.21831847e-01 -9.37814978e-01 2.67008800e-01 1.11569820e+02] [ 6.40826310e-01 -3.46606648e-01 -6.84985745e-01 7.71037673e+01] [ 7.34936917e-01 1.91546109e-02 6.77864905e-01 5.44608353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.45710568099997 meters Centerline goodness : 0.997074 Centerline is valid? [True, True] Translation: X:111.57, Y:77.12, Z:54.47 [[-2.13601613e-01 -9.39359293e-01 2.68288034e-01 1.11567131e+02] [ 6.42578920e-01 -3.41952602e-01 -6.85682689e-01 7.71151559e+01] [ 7.35844197e-01 2.59333066e-02 6.76654107e-01 5.44708550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.48710568099997 meters Centerline goodness : 0.996913 Centerline is valid? [True, True] Translation: X:111.57, Y:77.12, Z:54.47 [[-2.10258353e-01 -9.39627430e-01 2.69984661e-01 1.11567614e+02] [ 6.41258779e-01 -3.41001906e-01 -6.87389903e-01 7.71179301e+01] [ 7.37955693e-01 2.86005651e-02 6.74242837e-01 5.44726838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.51710568099998 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:111.57, Y:77.13, Z:54.48 [[-2.07555901e-01 -9.39687465e-01 2.71860287e-01 1.11569539e+02] [ 6.39195571e-01 -3.40656781e-01 -6.89479499e-01 7.71280257e+01] [ 7.40506293e-01 3.06663526e-02 6.71349391e-01 5.44809826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.54710568099998 meters Centerline goodness : 0.996932 Centerline is valid? [True, True] Translation: X:111.58, Y:77.12, Z:54.47 [[-2.09993896e-01 -9.38925966e-01 2.72618036e-01 1.11576445e+02] [ 6.38873779e-01 -3.42848318e-01 -6.88691023e-01 7.71227646e+01] [ 7.40096520e-01 2.95476042e-02 6.71851234e-01 5.44731625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57710568099998 meters Centerline goodness : 0.997373 Centerline is valid? [True, True] Translation: X:111.59, Y:77.13, Z:54.48 [[-2.17876864e-01 -9.37188535e-01 2.72410208e-01 1.11585771e+02] [ 6.39588944e-01 -3.47934617e-01 -6.85468806e-01 7.71290155e+01] [ 7.37194448e-01 2.48827633e-02 6.75222329e-01 5.44777477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.60710568099998 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:111.60, Y:77.13, Z:54.47 [[-2.26325590e-01 -9.34907893e-01 2.73356834e-01 1.11598960e+02] [ 6.36375156e-01 -3.54387380e-01 -6.85154177e-01 7.71287592e+01] [ 7.37430260e-01 1.88895746e-02 6.75159089e-01 5.44742381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63710568099998 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:111.61, Y:77.12, Z:54.47 [[-2.30379989e-01 -9.33550354e-01 2.74606623e-01 1.11606282e+02] [ 6.33838062e-01 -3.58084015e-01 -6.85583802e-01 7.71231955e+01] [ 7.38359243e-01 1.61113410e-02 6.74215139e-01 5.44666321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.66710568099998 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:111.62, Y:77.12, Z:54.46 [[-2.35737052e-01 -9.31951350e-01 2.75489970e-01 1.11615761e+02] [ 6.31897878e-01 -3.62365316e-01 -6.85125134e-01 7.71186599e+01] [ 7.38331304e-01 1.25721482e-02 6.74321012e-01 5.44606452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69710568099998 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:111.62, Y:77.12, Z:54.46 [[-2.38069824e-01 -9.31171754e-01 2.76119401e-01 1.11619204e+02] [ 6.31866375e-01 -3.64395817e-01 -6.84076438e-01 7.71187117e+01] [ 7.37609411e-01 1.16126076e-02 6.75127769e-01 5.44601024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.72710568099998 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:111.63, Y:77.11, Z:54.45 [[-2.40300392e-01 -9.30340246e-01 2.76988717e-01 1.11630509e+02] [ 6.31101042e-01 -3.66546230e-01 -6.83633920e-01 7.71142452e+01] [ 7.37541319e-01 1.05303693e-02 6.75219901e-01 5.44526489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75710568099998 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:111.63, Y:77.12, Z:54.46 [[-2.43318028e-01 -9.29280014e-01 2.77911845e-01 1.11632966e+02] [ 6.29829502e-01 -3.69271952e-01 -6.83339611e-01 7.71203635e+01] [ 7.37638892e-01 8.76823275e-03 6.75138491e-01 5.44568913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.78710568099999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:111.64, Y:77.12, Z:54.45 [[-2.50541441e-01 -9.27103826e-01 2.78760618e-01 1.11643224e+02] [ 6.27083155e-01 -3.74786143e-01 -6.82863137e-01 7.71204027e+01] [ 7.37560643e-01 3.72057361e-03 6.75270653e-01 5.44544468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.817105681 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:111.65, Y:77.11, Z:54.44 [[-2.54738944e-01 -9.25704346e-01 2.79606034e-01 1.11651268e+02] [ 6.25547023e-01 -3.78246339e-01 -6.82364000e-01 7.71110466e+01] [ 7.37427279e-01 1.08203715e-03 6.75425671e-01 5.44423892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.847105681 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:111.66, Y:77.11, Z:54.44 [[-2.61073072e-01 -9.23532774e-01 2.80941394e-01 1.11657146e+02] [ 6.21545238e-01 -3.83501491e-01 -6.83087200e-01 7.71067117e+01] [ 7.38594860e-01 -3.71788817e-03 6.74139310e-01 5.44386437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87710568099996 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:111.66, Y:77.12, Z:54.45 [[-2.68424003e-01 -9.20077538e-01 2.85317154e-01 1.11655365e+02] [ 6.20912547e-01 -3.91703069e-01 -6.78996551e-01 7.71167214e+01] [ 7.36489079e-01 -5.10197158e-03 6.76430193e-01 5.44512305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90710568099996 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:111.66, Y:77.11, Z:54.44 [[-2.63912483e-01 -9.21984035e-01 2.83364853e-01 1.11660524e+02] [ 6.19718703e-01 -3.87201088e-01 -6.82659539e-01 7.71112846e+01] [ 7.39120376e-01 -4.55587522e-03 6.73557951e-01 5.44415291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.93710568099996 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:111.66, Y:77.11, Z:54.44 [[-2.61260260e-01 -9.22507509e-01 2.84117886e-01 1.11664470e+02] [ 6.19407011e-01 -3.85970227e-01 -6.83638749e-01 7.71092129e+01] [ 7.40322924e-01 -2.62302682e-03 6.72246300e-01 5.44379515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.96710568099996 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:111.66, Y:77.11, Z:54.44 [[-2.60156352e-01 -9.22479132e-01 2.85220832e-01 1.11663551e+02] [ 6.19184307e-01 -3.86044798e-01 -6.83798368e-01 7.71109365e+01] [ 7.40897744e-01 -1.29022556e-03 6.71616608e-01 5.44416289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.99710568099997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:111.66, Y:77.12, Z:54.46 [[-2.60507809e-01 -9.22975196e-01 2.83288666e-01 1.11658812e+02] [ 6.18342522e-01 -3.84844948e-01 -6.85234917e-01 7.71221886e+01] [ 7.41477044e-01 -3.33961875e-03 6.70969925e-01 5.44557979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.02710568099997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:111.66, Y:77.10, Z:54.44 [[-2.55748014e-01 -9.21250166e-01 2.93071809e-01 1.11664712e+02] [ 6.25771442e-01 -3.88829833e-01 -6.76181531e-01 7.71016659e+01] [ 7.36887410e-01 1.04638849e-02 6.75934502e-01 5.44395168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.05710568099997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:111.66, Y:77.11, Z:54.45 [[-2.55354522e-01 -9.23616273e-01 2.85879431e-01 1.11663903e+02] [ 6.27137548e-01 -3.83269316e-01 -6.78087847e-01 7.71085191e+01] [ 7.35861784e-01 6.13292784e-03 6.77103997e-01 5.44461232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.08710568099997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:111.67, Y:77.10, Z:54.44 [[-2.53782678e-01 -9.23900056e-01 2.86361727e-01 1.11670078e+02] [ 6.29012893e-01 -3.82542209e-01 -6.76760104e-01 7.71005679e+01] [ 7.34804146e-01 8.37522665e-03 6.78227633e-01 5.44382726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.11710568099997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:111.67, Y:77.10, Z:54.44 [[-2.53821032e-01 -9.23647651e-01 2.87140909e-01 1.11670641e+02] [ 6.29328360e-01 -3.83134959e-01 -6.76131214e-01 7.70988829e+01] [ 7.34520727e-01 9.08959464e-03 6.78525372e-01 5.44373755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.14710568099997 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:111.67, Y:77.10, Z:54.44 [[-2.53709090e-01 -9.23427074e-01 2.87948149e-01 1.11667497e+02] [ 6.29599645e-01 -3.83646509e-01 -6.75588369e-01 7.71003573e+01] [ 7.34326893e-01 9.88914192e-03 6.78723964e-01 5.44430168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.17710568099997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:111.67, Y:77.09, Z:54.43 [[-2.54928866e-01 -9.22894710e-01 2.88576901e-01 1.11670949e+02] [ 6.29866062e-01 -3.84928001e-01 -6.74610390e-01 7.70928944e+01] [ 7.33675690e-01 9.78713456e-03 6.79429315e-01 5.44349857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.20710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:111.67, Y:77.10, Z:54.44 [[-2.60588217e-01 -9.21094569e-01 2.89272495e-01 1.11674109e+02] [ 6.28055985e-01 -3.89291185e-01 -6.73793776e-01 7.70964639e+01] [ 7.33239020e-01 6.09660325e-03 6.79943653e-01 5.44369073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.23710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:111.68, Y:77.09, Z:54.42 [[-2.66174718e-01 -9.19251105e-01 2.90049006e-01 1.11680517e+02] [ 6.25991176e-01 -3.93664467e-01 -6.73174075e-01 7.70852095e+01] [ 7.32997999e-01 2.38619866e-03 6.80226609e-01 5.44230786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.26710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.68, Y:77.08, Z:54.41 [[-2.79250511e-01 -9.14976784e-01 2.91267293e-01 1.11682985e+02] [ 6.19281751e-01 -4.03432520e-01 -6.73596552e-01 7.70770421e+01] [ 7.33831905e-01 -7.72566258e-03 6.79287162e-01 5.44145595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.29710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.69, Y:77.07, Z:54.40 [[-2.92499789e-01 -9.10438497e-01 2.92481823e-01 1.11688395e+02] [ 6.12269377e-01 -4.13248990e-01 -6.74055993e-01 7.70657836e+01] [ 7.34554343e-01 -1.80835717e-02 6.78308854e-01 5.44008288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.32710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.69, Y:77.06, Z:54.39 [[-2.98748928e-01 -9.08179185e-01 2.93188754e-01 1.11691732e+02] [ 6.09778756e-01 -4.17982053e-01 -6.73395034e-01 7.70614115e+01] [ 7.34110991e-01 -2.23957707e-02 6.78660064e-01 5.43943147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.69, Y:77.06, Z:54.39 [[-3.07921754e-01 -9.04746811e-01 2.94308345e-01 1.11693257e+02] [ 6.04600879e-01 -4.24926083e-01 -6.73717746e-01 7.70560287e+01] [ 7.34603275e-01 -2.95132662e-02 6.77854701e-01 5.43887435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:111.69, Y:77.04, Z:54.38 [[-3.13638091e-01 -9.02360804e-01 2.95594533e-01 1.11691199e+02] [ 6.00459829e-01 -4.29635378e-01 -6.74434160e-01 7.70438218e+01] [ 7.35580819e-01 -3.40355991e-02 6.76581434e-01 5.43799062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.69, Y:77.03, Z:54.37 [[-3.15990610e-01 -9.01155595e-01 2.96763419e-01 1.11692300e+02] [ 5.98215022e-01 -4.32020339e-01 -6.74905338e-01 7.70301213e+01] [ 7.36402554e-01 -3.57354142e-02 6.75599184e-01 5.43673000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.69, Y:77.03, Z:54.37 [[-3.16681924e-01 -9.00652645e-01 2.97552303e-01 1.11693003e+02] [ 5.97849232e-01 -4.33068432e-01 -6.74557654e-01 7.70284061e+01] [ 7.36402645e-01 -3.57287996e-02 6.75599436e-01 5.43654671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:77.04, Z:54.39 [[-3.21362489e-01 -8.97587598e-01 3.01765894e-01 1.11674949e+02] [ 5.95029370e-01 -4.39303918e-01 -6.73017174e-01 7.70438250e+01] [ 7.36658808e-01 -3.67229044e-02 6.75266784e-01 5.43881804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.50710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:111.68, Y:77.02, Z:54.37 [[-3.22338055e-01 -8.97235033e-01 3.01773878e-01 1.11679249e+02] [ 5.95039495e-01 -4.39981263e-01 -6.72565601e-01 7.70240085e+01] [ 7.36224272e-01 -3.72261116e-02 6.75712985e-01 5.43651121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:111.67, Y:77.03, Z:54.37 [[-3.26698895e-01 -8.95912737e-01 3.01011959e-01 1.11668793e+02] [ 5.95517686e-01 -4.42443451e-01 -6.70524033e-01 7.70278593e+01] [ 7.33911791e-01 -3.98015155e-02 6.78077666e-01 5.43728874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.567105681 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:111.67, Y:77.00, Z:54.35 [[-3.29679997e-01 -8.93573840e-01 3.04691471e-01 1.11668649e+02] [ 6.02845736e-01 -4.47622325e-01 -6.60462923e-01 7.70001444e+01] [ 7.26559095e-01 -3.40594603e-02 6.86259306e-01 5.43464717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.597105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:111.67, Y:76.99, Z:54.34 [[-3.27337690e-01 -8.99036212e-01 2.90833158e-01 1.11667099e+02] [ 5.95788417e-01 -4.35272188e-01 -6.74962432e-01 7.69901066e+01] [ 7.33407254e-01 -4.76656164e-02 6.78116354e-01 5.43410560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62710568099996 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:111.66, Y:76.97, Z:54.33 [[-3.24247549e-01 -8.97191852e-01 2.99850474e-01 1.11658514e+02] [ 5.96454583e-01 -4.39930285e-01 -6.71344379e-01 7.69742731e+01] [ 7.34238012e-01 -3.88345798e-02 6.77780508e-01 5.43326594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65710568099996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:111.65, Y:76.99, Z:54.35 [[-3.23459806e-01 -8.96394457e-01 3.03068856e-01 1.11646586e+02] [ 5.97949405e-01 -4.41866114e-01 -6.68738250e-01 7.69862638e+01] [ 7.33369118e-01 -3.50901024e-02 6.78924460e-01 5.43506559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.68710568099996 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:111.64, Y:76.98, Z:54.34 [[-3.12633993e-01 -9.00990002e-01 3.00793954e-01 1.11637540e+02] [ 6.01688460e-01 -4.32877943e-01 -6.71258284e-01 7.69771298e+01] [ 7.35004071e-01 -2.88739064e-02 6.77447647e-01 5.43425095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.71710568099996 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:111.63, Y:76.97, Z:54.34 [[-3.07137939e-01 -9.02627753e-01 3.01545063e-01 1.11633098e+02] [ 6.04524290e-01 -4.29768591e-01 -6.70708089e-01 7.69693852e+01] [ 7.34994332e-01 -2.37085853e-02 6.77658642e-01 5.43372677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.74710568099997 meters Centerline goodness : 0.998195 Centerline is valid? [True, True] Translation: X:111.61, Y:76.98, Z:54.35 [[-2.92269773e-01 -9.07477890e-01 3.01765239e-01 1.11612046e+02] [ 6.13037647e-01 -4.19966344e-01 -6.69188399e-01 7.69767318e+01] [ 7.34004920e-01 -1.05900889e-02 6.79061578e-01 5.43542059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77710568099997 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:111.60, Y:76.98, Z:54.36 [[-2.85951859e-01 -9.09391505e-01 3.02057322e-01 1.11602706e+02] [ 6.17294284e-01 -4.15916855e-01 -6.67803068e-01 7.69794772e+01] [ 7.32925168e-01 -4.50127061e-03 6.80294375e-01 5.43619698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.80710568099997 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:111.59, Y:76.97, Z:54.36 [[-2.77015465e-01 -9.12153502e-01 3.02056984e-01 1.11593681e+02] [ 6.23580621e-01 -4.09829788e-01 -6.65722731e-01 7.69736329e+01] [ 7.31033270e-01 3.94139012e-03 6.82330436e-01 5.43619291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83710568099997 meters Centerline goodness : 0.997724 Centerline is valid? [True, True] Translation: X:111.59, Y:76.97, Z:54.36 [[-2.71387428e-01 -9.13475413e-01 3.03169152e-01 1.11586399e+02] [ 6.25196741e-01 -4.06799223e-01 -6.66065633e-01 7.69750000e+01] [ 7.31763554e-01 8.77852631e-03 6.81502045e-01 5.43638817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.86710568099997 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:111.58, Y:76.98, Z:54.37 [[-2.66299664e-01 -9.14436770e-01 3.04778414e-01 1.11580669e+02] [ 6.25166517e-01 -4.04526696e-01 -6.67476575e-01 7.69765475e+01] [ 7.33656129e-01 1.27884721e-02 6.79400574e-01 5.43652137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.89710568099997 meters Centerline goodness : 0.996658 Centerline is valid? [True, True] Translation: X:111.58, Y:76.97, Z:54.37 [[-2.64336261e-01 -9.14668128e-01 3.05791688e-01 1.11578591e+02] [ 6.25464635e-01 -4.03934521e-01 -6.67555910e-01 7.69746196e+01] [ 7.34111934e-01 1.48026529e-02 6.78867108e-01 5.43656783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.92710568099997 meters Centerline goodness : 0.996593 Centerline is valid? [True, True] Translation: X:111.58, Y:76.97, Z:54.36 [[-2.62232040e-01 -9.15177914e-01 3.06078000e-01 1.11576541e+02] [ 6.27890177e-01 -4.02668883e-01 -6.66041813e-01 7.69688820e+01] [ 7.32794844e-01 1.75258664e-02 6.80223905e-01 5.43642777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.95710568099997 meters Centerline goodness : 0.996518 Centerline is valid? [True, True] Translation: X:111.56, Y:77.00, Z:54.41 [[-2.65582039e-01 -9.11640123e-01 3.13653419e-01 1.11559349e+02] [ 6.31616218e-01 -4.10322165e-01 -6.57796834e-01 7.70021215e+01] [ 7.28372936e-01 2.34095621e-02 6.84780883e-01 5.44085076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.98710568099997 meters Centerline goodness : 0.996313 Centerline is valid? [True, True] Translation: X:111.56, Y:77.02, Z:54.42 [[-2.63100271e-01 -9.15253445e-01 3.05105522e-01 1.11555263e+02] [ 6.25125864e-01 -4.02606588e-01 -6.68674501e-01 7.70234566e+01] [ 7.34844134e-01 1.48009105e-02 6.78074503e-01 5.44201954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.01710568099998 meters Centerline goodness : 0.996850 Centerline is valid? [True, True] Translation: X:111.58, Y:76.98, Z:54.37 [[-2.59992798e-01 -9.14503488e-01 3.09979218e-01 1.11578545e+02] [ 6.23576056e-01 -4.04117133e-01 -6.69210165e-01 7.69781145e+01] [ 7.37262943e-01 1.93057952e-02 6.75330023e-01 5.43660093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.04710568099998 meters Centerline goodness : 0.996426 Centerline is valid? [True, True] Translation: X:111.58, Y:76.98, Z:54.37 [[-2.60571182e-01 -9.14457719e-01 3.09628389e-01 1.11582781e+02] [ 6.22555887e-01 -4.04273724e-01 -6.70064865e-01 7.69813621e+01] [ 7.37920610e-01 1.81613822e-02 6.74643119e-01 5.43660267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.07710568099998 meters Centerline goodness : 0.997108 Centerline is valid? [True, True] Translation: X:111.59, Y:76.98, Z:54.37 [[-2.60070558e-01 -9.14209632e-01 3.10779751e-01 1.11587762e+02] [ 6.21877042e-01 -4.04799621e-01 -6.70377663e-01 7.69817703e+01] [ 7.38669242e-01 1.89212997e-02 6.73802445e-01 5.43660450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.10710568099998 meters Centerline goodness : 0.997397 Centerline is valid? [True, True] Translation: X:111.59, Y:76.99, Z:54.37 [[-2.60502833e-01 -9.13871138e-01 3.11412616e-01 1.11588301e+02] [ 6.22267424e-01 -4.05542608e-01 -6.69565864e-01 7.69861304e+01] [ 7.38188003e-01 1.93581221e-02 6.74317237e-01 5.43708346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13710568099998 meters Centerline goodness : 0.997248 Centerline is valid? [True, True] Translation: X:111.56, Y:77.05, Z:54.45 [[-2.66452309e-01 -9.10561395e-01 3.16039733e-01 1.11564066e+02] [ 6.23771593e-01 -4.12874955e-01 -6.63659002e-01 7.70499832e+01] [ 7.34787157e-01 2.03031341e-02 6.77993817e-01 5.44455802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.16710568099998 meters Centerline goodness : 0.997547 Centerline is valid? [True, True] Translation: X:111.60, Y:76.99, Z:54.37 [[-2.67788545e-01 -9.12171278e-01 3.10214207e-01 1.11604737e+02] [ 6.21468478e-01 -4.09571848e-01 -6.67853152e-01 7.69870625e+01] [ 7.36251469e-01 1.39449275e-02 6.76564345e-01 5.43650354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19710568099998 meters Centerline goodness : 0.997297 Centerline is valid? [True, True] Translation: X:111.61, Y:76.98, Z:54.36 [[-2.72454284e-01 -9.10522684e-01 3.10993737e-01 1.11612436e+02] [ 6.20703036e-01 -4.13298947e-01 -6.66267005e-01 7.69805698e+01] [ 7.35184606e-01 1.15074572e-02 6.77769263e-01 5.43569476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.22710568099998 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:111.62, Y:76.98, Z:54.36 [[-2.78614248e-01 -9.08484112e-01 3.11497543e-01 1.11618323e+02] [ 6.18788550e-01 -4.17853603e-01 -6.65206057e-01 7.69845459e+01] [ 7.34489504e-01 7.41522755e-03 6.78579533e-01 5.43623717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25710568099998 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:111.63, Y:76.97, Z:54.35 [[-2.82286243e-01 -9.07304819e-01 3.11628694e-01 1.11630065e+02] [ 6.19019364e-01 -4.20435590e-01 -6.63361848e-01 7.69737367e+01] [ 7.32891196e-01 5.64627190e-03 6.80322435e-01 5.43513745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.28710568099999 meters Centerline goodness : 0.997930 Centerline is valid? [True, True] Translation: X:111.63, Y:76.97, Z:54.35 [[-2.85102167e-01 -9.06170912e-01 3.12363623e-01 1.11634335e+02] [ 6.17927643e-01 -4.22892300e-01 -6.62817871e-01 7.69724134e+01] [ 7.32722446e-01 4.04730628e-03 6.80515567e-01 5.43478768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.317105681 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:111.64, Y:76.97, Z:54.34 [[-2.92619700e-01 -9.03400298e-01 3.13435181e-01 1.11643997e+02] [ 6.13636205e-01 -4.28794933e-01 -6.63012454e-01 7.69716632e+01] [ 7.33365066e-01 -1.67533072e-03 6.79832975e-01 5.43435141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.347105681 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:111.65, Y:76.97, Z:54.34 [[-2.97914186e-01 -9.01367388e-01 3.14299172e-01 1.11647365e+02] [ 6.10916476e-01 -4.33021056e-01 -6.62777356e-01 7.69748302e+01] [ 7.33504054e-01 -5.44023412e-03 6.79663304e-01 5.43447141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37710568099996 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:111.66, Y:76.96, Z:54.33 [[-3.06675564e-01 -8.98078287e-01 3.15286361e-01 1.11660106e+02] [ 6.06128615e-01 -4.39667524e-01 -6.62797533e-01 7.69641710e+01] [ 7.33865247e-01 -1.21597216e-02 6.79186234e-01 5.43304197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40710568099996 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:111.67, Y:76.96, Z:54.32 [[-3.10604654e-01 -8.96475997e-01 3.15999265e-01 1.11665204e+02] [ 6.04393284e-01 -4.42847903e-01 -6.62264670e-01 7.69582371e+01] [ 7.33643992e-01 -1.47146555e-02 6.79374691e-01 5.43245932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.43710568099996 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:111.66, Y:76.97, Z:54.33 [[-3.14493553e-01 -8.93421485e-01 3.20767603e-01 1.11661416e+02] [ 6.11849642e-01 -4.49138933e-01 -6.51086965e-01 7.69686233e+01] [ 7.25764302e-01 -8.50110980e-03 6.87890914e-01 5.43326100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.46710568099996 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:111.67, Y:76.96, Z:54.32 [[-3.08413849e-01 -8.99564178e-01 3.09297894e-01 1.11666285e+02] [ 6.04255865e-01 -4.36387559e-01 -6.66663895e-01 7.69576100e+01] [ 7.34680711e-01 -1.87133114e-02 6.78154897e-01 5.43236814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.49710568099997 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:111.66, Y:76.97, Z:54.34 [[-3.04950247e-01 -8.97577535e-01 3.18370719e-01 1.11660269e+02] [ 6.05426461e-01 -4.40757571e-01 -6.62715296e-01 7.69667158e+01] [ 7.35162667e-01 -9.34513534e-03 6.77826321e-01 5.43371250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.52710568099997 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:111.66, Y:76.97, Z:54.34 [[-2.98556766e-01 -8.99637994e-01 3.18614717e-01 1.11659234e+02] [ 6.10038629e-01 -4.36625942e-01 -6.61219070e-01 7.69682847e+01] [ 7.33973248e-01 -3.04414196e-03 6.79171557e-01 5.43408895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.55710568099997 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:111.66, Y:76.96, Z:54.34 [[-2.93114433e-01 -9.01538155e-01 3.18296848e-01 1.11658939e+02] [ 6.15726826e-01 -4.32689491e-01 -6.58528876e-01 7.69617974e+01] [ 7.31412609e-01 2.95958987e-03 6.81928762e-01 5.43407118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.58710568099997 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:111.66, Y:76.96, Z:54.34 [[-2.90589027e-01 -9.02327681e-01 3.18375208e-01 1.11657096e+02] [ 6.18895921e-01 -4.31005834e-01 -6.56659585e-01 7.69582375e+01] [ 7.29743693e-01 6.22304784e-03 6.83692487e-01 5.43405924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.61710568099997 meters Centerline goodness : 0.997928 Centerline is valid? [True, True] Translation: X:111.65, Y:76.97, Z:54.35 [[-2.83224252e-01 -9.04406054e-01 3.19113949e-01 1.11648952e+02] [ 6.22557641e-01 -4.26479921e-01 -6.56153077e-01 7.69650987e+01] [ 7.29524507e-01 1.28283633e-02 6.83834356e-01 5.43503073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.64710568099997 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:111.64, Y:76.98, Z:54.36 [[-2.75678315e-01 -9.06419278e-01 3.20008685e-01 1.11642611e+02] [ 6.25874437e-01 -4.21930694e-01 -6.55938777e-01 7.69807180e+01] [ 7.29577039e-01 1.94571585e-02 6.83621798e-01 5.43625096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.67710568099997 meters Centerline goodness : 0.997830 Centerline is valid? [True, True] Translation: X:111.65, Y:76.98, Z:54.35 [[-2.73613634e-01 -9.06857951e-01 3.20537418e-01 1.11646483e+02] [ 6.27666869e-01 -4.20861913e-01 -6.54911866e-01 7.69752774e+01] [ 7.28814024e-01 2.19979023e-02 6.84358248e-01 5.43549004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.70710568099997 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:111.65, Y:76.97, Z:54.35 [[-2.71768032e-01 -9.07152503e-01 3.21273205e-01 1.11647431e+02] [ 6.28830719e-01 -4.20104785e-01 -6.54281206e-01 7.69735680e+01] [ 7.28501244e-01 2.42137450e-02 6.84616412e-01 5.43531591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.73710568099997 meters Centerline goodness : 0.997598 Centerline is valid? [True, True] Translation: X:111.65, Y:76.97, Z:54.35 [[-2.72046540e-01 -9.06737229e-01 3.22208438e-01 1.11647038e+02] [ 6.28467354e-01 -4.20980250e-01 -6.54067591e-01 7.69744312e+01] [ 7.28710824e-01 2.45606591e-02 6.84380967e-01 5.43535791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.76710568099998 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:111.65, Y:76.98, Z:54.36 [[-2.73108268e-01 -9.06034182e-01 3.23286151e-01 1.11647818e+02] [ 6.27369426e-01 -4.22513711e-01 -6.54132836e-01 7.69785802e+01] [ 7.29259540e-01 2.41707612e-02 6.83810133e-01 5.43579505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.79710568099998 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:111.65, Y:76.98, Z:54.35 [[-2.76489222e-01 -9.04690167e-01 3.24174971e-01 1.11654317e+02] [ 6.25701537e-01 -4.25498118e-01 -6.53795792e-01 7.69780248e+01] [ 7.29418464e-01 2.20692876e-02 6.83711672e-01 5.43542262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.82710568099998 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:111.66, Y:76.97, Z:54.35 [[-2.79382240e-01 -9.03531935e-01 3.24924002e-01 1.11659672e+02] [ 6.24628998e-01 -4.28031396e-01 -6.53167466e-01 7.69747078e+01] [ 7.29235338e-01 2.04735639e-02 6.83956618e-01 5.43487911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85710568099998 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:111.66, Y:76.98, Z:54.35 [[-2.84425984e-01 -9.01604880e-01 3.25899525e-01 1.11662676e+02] [ 6.21902660e-01 -4.32228490e-01 -6.53005064e-01 7.69808384e+01] [ 7.29615612e-01 1.69461738e-02 6.83647486e-01 5.43520653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88710568099998 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:111.67, Y:76.97, Z:54.34 [[-2.89624996e-01 -8.99426747e-01 3.27336048e-01 1.11669567e+02] [ 6.17851768e-01 -4.36881074e-01 -6.53753868e-01 7.69702617e+01] [ 7.31010639e-01 1.29016943e-02 6.82244085e-01 5.43393559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91710568099998 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:111.67, Y:76.96, Z:54.33 [[-2.93693515e-01 -8.97813207e-01 3.28139551e-01 1.11674179e+02] [ 6.15982841e-01 -4.40256661e-01 -6.53252794e-01 7.69615990e+01] [ 7.30964609e-01 1.02722234e-02 6.82338056e-01 5.43294934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94710568099998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:111.62, Y:77.07, Z:54.46 [[-3.06940377e-01 -8.90626589e-01 3.35517337e-01 1.11620963e+02] [ 6.14398653e-01 -4.54661112e-01 -6.44823672e-01 7.70725808e+01] [ 7.26843793e-01 8.21897903e-03 6.86753630e-01 5.44629051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97710568099998 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:111.68, Y:76.97, Z:54.33 [[-3.04870942e-01 -8.95252105e-01 3.24926726e-01 1.11678805e+02] [ 6.10618102e-01 -4.45558358e-01 -6.54693274e-01 7.69668288e+01] [ 7.30889350e-01 -1.19081468e-03 6.82494937e-01 5.43297053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.00710568099998 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:111.68, Y:76.96, Z:54.32 [[-3.11981432e-01 -8.91232128e-01 3.29200364e-01 1.11684218e+02] [ 6.06336810e-01 -4.53528197e-01 -6.53198168e-01 7.69600467e+01] [ 7.31452841e-01 -4.17940110e-03 6.81879222e-01 5.43230183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03710568099999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:111.69, Y:76.95, Z:54.31 [[-3.13807031e-01 -8.90275638e-01 3.30052171e-01 1.11690660e+02] [ 6.05298199e-01 -4.55393618e-01 -6.52863495e-01 7.69482179e+01] [ 7.31532117e-01 -5.09317041e-03 6.81787960e-01 5.43112257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.067105681 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:111.69, Y:76.95, Z:54.31 [[-3.13257157e-01 -8.90243105e-01 3.30661712e-01 1.11691431e+02] [ 6.06076180e-01 -4.55469290e-01 -6.52088483e-01 7.69476059e+01] [ 7.31123531e-01 -3.86519701e-03 6.82234155e-01 5.43104163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.097105681 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:111.59, Y:77.15, Z:54.56 [[-3.18905012e-01 -8.84646937e-01 3.40146130e-01 1.11586612e+02] [ 6.10738128e-01 -4.66247319e-01 -6.40009670e-01 7.71490124e+01] [ 7.24774815e-01 3.63791958e-03 6.88976221e-01 5.45567529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12710568099996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:111.68, Y:76.98, Z:54.34 [[-3.18767311e-01 -8.89615914e-01 3.27064102e-01 1.11676644e+02] [ 6.15921915e-01 -4.56698393e-01 -6.41924273e-01 7.69795619e+01] [ 7.20435699e-01 -3.17852672e-03 6.93514456e-01 5.43436585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15710568099996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:111.69, Y:76.96, Z:54.32 [[-3.24584179e-01 -8.86694596e-01 3.29268590e-01 1.11686173e+02] [ 6.18135278e-01 -4.62347034e-01 -6.35723209e-01 7.69630877e+01] [ 7.15928690e-01 -2.81316410e-03 6.98167743e-01 5.43220824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.18710568099996 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:111.70, Y:76.94, Z:54.30 [[-3.22498671e-01 -8.91608542e-01 3.17850302e-01 1.11699043e+02] [ 6.04977862e-01 -4.52407427e-01 -6.55232254e-01 7.69406534e+01] [ 7.28008512e-01 -1.90191349e-02 6.85304223e-01 5.43009949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.21710568099996 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:111.69, Y:76.94, Z:54.30 [[-3.33533161e-01 -8.79496850e-01 3.39471532e-01 1.11693020e+02] [ 6.16844094e-01 -4.75904610e-01 -6.26911610e-01 7.69440038e+01] [ 7.12922853e-01 3.05198850e-04 7.01242406e-01 5.43029244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.24710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:111.69, Y:76.95, Z:54.30 [[-3.34424403e-01 -8.85171248e-01 3.23468979e-01 1.11691480e+02] [ 6.17960514e-01 -4.65108191e-01 -6.33876308e-01 7.69486649e+01] [ 7.11537155e-01 -1.20926493e-02 7.02544408e-01 5.43007343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.27710568099997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:111.61, Y:77.11, Z:54.51 [[-3.36588248e-01 -8.82844390e-01 3.27557832e-01 1.11605999e+02] [ 6.02051714e-01 -4.69229284e-01 -6.46032207e-01 7.71091422e+01] [ 7.24045637e-01 -2.02400946e-02 6.89455041e-01 5.45065090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.30710568099997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:111.68, Y:76.96, Z:54.33 [[-3.36154962e-01 -8.82198405e-01 3.29735980e-01 1.11677804e+02] [ 5.95894498e-01 -4.70348668e-01 -6.50908501e-01 7.69623422e+01] [ 7.29321320e-01 -2.23182660e-02 6.83807214e-01 5.43291773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.33710568099997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:111.68, Y:76.96, Z:54.33 [[-3.36862249e-01 -8.79250313e-01 3.36812579e-01 1.11678183e+02] [ 5.95335402e-01 -4.76037533e-01 -6.47274305e-01 7.69594904e+01] [ 7.29451564e-01 -1.75258261e-02 6.83807912e-01 5.43280850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.36710568099997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:111.69, Y:76.93, Z:54.28 [[-3.47736386e-01 -8.70692310e-01 3.47813609e-01 1.11687850e+02] [ 6.08930191e-01 -4.91806397e-01 -6.22358812e-01 7.69262665e+01] [ 7.12939990e-01 -4.62259705e-03 7.01209814e-01 5.42844602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39710568099997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:111.69, Y:76.93, Z:54.28 [[-3.48219846e-01 -8.77642838e-01 3.29372111e-01 1.11686498e+02] [ 6.09721268e-01 -4.78934691e-01 -6.31554856e-01 7.69277031e+01] [ 7.12027327e-01 -1.90947532e-02 7.01892069e-01 5.42784991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.42710568099997 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:111.69, Y:76.91, Z:54.26 [[-3.49115980e-01 -8.76815123e-01 3.30625578e-01 1.11689058e+02] [ 6.09875372e-01 -4.80476073e-01 -6.30233904e-01 7.69090252e+01] [ 7.11456297e-01 -1.83843296e-02 7.02489824e-01 5.42558827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.45710568099997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:111.69, Y:76.91, Z:54.26 [[-3.50219357e-01 -8.75299077e-01 3.33463534e-01 1.11685508e+02] [ 6.10397217e-01 -4.83309298e-01 -6.27556659e-01 7.69100062e+01] [ 7.10465791e-01 -1.62372761e-02 7.03544392e-01 5.42580368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.48710568099997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:111.67, Y:76.94, Z:54.30 [[-3.50469670e-01 -8.80018952e-01 3.20527150e-01 1.11670394e+02] [ 5.89748073e-01 -4.73223846e-01 -6.54413021e-01 7.69378494e+01] [ 7.27576952e-01 -4.03216465e-02 6.84840087e-01 5.42984433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.51710568099998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:111.69, Y:76.88, Z:54.22 [[-3.67057047e-01 -8.65403105e-01 3.41096159e-01 1.11688472e+02] [ 5.99678795e-01 -5.00469418e-01 -6.24432305e-01 7.68753764e+01] [ 7.11093852e-01 -2.46541440e-02 7.02664718e-01 5.42241911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.54710568099998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:111.69, Y:76.88, Z:54.24 [[-3.60244823e-01 -8.75468902e-01 3.22145726e-01 1.11686263e+02] [ 5.83358546e-01 -4.80897743e-01 -6.54545772e-01 7.68835574e+01] [ 7.27953621e-01 -4.78702637e-02 6.83953188e-01 5.42389399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:111.68, Y:76.87, Z:54.22 [[-3.76822325e-01 -8.60771106e-01 3.42166683e-01 1.11680772e+02] [ 5.88108173e-01 -5.07717325e-01 -6.29564845e-01 7.68717421e+01] [ 7.15635181e-01 -3.60030655e-02 6.97545745e-01 5.42180957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.60710568099998 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:111.69, Y:76.85, Z:54.19 [[-3.78192296e-01 -8.60300601e-01 3.41838359e-01 1.11687354e+02] [ 5.93564134e-01 -5.08721777e-01 -6.23605462e-01 7.68526896e+01] [ 7.10388771e-01 -3.29397923e-02 7.03038238e-01 5.41948570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63710568099998 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:111.68, Y:76.85, Z:54.19 [[-3.84158755e-01 -8.62694145e-01 3.28908594e-01 1.11680876e+02] [ 5.88868667e-01 -5.03322301e-01 -6.32376750e-01 7.68513391e+01] [ 7.11094750e-01 -4.92490995e-02 7.01369220e-01 5.41941014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.66710568099998 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:111.68, Y:76.84, Z:54.18 [[-3.84320237e-01 -8.59903355e-01 3.35952639e-01 1.11680251e+02] [ 5.88513933e-01 -5.08571623e-01 -6.28495230e-01 7.68352857e+01] [ 7.11301136e-01 -4.38306265e-02 7.01519473e-01 5.41822714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69710568099998 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:111.67, Y:76.82, Z:54.17 [[-3.87403365e-01 -8.59603532e-01 3.33167225e-01 1.11674483e+02] [ 5.85744515e-01 -5.08574840e-01 -6.31074476e-01 7.68238974e+01] [ 7.11914317e-01 -4.93295011e-02 7.00531659e-01 5.41730145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.72710568099998 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:111.67, Y:76.82, Z:54.17 [[-3.88457624e-01 -8.59060312e-01 3.33340748e-01 1.11666319e+02] [ 5.83267680e-01 -5.09288638e-01 -6.32790563e-01 7.68172805e+01] [ 7.13371914e-01 -5.13854338e-02 6.98899169e-01 5.41690779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75710568099998 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:111.66, Y:76.80, Z:54.16 [[-3.94415261e-01 -8.54002437e-01 3.39288137e-01 1.11660295e+02] [ 5.84253428e-01 -5.18033961e-01 -6.24730939e-01 7.68048853e+01] [ 7.09284522e-01 -4.81731596e-02 7.03274351e-01 5.41638092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.78710568099999 meters Centerline goodness : 0.997982 Centerline is valid? [True, True] Translation: X:111.66, Y:76.80, Z:54.16 [[-3.92434047e-01 -8.56855905e-01 3.34355316e-01 1.11656646e+02] [ 5.87837581e-01 -5.13236094e-01 -6.25328466e-01 7.67979366e+01] [ 7.07419604e-01 -4.88535606e-02 7.05103420e-01 5.41550271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.817105681 meters Centerline goodness : 0.997816 Centerline is valid? [True, True] Translation: X:111.64, Y:76.80, Z:54.17 [[-3.88521922e-01 -8.64952979e-01 3.17658715e-01 1.11641131e+02] [ 5.70649679e-01 -4.96537333e-01 -6.54071571e-01 7.68042377e+01] [ 7.23470566e-01 -7.28493004e-02 6.86500779e-01 5.41749506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.847105681 meters Centerline goodness : 0.997211 Centerline is valid? [True, True] Translation: X:111.64, Y:76.79, Z:54.17 [[-3.88758061e-01 -8.56644845e-01 3.39155982e-01 1.11636252e+02] [ 5.69518743e-01 -5.12793901e-01 -6.42410162e-01 7.67904058e+01] [ 7.24234473e-01 -5.65864400e-02 6.87228058e-01 5.41739660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87710568099996 meters Centerline goodness : 0.997382 Centerline is valid? [True, True] Translation: X:111.62, Y:76.78, Z:54.17 [[-3.87272937e-01 -8.57104499e-01 3.39693317e-01 1.11622405e+02] [ 5.70614871e-01 -5.12224531e-01 -6.41891501e-01 7.67835863e+01] [ 7.24167343e-01 -5.47531486e-02 6.87447272e-01 5.41745201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.90710568099996 meters Centerline goodness : 0.996820 Centerline is valid? [True, True] Translation: X:111.62, Y:76.77, Z:54.17 [[-3.85731287e-01 -8.57557125e-01 3.40304497e-01 1.11618237e+02] [ 5.71549193e-01 -5.11656097e-01 -6.41513491e-01 7.67749604e+01] [ 7.24253336e-01 -5.29510636e-02 6.87497847e-01 5.41672638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.93710568099996 meters Centerline goodness : 0.996036 Centerline is valid? [True, True] Translation: X:111.60, Y:76.78, Z:54.18 [[-3.80331750e-01 -8.59938531e-01 3.40372565e-01 1.11599116e+02] [ 5.76177989e-01 -5.08197164e-01 -6.40120744e-01 7.67767542e+01] [ 7.23440865e-01 -4.73430625e-02 6.88761170e-01 5.41761358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.96710568099996 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:111.47, Y:76.98, Z:54.43 [[-3.73671368e-01 -8.62676278e-01 3.40821579e-01 1.11470570e+02] [ 5.79044424e-01 -5.03999770e-01 -6.40852391e-01 7.69823311e+01] [ 7.24622153e-01 -4.21173543e-02 6.87858172e-01 5.44340061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.99710568099997 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:111.48, Y:76.95, Z:54.41 [[-3.69384357e-01 -8.62936144e-01 3.44813586e-01 1.11476831e+02] [ 5.84953472e-01 -5.04236844e-01 -6.35275248e-01 7.69548622e+01] [ 7.22069687e-01 -3.29608343e-02 6.91034696e-01 5.44062223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.02710568099997 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:111.56, Y:76.77, Z:54.19 [[-3.51806544e-01 -8.71090065e-01 3.42686816e-01 1.11560331e+02] [ 5.92597824e-01 -4.90645137e-01 -6.38823269e-01 7.67729835e+01] [ 7.24610223e-01 -2.16667454e-02 6.88818247e-01 5.41923507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.05710568099997 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:111.43, Y:77.00, Z:54.47 [[-3.41132319e-01 -8.75283599e-01 3.42793470e-01 1.11425244e+02] [ 6.00332679e-01 -4.83472423e-01 -6.37067572e-01 7.69982527e+01] [ 7.23345986e-01 -1.15342158e-02 6.90389416e-01 5.44709657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.08710568099997 meters Centerline goodness : 0.995541 Centerline is valid? [True, True] Translation: X:111.53, Y:76.79, Z:54.22 [[-3.28064596e-01 -8.80260781e-01 3.42803993e-01 1.11532277e+02] [ 6.05311439e-01 -4.74485262e-01 -6.39110161e-01 7.67866516e+01] [ 7.25239052e-01 -2.16623899e-03 6.88493736e-01 5.42200650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.11710568099997 meters Centerline goodness : 0.996491 Centerline is valid? [True, True] Translation: X:111.52, Y:76.79, Z:54.22 [[-3.17013291e-01 -8.85200180e-01 3.40474983e-01 1.11521717e+02] [ 6.09479855e-01 -4.65193135e-01 -6.41973250e-01 7.67893446e+01] [ 7.26661462e-01 3.99859026e-03 6.86984084e-01 5.42230299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.14710568099997 meters Centerline goodness : 0.996736 Centerline is valid? [True, True] Translation: X:111.41, Y:76.99, Z:54.46 [[-3.16213597e-01 -8.85317370e-01 3.40913647e-01 1.11411920e+02] [ 6.08122044e-01 -4.64971249e-01 -6.43420016e-01 7.69866033e+01] [ 7.28145961e-01 3.85894632e-03 6.85411240e-01 5.44564722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.17710568099997 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:111.51, Y:76.80, Z:54.23 [[-3.11579538e-01 -8.84266953e-01 3.47836381e-01 1.11511590e+02] [ 6.11950221e-01 -4.66774072e-01 -6.38466047e-01 7.67960780e+01] [ 7.26935430e-01 1.39255939e-02 6.86564606e-01 5.42313787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.20710568099997 meters Centerline goodness : 0.996849 Centerline is valid? [True, True] Translation: X:111.52, Y:76.79, Z:54.22 [[-3.14443033e-01 -8.86223992e-01 3.40194967e-01 1.11515981e+02] [ 6.11081407e-01 -4.63217450e-01 -6.41879356e-01 7.67871723e+01] [ 7.26433131e-01 6.05232783e-03 6.87210503e-01 5.42166368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.23710568099997 meters Centerline goodness : 0.996448 Centerline is valid? [True, True] Translation: X:111.51, Y:76.79, Z:54.22 [[-3.16928881e-01 -8.85337576e-01 3.40196210e-01 1.11514645e+02] [ 6.09778276e-01 -4.64931461e-01 -6.41879420e-01 7.67892040e+01] [ 7.26447891e-01 4.01413183e-03 6.87209829e-01 5.42189124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.26710568099998 meters Centerline goodness : 0.996536 Centerline is valid? [True, True] Translation: X:111.51, Y:76.79, Z:54.22 [[-3.20086420e-01 -8.83708435e-01 3.41473405e-01 1.11514241e+02] [ 6.06642360e-01 -4.68035524e-01 -6.42594580e-01 7.67881633e+01] [ 7.27687935e-01 1.46643339e-03 6.85906786e-01 5.42201761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.29710568099998 meters Centerline goodness : 0.996841 Centerline is valid? [True, True] Translation: X:111.52, Y:76.78, Z:54.22 [[-3.22487467e-01 -8.82441112e-01 3.42490171e-01 1.11515834e+02] [ 6.04568209e-01 -4.70422817e-01 -6.42806078e-01 7.67828273e+01] [ 7.28353701e-01 -2.38234019e-04 6.85201305e-01 5.42165492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.32710568099998 meters Centerline goodness : 0.996785 Centerline is valid? [True, True] Translation: X:111.42, Y:76.96, Z:54.43 [[-3.28958561e-01 -8.78694718e-01 3.45950657e-01 1.11419468e+02] [ 6.03316497e-01 -4.77381960e-01 -6.38839313e-01 7.69620123e+01] [ 7.26495333e-01 -1.43392295e-03 6.87169902e-01 5.44324345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.35710568099998 meters Centerline goodness : 0.996889 Centerline is valid? [True, True] Translation: X:111.42, Y:76.97, Z:54.43 [[-3.29565666e-01 -8.79085221e-01 3.44377187e-01 1.11419607e+02] [ 6.02681523e-01 -4.76652748e-01 -6.39982139e-01 7.69690629e+01] [ 7.26747173e-01 -3.36637236e-03 6.86896800e-01 5.44319663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.38710568099998 meters Centerline goodness : 0.996819 Centerline is valid? [True, True] Translation: X:111.52, Y:76.78, Z:54.20 [[-3.28397380e-01 -8.79725071e-01 3.43858925e-01 1.11524232e+02] [ 6.02619629e-01 -4.75471527e-01 -6.40918412e-01 7.67787297e+01] [ 7.27327123e-01 -3.25978951e-03 6.86283199e-01 5.41994096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41710568099998 meters Centerline goodness : 0.996708 Centerline is valid? [True, True] Translation: X:111.53, Y:76.78, Z:54.20 [[-3.31584262e-01 -8.78938135e-01 3.42811364e-01 1.11526627e+02] [ 6.00842403e-01 -4.76888070e-01 -6.41534235e-01 7.67782075e+01] [ 7.27351554e-01 -6.74705231e-03 6.86231881e-01 5.41979149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.44710568099998 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:111.53, Y:76.77, Z:54.20 [[-3.34090206e-01 -8.77745385e-01 3.43433799e-01 1.11529457e+02] [ 5.99630990e-01 -4.79056588e-01 -6.41051840e-01 7.67693306e+01] [ 7.27204517e-01 -8.23559210e-03 6.86371448e-01 5.41952501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47710568099998 meters Centerline goodness : 0.996584 Centerline is valid? [True, True] Translation: X:111.53, Y:76.77, Z:54.19 [[-3.35101766e-01 -8.77028511e-01 3.44278662e-01 1.11531708e+02] [ 5.98655061e-01 -4.80359692e-01 -6.40988833e-01 7.67663771e+01] [ 7.27543074e-01 -8.69232641e-03 6.86006939e-01 5.41920509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.50710568099998 meters Centerline goodness : 0.996546 Centerline is valid? [True, True] Translation: X:111.53, Y:76.77, Z:54.19 [[-3.35388664e-01 -8.76399971e-01 3.45597359e-01 1.11534178e+02] [ 5.96856679e-01 -4.81500140e-01 -6.41809722e-01 7.67720820e+01] [ 7.28887199e-01 -8.98361299e-03 6.84574865e-01 5.41921380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53710568099999 meters Centerline goodness : 0.996369 Centerline is valid? [True, True] Translation: X:111.54, Y:76.78, Z:54.19 [[-3.34461325e-01 -8.76315268e-01 3.46709061e-01 1.11536663e+02] [ 5.96257310e-01 -4.81670349e-01 -6.42238971e-01 7.67784662e+01] [ 7.29803290e-01 -8.07628511e-03 6.83609487e-01 5.41941187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.567105681 meters Centerline goodness : 0.995728 Centerline is valid? [True, True] Translation: X:111.54, Y:76.78, Z:54.19 [[-3.39221564e-01 -8.74162809e-01 3.47517070e-01 1.11538739e+02] [ 5.93049908e-01 -4.85489635e-01 -6.42332952e-01 7.67775581e+01] [ 7.30219513e-01 -1.17982218e-02 6.83110727e-01 5.41939912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.597105681 meters Centerline goodness : 0.996127 Centerline is valid? [True, True] Translation: X:111.53, Y:76.78, Z:54.21 [[-3.27464282e-01 -8.75218832e-01 3.56032499e-01 1.11534897e+02] [ 6.01339122e-01 -4.83691876e-01 -6.35950808e-01 7.67794202e+01] [ 7.28806151e-01 5.84509559e-03 6.84695136e-01 5.42087815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.62710568099996 meters Centerline goodness : 0.996282 Centerline is valid? [True, True] Translation: X:111.54, Y:76.78, Z:54.20 [[-3.25603279e-01 -8.79511912e-01 3.47046541e-01 1.11539133e+02] [ 6.03936656e-01 -4.75874781e-01 -6.39377594e-01 7.67763095e+01] [ 7.27490907e-01 1.41068666e-03 6.86115872e-01 5.42016499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65710568099996 meters Centerline goodness : 0.996221 Centerline is valid? [True, True] Translation: X:111.44, Y:76.97, Z:54.44 [[-3.20371383e-01 -8.81887749e-01 3.45884627e-01 1.11436941e+02] [ 6.06960833e-01 -4.71433305e-01 -6.39804021e-01 7.69722952e+01] [ 7.27296861e-01 4.96352222e-03 6.86305063e-01 5.44358032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.68710568099996 meters Centerline goodness : 0.996130 Centerline is valid? [True, True] Translation: X:111.54, Y:76.80, Z:54.22 [[-3.14260157e-01 -8.81888024e-01 3.51445682e-01 1.11535998e+02] [ 6.12285525e-01 -4.71198561e-01 -6.34884518e-01 7.67979968e+01] [ 7.25497753e-01 1.56661954e-02 6.88046206e-01 5.42234986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.71710568099996 meters Centerline goodness : 0.995807 Centerline is valid? [True, True] Translation: X:111.48, Y:76.91, Z:54.35 [[-3.12364038e-01 -8.85483367e-01 3.44017317e-01 1.11481324e+02] [ 6.12814921e-01 -4.64537643e-01 -6.39267277e-01 7.69105983e+01] [ 7.25869534e-01 1.11348370e-02 6.87742273e-01 5.43524049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.74710568099997 meters Centerline goodness : 0.995370 Centerline is valid? [True, True] Translation: X:111.54, Y:76.80, Z:54.23 [[-3.06074720e-01 -8.83419828e-01 3.54806529e-01 1.11540933e+02] [ 6.18191691e-01 -4.67859628e-01 -6.31622040e-01 7.68018748e+01] [ 7.23987085e-01 2.60149093e-02 6.89322802e-01 5.42276437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.77710568099997 meters Centerline goodness : 0.995735 Centerline is valid? [True, True] Translation: X:111.55, Y:76.81, Z:54.23 [[-3.00799730e-01 -8.88345906e-01 3.46930935e-01 1.11545291e+02] [ 6.18745383e-01 -4.58608373e-01 -6.37834234e-01 7.68106323e+01] [ 7.25722863e-01 2.28015490e-02 6.87609203e-01 5.42280189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.80710568099997 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:111.54, Y:76.82, Z:54.24 [[-2.99475531e-01 -8.88375876e-01 3.47998145e-01 1.11544827e+02] [ 6.18630304e-01 -4.58478373e-01 -6.38039284e-01 7.68195961e+01] [ 7.26368332e-01 2.42050446e-02 6.86879293e-01 5.42356963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.83710568099997 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:111.55, Y:76.83, Z:54.24 [[-2.97193198e-01 -8.88707882e-01 3.49105289e-01 1.11551242e+02] [ 6.18942594e-01 -4.57714192e-01 -6.38285034e-01 7.68283508e+01] [ 7.27039386e-01 2.63821628e-02 6.86088706e-01 5.42376737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.86710568099997 meters Centerline goodness : 0.994275 Centerline is valid? [True, True] Translation: X:111.56, Y:76.83, Z:54.24 [[-2.96929598e-01 -8.88364453e-01 3.50201958e-01 1.11556085e+02] [ 6.18272984e-01 -4.58348112e-01 -6.38479072e-01 7.68294460e+01] [ 7.27716518e-01 2.69370753e-02 6.85348862e-01 5.42355770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.89710568099997 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:111.56, Y:76.84, Z:54.24 [[-2.96397679e-01 -8.87929430e-01 3.51752389e-01 1.11560930e+02] [ 6.16628713e-01 -4.59165291e-01 -6.39481247e-01 7.68388642e+01] [ 7.29326707e-01 2.73598655e-02 6.83618309e-01 5.42387171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.92710568099997 meters Centerline goodness : 0.994183 Centerline is valid? [True, True] Translation: X:111.57, Y:76.84, Z:54.23 [[-2.98433092e-01 -8.86982502e-01 3.52419821e-01 1.11572831e+02] [ 6.15860377e-01 -4.61048804e-01 -6.38866181e-01 7.68393029e+01] [ 7.29145860e-01 2.63825942e-02 6.83849598e-01 5.42303965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.95710568099997 meters Centerline goodness : 0.994218 Centerline is valid? [True, True] Translation: X:111.57, Y:76.85, Z:54.24 [[-3.00209929e-01 -8.86049693e-01 3.53256196e-01 1.11574682e+02] [ 6.14803221e-01 -4.62889360e-01 -6.38553397e-01 7.68478625e+01] [ 7.29308576e-01 2.54829777e-02 6.83710187e-01 5.42372222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.98710568099997 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:111.59, Y:76.83, Z:54.20 [[-3.17037530e-01 -8.76145585e-01 3.63119978e-01 1.11591392e+02] [ 6.35163961e-01 -4.80473243e-01 -6.04741437e-01 7.68300315e+01] [ 7.04310974e-01 3.89149920e-02 7.08824150e-01 5.42020602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.01710568099998 meters Centerline goodness : 0.994310 Centerline is valid? [True, True] Translation: X:111.59, Y:76.85, Z:54.22 [[-3.04448549e-01 -8.91777187e-01 3.34730532e-01 1.11593602e+02] [ 6.11723947e-01 -4.52417572e-01 -6.48931547e-01 7.68522199e+01] [ 7.30140325e-01 7.19641427e-03 6.83259334e-01 5.42247953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.04710568099998 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:111.60, Y:76.86, Z:54.23 [[-3.06373275e-01 -8.83589693e-01 3.54125220e-01 1.11602496e+02] [ 6.13150951e-01 -4.67740443e-01 -6.36604107e-01 7.68567603e+01] [ 7.28135515e-01 2.20937299e-02 6.85077032e-01 5.42321429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.07710568099998 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:111.51, Y:77.04, Z:54.45 [[-3.10547104e-01 -8.81937042e-01 3.54609010e-01 1.11513885e+02] [ 6.09265909e-01 -4.71025326e-01 -6.37910804e-01 7.70417858e+01] [ 7.29626993e-01 1.79498281e-02 6.83609725e-01 5.44500688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.10710568099998 meters Centerline goodness : 0.996031 Centerline is valid? [True, True] Translation: X:111.63, Y:76.86, Z:54.23 [[-3.07706129e-01 -8.80495840e-01 3.60616160e-01 1.11625334e+02] [ 6.13296984e-01 -4.73307471e-01 -6.32334442e-01 7.68627167e+01] [ 7.27450168e-01 2.65916196e-02 6.85645053e-01 5.42320567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13710568099998 meters Centerline goodness : 0.996286 Centerline is valid? [True, True] Translation: X:111.63, Y:76.88, Z:54.24 [[-3.07809575e-01 -8.82820348e-01 3.54797828e-01 1.11626010e+02] [ 6.12834542e-01 -4.69208423e-01 -6.35828027e-01 7.68769104e+01] [ 7.27796050e-01 2.17184091e-02 6.85449649e-01 5.42420410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.16710568099998 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:111.64, Y:76.88, Z:54.24 [[-3.03615824e-01 -8.83622082e-01 3.56411908e-01 1.11638456e+02] [ 6.13036413e-01 -4.67525984e-01 -6.36871895e-01 7.68820334e+01] [ 7.29385898e-01 2.51290930e-02 6.83640798e-01 5.42373412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19710568099998 meters Centerline goodness : 0.996996 Centerline is valid? [True, True] Translation: X:111.64, Y:76.89, Z:54.24 [[-3.01913142e-01 -8.83657842e-01 3.57767065e-01 1.11640659e+02] [ 6.12581773e-01 -4.67370432e-01 -6.37423290e-01 7.68894611e+01] [ 7.30473836e-01 2.67151147e-02 6.82417963e-01 5.42422170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.22710568099998 meters Centerline goodness : 0.996515 Centerline is valid? [True, True] Translation: X:111.65, Y:76.90, Z:54.25 [[-2.98665308e-01 -8.84462796e-01 3.58503271e-01 1.11647941e+02] [ 6.14482772e-01 -4.65639761e-01 -6.36859903e-01 7.68981273e+01] [ 7.30212268e-01 3.00861248e-02 6.82557594e-01 5.42450905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25710568099998 meters Centerline goodness : 0.996515 Centerline is valid? [True, True] Translation: X:111.65, Y:76.90, Z:54.24 [[-2.99453113e-01 -8.83867007e-01 3.59314552e-01 1.11648850e+02] [ 6.14099378e-01 -4.66769937e-01 -6.36402215e-01 7.68963499e+01] [ 7.30212152e-01 3.00822185e-02 6.82557890e-01 5.42432653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.28710568099999 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:111.65, Y:76.90, Z:54.25 [[-2.98237978e-01 -8.83940483e-01 3.60143486e-01 1.11653320e+02] [ 6.14741440e-01 -4.66521867e-01 -6.35964079e-01 7.68997403e+01] [ 7.30169207e-01 3.17264847e-02 6.82529384e-01 5.42450639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.317105681 meters Centerline goodness : 0.997313 Centerline is valid? [True, True] Translation: X:111.66, Y:76.91, Z:54.26 [[-2.96246388e-01 -8.84371916e-01 3.60727586e-01 1.11656824e+02] [ 6.16398748e-01 -4.65527680e-01 -6.35087838e-01 7.69119132e+01] [ 7.29582525e-01 3.42095545e-02 6.83036636e-01 5.42582093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.347105681 meters Centerline goodness : 0.997232 Centerline is valid? [True, True] Translation: X:111.67, Y:76.90, Z:54.25 [[-2.98522189e-01 -8.83360613e-01 3.61328839e-01 1.11669732e+02] [ 6.15798860e-01 -4.67517968e-01 -6.34207154e-01 7.69036204e+01] [ 7.29161345e-01 3.31809791e-02 6.83536946e-01 5.42462059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37710568099996 meters Centerline goodness : 0.997501 Centerline is valid? [True, True] Translation: X:111.67, Y:76.91, Z:54.26 [[-3.01693362e-01 -8.81935901e-01 3.62174242e-01 1.11668322e+02] [ 6.14123125e-01 -4.70334223e-01 -6.33749561e-01 7.69148233e+01] [ 7.29269431e-01 3.12215409e-02 6.83513944e-01 5.42581221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.40710568099996 meters Centerline goodness : 0.998046 Centerline is valid? [True, True] Translation: X:111.66, Y:76.95, Z:54.30 [[-3.10376289e-01 -8.78543940e-01 3.63080026e-01 1.11658187e+02] [ 6.09246498e-01 -4.77027846e-01 -6.33453344e-01 7.69523584e+01] [ 7.29715879e-01 2.45963362e-02 6.83307951e-01 5.42988143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.43710568099996 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:111.63, Y:77.01, Z:54.36 [[-3.16498057e-01 -8.75367973e-01 3.65458468e-01 1.11630852e+02] [ 6.06481617e-01 -4.82968075e-01 -6.31602634e-01 7.70071179e+01] [ 7.29389490e-01 2.17428367e-02 6.83753041e-01 5.43622121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.46710568099996 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:111.70, Y:76.90, Z:54.23 [[-3.21578547e-01 -8.73272137e-01 3.66036900e-01 1.11699205e+02] [ 6.03636671e-01 -4.86902440e-01 -6.31307202e-01 7.69033662e+01] [ 7.29527250e-01 1.79384432e-02 6.83716465e-01 5.42332743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.49710568099997 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:111.71, Y:76.90, Z:54.22 [[-3.29147498e-01 -8.71684336e-01 3.63081730e-01 1.11711898e+02] [ 6.01440315e-01 -4.89951700e-01 -6.31044277e-01 7.68952249e+01] [ 7.27963923e-01 1.06653446e-02 6.85532478e-01 5.42221473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.52710568099997 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:111.71, Y:76.90, Z:54.22 [[-3.32908866e-01 -8.70155169e-01 3.63320338e-01 1.11713981e+02] [ 6.00668545e-01 -4.92702358e-01 -6.29636153e-01 7.68968660e+01] [ 7.26889940e-01 8.62364076e-03 6.86699823e-01 5.42234786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.55710568099997 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:111.72, Y:76.90, Z:54.22 [[-3.37314185e-01 -8.68238096e-01 3.63843029e-01 1.11720931e+02] [ 5.98797155e-01 -4.96114036e-01 -6.28739080e-01 7.68952568e+01] [ 7.26402855e-01 5.78555956e-03 6.87244803e-01 5.42213283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.58710568099997 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:111.73, Y:76.89, Z:54.22 [[-3.38716100e-01 -8.67231984e-01 3.64938475e-01 1.11725006e+02] [ 5.97238475e-01 -4.97879571e-01 -6.28825999e-01 7.68933424e+01] [ 7.27033430e-01 4.96180873e-03 6.86584134e-01 5.42167490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.61710568099997 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:111.73, Y:76.90, Z:54.22 [[-3.39301864e-01 -8.66738242e-01 3.65566771e-01 1.11726377e+02] [ 5.97270307e-01 -4.98735963e-01 -6.28116725e-01 7.69029535e+01] [ 7.26734082e-01 5.22100228e-03 6.86899058e-01 5.42230066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.64710568099997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:111.74, Y:76.89, Z:54.21 [[-3.39117794e-01 -8.66504980e-01 3.66289832e-01 1.11735770e+02] [ 5.97527407e-01 -4.99131735e-01 -6.27557574e-01 7.68917443e+01] [ 7.26608643e-01 6.05227369e-03 6.87024926e-01 5.42084657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.67710568099997 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:111.73, Y:76.90, Z:54.22 [[-3.38703097e-01 -8.65946096e-01 3.67991266e-01 1.11733980e+02] [ 5.95541714e-01 -5.00098659e-01 -6.28674318e-01 7.69024568e+01] [ 7.28430010e-01 6.22021042e-03 6.85091987e-01 5.42208607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.70710568099997 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:111.65, Y:77.04, Z:54.40 [[-3.43194038e-01 -8.63909545e-01 3.68616536e-01 1.11654296e+02] [ 5.90389431e-01 -5.03645627e-01 -6.30699138e-01 7.70446207e+01] [ 7.30519112e-01 1.17512250e-03 6.82891241e-01 5.43953510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.73710568099997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:111.74, Y:76.90, Z:54.22 [[-3.40063669e-01 -8.62833460e-01 3.73998826e-01 1.11742267e+02] [ 5.96049779e-01 -5.05374254e-01 -6.23956348e-01 7.68957449e+01] [ 7.27379792e-01 1.07370326e-02 6.86151116e-01 5.42160969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.76710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:111.74, Y:76.91, Z:54.23 [[-3.40902865e-01 -8.65386269e-01 3.67276247e-01 1.11738285e+02] [ 5.97958906e-01 -5.01065194e-01 -6.25602764e-01 7.69082109e+01] [ 7.25417386e-01 6.34632812e-03 6.88279987e-01 5.42319938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.79710568099998 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:111.74, Y:76.91, Z:54.23 [[-3.39154225e-01 -8.65859746e-01 3.67778889e-01 1.11741020e+02] [ 5.99666493e-01 -5.00211309e-01 -6.24650897e-01 7.69101045e+01] [ 7.24827227e-01 8.69168578e-03 6.88875856e-01 5.42321798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.82710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:111.75, Y:76.90, Z:54.22 [[-3.37244096e-01 -8.66486868e-01 3.68058320e-01 1.11746904e+02] [ 6.02034282e-01 -4.99070033e-01 -6.23284706e-01 7.69020200e+01] [ 7.23754891e-01 1.13846391e-02 6.89963222e-01 5.42222023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.74, Y:76.90, Z:54.23 [[-3.31227119e-01 -8.68842693e-01 3.67968709e-01 1.11742535e+02] [ 6.07593262e-01 -4.94768938e-01 -6.21316446e-01 7.69045042e+01] [ 7.21885742e-01 1.77784518e-02 6.91783856e-01 5.42286901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.88710568099998 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:111.74, Y:76.91, Z:54.23 [[-3.28410256e-01 -8.69742710e-01 3.68367102e-01 1.11739711e+02] [ 6.10144769e-01 -4.93054824e-01 -6.20177637e-01 7.69072878e+01] [ 7.21020155e-01 2.10845639e-02 6.92593226e-01 5.42318052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:111.72, Y:76.95, Z:54.28 [[-3.29495180e-01 -8.67119028e-01 3.73547209e-01 1.11715390e+02] [ 6.14101416e-01 -4.97342401e-01 -6.12805015e-01 7.69481084e+01] [ 7.17155755e-01 2.74795712e-02 6.96370947e-01 5.42812710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.94710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:111.72, Y:76.95, Z:54.27 [[-3.22329061e-01 -8.69071119e-01 3.75259066e-01 1.11720610e+02] [ 6.17685587e-01 -4.93487971e-01 -6.12318657e-01 7.69459238e+01] [ 7.17334295e-01 3.44240190e-02 6.95878219e-01 5.42746680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:111.74, Y:76.92, Z:54.24 [[-3.14709637e-01 -8.75484516e-01 3.66721566e-01 1.11738712e+02] [ 6.12868010e-01 -4.82445687e-01 -6.25810644e-01 7.69245743e+01] [ 7.24810766e-01 2.78032757e-02 6.88386760e-01 5.42405980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.00710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.74, Y:76.93, Z:54.24 [[-3.14307427e-01 -8.72826771e-01 3.73342028e-01 1.11743004e+02] [ 6.12307179e-01 -4.86925121e-01 -6.22883493e-01 7.69280235e+01] [ 7.25458999e-01 3.28230964e-02 6.87482279e-01 5.42375694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:111.73, Y:76.95, Z:54.27 [[-3.20594214e-01 -8.67626520e-01 3.80057326e-01 1.11731456e+02] [ 6.16357200e-01 -4.95754350e-01 -6.11826304e-01 7.69518390e+01] [ 7.19251800e-01 3.81030956e-02 6.93703829e-01 5.42660338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.067105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.76, Y:76.93, Z:54.23 [[-3.15880558e-01 -8.74045121e-01 3.69140353e-01 1.11755002e+02] [ 6.09655532e-01 -4.85092682e-01 -6.26901286e-01 7.69344242e+01] [ 7.27007294e-01 2.70225310e-02 6.86097790e-01 5.42340202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.097105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.75, Y:76.96, Z:54.26 [[-3.24747754e-01 -8.66155114e-01 3.79887108e-01 1.11747397e+02] [ 6.09454812e-01 -4.98788185e-01 -6.16259019e-01 7.69615689e+01] [ 7.23259102e-01 3.13952937e-02 6.89862745e-01 5.42643704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.12710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.77, Y:76.93, Z:54.22 [[-3.23165508e-01 -8.69637832e-01 3.73221242e-01 1.11773853e+02] [ 6.05999773e-01 -4.93084393e-01 -6.24205140e-01 7.69316636e+01] [ 7.26861974e-01 2.44504169e-02 6.86348197e-01 5.42221234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.78, Y:76.94, Z:54.23 [[-3.29862843e-01 -8.65496567e-01 3.76969757e-01 1.11778584e+02] [ 6.02118120e-01 -5.00441492e-01 -6.22102952e-01 7.69420655e+01] [ 7.27079277e-01 2.17716731e-02 6.86208218e-01 5.42282843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.18710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.79, Y:76.94, Z:54.22 [[-3.33112745e-01 -8.63904681e-01 3.77762626e-01 1.11785701e+02] [ 6.00363813e-01 -5.03267593e-01 -6.21518319e-01 7.69366340e+01] [ 7.27048273e-01 1.97593373e-02 6.86301958e-01 5.42182724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.21710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.79, Y:76.94, Z:54.22 [[-3.37854180e-01 -8.61366729e-01 3.79344053e-01 1.11789929e+02] [ 5.95854205e-01 -5.07737427e-01 -6.22222204e-01 7.69412052e+01] [ 7.28568678e-01 1.58133767e-02 6.84790200e-01 5.42176570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.24710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.77, Y:76.98, Z:54.27 [[-3.45848224e-01 -8.57796203e-01 3.80229772e-01 1.11773404e+02] [ 5.93941354e-01 -5.13855698e-01 -6.19020185e-01 7.69819073e+01] [ 7.26376399e-01 1.17471539e-02 6.87196719e-01 5.42666460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.27710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.80, Y:76.95, Z:54.23 [[-3.49328184e-01 -8.54814663e-01 3.83746937e-01 1.11795948e+02] [ 5.96856747e-01 -5.18710519e-01 -6.12128598e-01 7.69485005e+01] [ 7.22310074e-01 1.52081773e-02 6.91402103e-01 5.42265305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.30710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.81, Y:76.94, Z:54.21 [[-3.50469883e-01 -8.58888781e-01 3.73471448e-01 1.11808357e+02] [ 5.90885030e-01 -5.12157342e-01 -6.23337579e-01 7.69363994e+01] [ 7.26653798e-01 2.21763955e-03 6.87000247e-01 5.42091619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.33710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.78, Y:76.97, Z:54.26 [[-3.54275741e-01 -8.52630298e-01 3.84070664e-01 1.11783743e+02] [ 5.92079713e-01 -5.22418727e-01 -6.13612490e-01 7.69723473e+01] [ 7.23830307e-01 1.00124288e-02 6.89905383e-01 5.42561995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.36710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.81, Y:76.94, Z:54.22 [[-3.52712952e-01 -8.54858526e-01 3.80539714e-01 1.11805559e+02] [ 5.90840337e-01 -5.18815082e-01 -6.17849987e-01 7.69411052e+01] [ 7.25604073e-01 6.91452044e-03 6.88077699e-01 5.42152907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.39710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:111.80, Y:76.94, Z:54.22 [[-3.52048662e-01 -8.53463465e-01 3.84267944e-01 1.11803378e+02] [ 5.95375957e-01 -5.20978948e-01 -6.11644018e-01 7.69440269e+01] [ 7.22211333e-01 1.34554373e-02 6.91541569e-01 5.42241264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.42710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.81, Y:76.93, Z:54.21 [[-3.52118721e-01 -8.53901130e-01 3.83230045e-01 1.11809537e+02] [ 6.00334633e-01 -5.20184046e-01 -6.07459370e-01 7.69340547e+01] [ 7.18060398e-01 1.61684520e-02 6.95792962e-01 5.42145507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.45710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.81, Y:76.93, Z:54.22 [[-3.48015063e-01 -8.60072738e-01 3.73042090e-01 1.11811231e+02] [ 5.98960806e-01 -5.10098737e-01 -6.17288613e-01 7.69340421e+01] [ 7.21201407e-01 8.61185523e-03 6.92671904e-01 5.42178904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.48710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.82, Y:76.92, Z:54.20 [[-3.46712150e-01 -8.57212969e-01 3.80757943e-01 1.11820372e+02] [ 6.01422192e-01 -5.14676972e-01 -6.11063796e-01 7.69156005e+01] [ 7.19779156e-01 1.71330347e-02 6.93991662e-01 5.41983841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.51710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.82, Y:76.92, Z:54.20 [[-3.43895076e-01 -8.58644260e-01 3.80087109e-01 1.11822192e+02] [ 6.04301538e-01 -5.12189272e-01 -6.10312872e-01 7.69156186e+01] [ 7.18718184e-01 1.98036330e-02 6.95019416e-01 5.41975552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.54710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.82, Y:76.92, Z:54.20 [[-3.42200795e-01 -8.58898189e-01 3.81041358e-01 1.11823256e+02] [ 6.04963157e-01 -5.11684491e-01 -6.10080782e-01 7.69180768e+01] [ 7.18970232e-01 2.17458546e-02 6.94700600e-01 5.41976357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.57710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.83, Y:76.91, Z:54.19 [[-3.36929178e-01 -8.60268155e-01 3.82645306e-01 1.11828916e+02] [ 6.06283268e-01 -5.09169735e-01 -6.10873784e-01 7.69138204e+01] [ 7.20346672e-01 2.61702445e-02 6.93120329e-01 5.41876333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.81, Y:76.94, Z:54.22 [[-3.31083562e-01 -8.61081594e-01 3.85904345e-01 1.11809636e+02] [ 6.05322061e-01 -5.07546124e-01 -6.13173821e-01 7.69393749e+01] [ 7.23856946e-01 3.05846404e-02 6.89271864e-01 5.42194700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.83, Y:76.91, Z:54.17 [[-3.22869795e-01 -8.63241463e-01 3.88032566e-01 1.11830837e+02] [ 6.08641063e-01 -5.03348246e-01 -6.13348677e-01 7.69094754e+01] [ 7.24783521e-01 3.81407917e-02 6.87920147e-01 5.41741447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:76.90, Z:54.17 [[-3.24421132e-01 -8.60732430e-01 3.92288941e-01 1.11836094e+02] [ 6.12243017e-01 -5.07204335e-01 -6.06549463e-01 7.69049699e+01] [ 7.21047444e-01 4.33987012e-02 6.91525224e-01 5.41656008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.85, Y:76.90, Z:54.15 [[-3.19134203e-01 -8.66925038e-01 3.82876402e-01 1.11848346e+02] [ 6.08313727e-01 -4.97175204e-01 -6.18685078e-01 7.68978540e+01] [ 7.26710238e-01 3.54654018e-02 6.86028013e-01 5.41508954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.72710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:111.82, Y:76.93, Z:54.20 [[-3.27245191e-01 -8.57739136e-01 3.96477187e-01 1.11823327e+02] [ 6.09316684e-01 -5.12240546e-01 -6.05262589e-01 7.69341056e+01] [ 7.22249101e-01 4.35108940e-02 6.90263021e-01 5.41988371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:76.91, Z:54.16 [[-3.23211936e-01 -8.64305560e-01 3.85369878e-01 1.11844739e+02] [ 6.04515543e-01 -5.01881990e-01 -6.18607651e-01 7.69106203e+01] [ 7.28076234e-01 3.30207042e-02 6.84700395e-01 5.41643973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.78710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.85, Y:76.90, Z:54.16 [[-3.25894006e-01 -8.60809426e-01 3.90896699e-01 1.11850882e+02] [ 6.03586184e-01 -5.07681500e-01 -6.14770863e-01 7.69034513e+01] [ 7.27651576e-01 3.55897076e-02 6.85023034e-01 5.41561009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.817105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.85, Y:76.91, Z:54.16 [[-3.28946288e-01 -8.59529178e-01 3.91157170e-01 1.11854885e+02] [ 6.02975823e-01 -5.09950963e-01 -6.13490156e-01 7.69082515e+01] [ 7.26783665e-01 3.40530070e-02 6.86021790e-01 5.41571328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.847105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.86, Y:76.92, Z:54.16 [[-3.32753722e-01 -8.57663599e-01 3.92030754e-01 1.11855415e+02] [ 6.00485494e-01 -5.13253344e-01 -6.13178748e-01 7.69159469e+01] [ 7.27112187e-01 3.13712711e-02 6.85801510e-01 5.41620023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.86, Y:76.91, Z:54.16 [[-3.35330276e-01 -8.56236068e-01 3.92954708e-01 1.11858363e+02] [ 5.98620386e-01 -5.15730339e-01 -6.12924017e-01 7.69140196e+01] [ 7.27466315e-01 2.96987192e-02 6.85500362e-01 5.41577884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.90710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.86, Y:76.92, Z:54.17 [[-3.41362793e-01 -8.53337064e-01 3.94065094e-01 1.11856696e+02] [ 5.94224846e-01 -5.20763408e-01 -6.12945598e-01 7.69213021e+01] [ 7.28263878e-01 2.49264486e-02 6.84843337e-01 5.41661155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.93710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.86, Y:76.92, Z:54.17 [[-3.48884509e-01 -8.49708794e-01 3.95315779e-01 1.11860947e+02] [ 5.88543971e-01 -5.26919255e-01 -6.13165633e-01 7.69231289e+01] [ 7.29311726e-01 1.87367281e-02 6.83924953e-01 5.41664053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.96710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:76.96, Z:54.21 [[-3.58104195e-01 -8.43461557e-01 4.00417266e-01 1.11841387e+02] [ 5.86678462e-01 -5.36894175e-01 -6.06261517e-01 7.69556931e+01] [ 7.26339981e-01 1.78113930e-02 6.87104785e-01 5.42067457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.99710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.87, Y:76.93, Z:54.17 [[-3.64384505e-01 -8.43895320e-01 3.93782455e-01 1.11866055e+02] [ 5.77323779e-01 -5.36499175e-01 -6.15520829e-01 7.69285187e+01] [ 7.30699108e-01 3.05372209e-03 6.82692821e-01 5.41696411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.02710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:111.87, Y:76.93, Z:54.17 [[-3.70934092e-01 -8.39462505e-01 3.97127942e-01 1.11866074e+02] [ 5.74635386e-01 -5.43416272e-01 -6.11958274e-01 7.69299322e+01] [ 7.29521811e-01 1.20758192e-03 6.83956482e-01 5.41725117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.05710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.87, Y:76.92, Z:54.17 [[-3.81683564e-01 -8.34963534e-01 3.96425976e-01 1.11870940e+02] [ 5.71114913e-01 -5.50271613e-01 -6.09121423e-01 7.69226296e+01] [ 7.26736137e-01 -6.08684895e-03 6.86889757e-01 5.41683676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.08710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.88, Y:76.91, Z:54.16 [[-3.90529768e-01 -8.31160349e-01 3.95801687e-01 1.11875031e+02] [ 5.68528044e-01 -5.55907581e-01 -6.06417863e-01 7.69135115e+01] [ 7.24059641e-01 -1.17998680e-02 6.89636426e-01 5.41604574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.11710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.88, Y:76.90, Z:54.15 [[-3.94043145e-01 -8.29464127e-01 3.95877837e-01 1.11879309e+02] [ 5.67793487e-01 -5.58395672e-01 -6.04818014e-01 7.69046948e+01] [ 7.22731316e-01 -1.35475351e-02 6.90996316e-01 5.41514086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.14710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.88, Y:76.90, Z:54.15 [[-3.94761614e-01 -8.28753344e-01 3.96649925e-01 1.11880202e+02] [ 5.67294423e-01 -5.59450191e-01 -6.04311609e-01 7.69032061e+01] [ 7.22731143e-01 -1.35417354e-02 6.90996611e-01 5.41495864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.88, Y:76.90, Z:54.14 [[-3.96469171e-01 -8.27755987e-01 3.97029246e-01 1.11881469e+02] [ 5.67006480e-01 -5.60912511e-01 -6.03225337e-01 7.68976899e+01] [ 7.22022056e-01 -1.40420940e-02 6.91727526e-01 5.41443447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.20710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.87, Y:76.90, Z:54.15 [[-3.94757168e-01 -8.28075640e-01 3.98067221e-01 1.11873949e+02] [ 5.67516162e-01 -5.60483930e-01 -6.03144403e-01 7.68954296e+01] [ 7.22559468e-01 -1.21859949e-02 6.91201358e-01 5.41473375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.23710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.86, Y:76.89, Z:54.15 [[-3.89081528e-01 -8.29634729e-01 4.00402025e-01 1.11862916e+02] [ 5.67729716e-01 -5.58248095e-01 -6.05014077e-01 7.68927617e+01] [ 7.25464358e-01 -8.07967357e-03 6.88212311e-01 5.41475189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.26710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.86, Y:76.89, Z:54.14 [[-3.85671154e-01 -8.30183259e-01 4.02558713e-01 1.11860225e+02] [ 5.66825273e-01 -5.57460808e-01 -6.06585985e-01 7.68871387e+01] [ 7.27988235e-01 -5.76226428e-03 6.85565406e-01 5.41423606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.85, Y:76.89, Z:54.15 [[-3.79822188e-01 -8.31356590e-01 4.05686241e-01 1.11846004e+02] [ 5.65286187e-01 -5.55734951e-01 -6.09598385e-01 7.68933769e+01] [ 7.32247658e-01 -2.21016406e-03 6.81034862e-01 5.41517767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.32710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:76.89, Z:54.15 [[-3.78311563e-01 -8.31372672e-01 4.07062454e-01 1.11844844e+02] [ 5.64923767e-01 -5.55714721e-01 -6.09952692e-01 7.68871247e+01] [ 7.33308598e-01 -7.92901246e-04 6.79895486e-01 5.41462108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.83, Y:76.89, Z:54.16 [[-3.74057605e-01 -8.33040790e-01 4.07583060e-01 1.11832879e+02] [ 5.68403748e-01 -5.53198048e-01 -6.09006649e-01 7.68884844e+01] [ 7.32801533e-01 3.86817027e-03 6.80431444e-01 5.41564821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.38710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.83, Y:76.88, Z:54.15 [[-3.67527851e-01 -8.36394319e-01 4.06654426e-01 1.11830665e+02] [ 5.76703431e-01 -5.48000418e-01 -6.05894953e-01 7.68782024e+01] [ 7.29613893e-01 1.18357327e-02 6.83756889e-01 5.41549228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.83, Y:76.87, Z:54.15 [[-3.64623964e-01 -8.37926221e-01 4.06114531e-01 1.11829103e+02] [ 5.81674338e-01 -5.45542199e-01 -6.03356175e-01 7.68738639e+01] [ 7.27120574e-01 1.62282813e-02 6.86317939e-01 5.41544471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.44710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.83, Y:76.86, Z:54.15 [[-3.60659554e-01 -8.40014372e-01 4.05340032e-01 1.11830285e+02] [ 5.87801557e-01 -5.42130492e-01 -6.00486352e-01 7.68609906e+01] [ 7.24164357e-01 2.16883622e-02 6.89286297e-01 5.41455040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.82, Y:76.86, Z:54.15 [[-3.57590419e-01 -8.40699667e-01 4.06636401e-01 1.11824720e+02] [ 5.88678891e-01 -5.40943761e-01 -6.00697104e-01 7.68645928e+01] [ 7.24973279e-01 2.45747366e-02 6.88338454e-01 5.41496458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.82, Y:76.86, Z:54.15 [[-3.56888489e-01 -8.40303118e-01 4.08070186e-01 1.11824059e+02] [ 5.87723268e-01 -5.41525982e-01 -6.01108119e-01 7.68645659e+01] [ 7.26093635e-01 2.53037751e-02 6.87130084e-01 5.41479608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.83, Y:76.86, Z:54.14 [[-3.55375910e-01 -8.40082163e-01 4.09841338e-01 1.11829384e+02] [ 5.86552656e-01 -5.41813456e-01 -6.01991828e-01 7.68564426e+01] [ 7.27780149e-01 2.64601316e-02 6.85299874e-01 5.41376107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.567105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.83, Y:76.86, Z:54.14 [[-3.55067777e-01 -8.39688584e-01 4.10913562e-01 1.11829630e+02] [ 5.86154588e-01 -5.42388758e-01 -6.01861474e-01 7.68563836e+01] [ 7.28251105e-01 2.71572545e-02 6.84772087e-01 5.41379537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.83, Y:76.86, Z:54.14 [[-3.52993849e-01 -8.39850287e-01 4.12367359e-01 1.11829774e+02] [ 5.86029070e-01 -5.42040112e-01 -6.02297639e-01 7.68610471e+01] [ 7.29359495e-01 2.90518978e-02 6.83513508e-01 5.41408758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.83, Y:76.86, Z:54.13 [[-3.52567163e-01 -8.39412013e-01 4.13622857e-01 1.11833114e+02] [ 5.85301334e-01 -5.42683586e-01 -6.02425825e-01 7.68577077e+01] [ 7.30149809e-01 2.96984461e-02 6.82641383e-01 5.41345372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:76.85, Z:54.12 [[-3.49170855e-01 -8.39888948e-01 4.15531310e-01 1.11838866e+02] [ 5.85028222e-01 -5.41791829e-01 -6.03492828e-01 7.68494452e+01] [ 7.31998425e-01 3.23754365e-02 6.80536654e-01 5.41234442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.68710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:76.85, Z:54.13 [[-3.48247794e-01 -8.39873862e-01 4.16335645e-01 1.11838041e+02] [ 5.85614571e-01 -5.41726656e-01 -6.02982424e-01 7.68510635e+01] [ 7.31969294e-01 3.38249210e-02 6.80497485e-01 5.41251320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:76.86, Z:54.14 [[-3.54472249e-01 -8.34296072e-01 4.22255242e-01 1.11836105e+02] [ 5.92422242e-01 -5.49759622e-01 -5.88897483e-01 7.68578344e+01] [ 7.23453739e-01 4.14055816e-02 6.89130079e-01 5.41350751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.74710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:76.87, Z:54.14 [[-3.56795404e-01 -8.38622203e-01 4.11594266e-01 1.11837882e+02] [ 5.86729732e-01 -5.44019917e-01 -5.99825434e-01 7.68675493e+01] [ 7.26942406e-01 2.74796351e-02 6.86148387e-01 5.41400676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.77710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:76.88, Z:54.15 [[-3.61492087e-01 -8.33849267e-01 4.17155693e-01 1.11835057e+02] [ 5.81911828e-01 -5.51349022e-01 -5.97823452e-01 7.68774404e+01] [ 7.28493030e-01 2.66393843e-02 6.84535060e-01 5.41504752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.80710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.83, Y:76.89, Z:54.17 [[-3.70087569e-01 -8.26473545e-01 4.24236574e-01 1.11825956e+02] [ 5.85243752e-01 -5.62066087e-01 -5.84441156e-01 7.68917388e+01] [ 7.21474145e-01 3.19873974e-02 6.91702150e-01 5.41685443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.83710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:111.86, Y:76.87, Z:54.13 [[-3.68086454e-01 -8.34841333e-01 4.09331541e-01 1.11857215e+02] [ 5.74913875e-01 -5.50349468e-01 -6.05466349e-01 7.68654853e+01] [ 7.30743729e-01 1.24664213e-02 6.82538050e-01 5.41264156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.86710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.86, Y:76.87, Z:54.13 [[-3.72691571e-01 -8.28281649e-01 4.18390371e-01 1.11858103e+02] [ 5.73236393e-01 -5.60056277e-01 -5.98111197e-01 7.68663290e+01] [ 7.29726682e-01 1.69255856e-02 6.83529439e-01 5.41277316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.89710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.86, Y:76.87, Z:54.13 [[-3.80439992e-01 -8.24395723e-01 4.19090807e-01 1.11864270e+02] [ 5.68175087e-01 -5.65910230e-01 -5.97430065e-01 7.68689371e+01] [ 7.29686565e-01 1.08306663e-02 6.83695995e-01 5.41268052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.92710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:76.90, Z:54.16 [[-3.91128122e-01 -8.16141520e-01 4.25360802e-01 1.11844524e+02] [ 5.67663747e-01 -5.77726159e-01 -5.86506911e-01 7.68991372e+01] [ 7.24414704e-01 1.20625598e-02 6.89258900e-01 5.41646194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.95710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.87, Y:76.88, Z:54.13 [[-3.86878354e-01 -8.22319691e-01 4.17271453e-01 1.11869449e+02] [ 5.60764906e-01 -5.69024285e-01 -6.01459960e-01 7.68773338e+01] [ 7.32029958e-01 1.29934803e-03 6.81271203e-01 5.41300001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.98710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.88, Y:76.88, Z:54.13 [[-3.88562313e-01 -8.19121034e-01 4.21971634e-01 1.11876285e+02] [ 5.59922506e-01 -5.73607070e-01 -5.97881023e-01 7.68760475e+01] [ 7.31782834e-01 3.95738138e-03 6.81526392e-01 5.41268128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.01710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.88, Y:76.88, Z:54.13 [[-3.89922554e-01 -8.17735387e-01 4.23401982e-01 1.11875201e+02] [ 5.61558717e-01 -5.75563341e-01 -5.94456599e-01 7.68804855e+01] [ 7.29802856e-01 5.97303830e-03 6.83631563e-01 5.41331113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.88, Y:76.87, Z:54.13 [[-3.88615577e-01 -8.19991493e-01 4.20228371e-01 1.11881844e+02] [ 5.63559292e-01 -5.72350804e-01 -5.95663900e-01 7.68746888e+01] [ 7.28957377e-01 5.33933298e-03 6.84538264e-01 5.41276666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.07710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.89, Y:76.87, Z:54.12 [[-3.88187685e-01 -8.19310976e-01 4.21947682e-01 1.11887119e+02] [ 5.65687410e-01 -5.73284955e-01 -5.92741187e-01 7.68659343e+01] [ 7.27535618e-01 8.59566282e-03 6.86016063e-01 5.41193286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.10710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:111.89, Y:76.86, Z:54.12 [[-3.84540589e-01 -8.21168268e-01 4.21676667e-01 1.11888034e+02] [ 5.70594668e-01 -5.70527383e-01 -5.90694702e-01 7.68627079e+01] [ 7.25637830e-01 1.34603692e-02 6.87945171e-01 5.41179459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.89, Y:76.86, Z:54.12 [[-3.82528497e-01 -8.21849963e-01 4.22178384e-01 1.11888163e+02] [ 5.72621000e-01 -5.69474963e-01 -5.89748638e-01 7.68626652e+01] [ 7.25104916e-01 1.61525485e-02 6.88448949e-01 5.41176371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:76.85, Z:54.10 [[-3.78905202e-01 -8.23031460e-01 4.23143077e-01 1.11899163e+02] [ 5.74741365e-01 -5.67648709e-01 -5.89446610e-01 7.68471115e+01] [ 7.25329726e-01 1.98534427e-02 6.88115274e-01 5.40963972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.89, Y:76.86, Z:54.11 [[-3.75527885e-01 -8.21216868e-01 4.29629681e-01 1.11888065e+02] [ 5.79975897e-01 -5.69798237e-01 -5.82200935e-01 7.68585786e+01] [ 7.22915463e-01 3.05421740e-02 6.90261117e-01 5.41121644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.22710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.88, Y:76.87, Z:54.13 [[-3.71183646e-01 -8.26369030e-01 4.23481909e-01 1.11877361e+02] [ 5.81550914e-01 -5.62427159e-01 -5.87770555e-01 7.68742393e+01] [ 7.23893110e-01 2.81054740e-02 6.89339428e-01 5.41288896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.86, Y:76.90, Z:54.16 [[-3.67163416e-01 -8.28479262e-01 4.22863025e-01 1.11859867e+02] [ 5.80313698e-01 -5.59316721e-01 -5.91946635e-01 7.68998715e+01] [ 7.26929872e-01 2.80520575e-02 6.86138502e-01 5.41571442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:76.84, Z:54.08 [[-3.61104046e-01 -8.31667226e-01 4.21821637e-01 1.11901973e+02] [ 5.76883880e-01 -5.54627153e-01 -5.99661330e-01 7.68444866e+01] [ 7.32672408e-01 2.68019703e-02 6.80053525e-01 5.40831505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.317105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.89, Y:76.86, Z:54.11 [[-3.61946650e-01 -8.23900894e-01 4.36098544e-01 1.11889515e+02] [ 5.87678854e-01 -5.64814716e-01 -5.79325384e-01 7.68585143e+01] [ 7.23621577e-01 4.66010104e-02 6.88621928e-01 5.41050887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.89, Y:76.87, Z:54.11 [[-3.56707757e-01 -8.33797222e-01 4.21357057e-01 1.11890070e+02] [ 5.82304341e-01 -5.51132443e-01 -5.97640933e-01 7.68668168e+01] [ 7.30534894e-01 3.21748868e-02 6.82116959e-01 5.41090027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:111.89, Y:76.87, Z:54.11 [[-3.62407050e-01 -8.25378263e-01 4.32910907e-01 1.11886316e+02] [ 5.85536305e-01 -5.63007196e-01 -5.83241059e-01 7.68709512e+01] [ 7.25126448e-01 4.21143812e-02 6.87326715e-01 5.41135847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.89, Y:76.88, Z:54.11 [[-3.63368558e-01 -8.28121414e-01 4.26823399e-01 1.11892778e+02] [ 5.81359957e-01 -5.59547094e-01 -5.90700982e-01 7.68787622e+01] [ 7.27999925e-01 3.34958692e-02 6.84758451e-01 5.41138081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.43710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.89, Y:76.89, Z:54.12 [[-3.65716818e-01 -8.26075229e-01 4.28778410e-01 1.11892290e+02] [ 5.78448475e-01 -5.62648956e-01 -5.90612829e-01 7.68863079e+01] [ 7.29142352e-01 3.20291727e-02 6.83612143e-01 5.41195704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.46710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:76.89, Z:54.12 [[-3.72286095e-01 -8.22071111e-01 4.30815683e-01 1.11896150e+02] [ 5.74389361e-01 -5.68683253e-01 -5.88792171e-01 7.68876053e+01] [ 7.29026698e-01 2.82568067e-02 6.83901767e-01 5.41182264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.49710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.93, Y:76.86, Z:54.07 [[-3.75495589e-01 -8.21802109e-01 4.28537463e-01 1.11926331e+02] [ 5.65459388e-01 -5.69479245e-01 -5.96614674e-01 7.68563310e+01] [ 7.34342388e-01 1.82943534e-02 6.78532662e-01 5.40708090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.52710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:76.89, Z:54.12 [[-3.77675213e-01 -8.15736095e-01 4.38105074e-01 1.11901222e+02] [ 5.65017265e-01 -5.77878489e-01 -5.88907414e-01 7.68918120e+01] [ 7.33564533e-01 2.51211981e-02 6.79155359e-01 5.41168000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.55710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.91, Y:76.89, Z:54.11 [[-3.81706759e-01 -8.13862317e-01 4.38095971e-01 1.11905507e+02] [ 5.64636652e-01 -5.80584250e-01 -5.86606666e-01 7.68895835e+01] [ 7.31768681e-01 2.34533127e-02 6.81149426e-01 5.41130341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.58710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.93, Y:76.87, Z:54.08 [[-3.81759704e-01 -8.17221733e-01 4.31750122e-01 1.11925163e+02] [ 5.58296386e-01 -5.76173125e-01 -5.96933560e-01 7.68661319e+01] [ 7.36589896e-01 1.31593536e-02 6.76211622e-01 5.40818652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.61710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:76.89, Z:54.11 [[-3.83118485e-01 -8.12027546e-01 4.40262978e-01 1.11904568e+02] [ 5.61642545e-01 -5.83188349e-01 -5.86897777e-01 7.68882261e+01] [ 7.33333402e-01 2.24190321e-02 6.79499455e-01 5.41147623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:76.89, Z:54.12 [[-3.84395237e-01 -8.13191782e-01 4.36989047e-01 1.11900932e+02] [ 5.62639815e-01 -5.81650436e-01 -5.87468475e-01 7.68935974e+01] [ 7.31899406e-01 2.00473524e-02 6.81117731e-01 5.41212230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.89, Y:76.91, Z:54.14 [[-3.85243690e-01 -8.13736589e-01 4.35224154e-01 1.11891270e+02] [ 5.62745124e-01 -5.80943425e-01 -5.88066886e-01 7.69053593e+01] [ 7.31372152e-01 1.83712128e-02 6.81731086e-01 5.41388610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.93, Y:76.85, Z:54.07 [[-3.87433739e-01 -8.13253836e-01 4.34181179e-01 1.11929194e+02] [ 5.60858182e-01 -5.81708656e-01 -5.89112163e-01 7.68542550e+01] [ 7.31664676e-01 1.52721390e-02 6.81493627e-01 5.40729583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.93, Y:76.86, Z:54.08 [[-3.94816575e-01 -8.08251786e-01 4.36862590e-01 1.11926953e+02] [ 5.59180301e-01 -5.88675167e-01 -5.83762743e-01 7.68563818e+01] [ 7.28997437e-01 1.38057479e-02 6.84377190e-01 5.40779198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:76.90, Z:54.13 [[-4.07727304e-01 -8.00223691e-01 4.39773226e-01 1.11897039e+02] [ 5.56864316e-01 -5.99608986e-01 -5.74779260e-01 7.68959785e+01] [ 7.23643959e-01 1.05408188e-02 6.90092973e-01 5.41311011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.79710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.92, Y:76.87, Z:54.09 [[-4.14370411e-01 -7.99711912e-01 4.34462911e-01 1.11918398e+02] [ 5.53336522e-01 -6.00382809e-01 -5.77372650e-01 7.68676350e+01] [ 7.22575848e-01 1.15805355e-03 6.91290679e-01 5.40940655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.82710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.93, Y:76.85, Z:54.08 [[-4.18317303e-01 -7.99409607e-01 4.31224900e-01 1.11925081e+02] [ 5.46133646e-01 -6.00723038e-01 -5.83840622e-01 7.68540720e+01] [ 7.25774534e-01 -8.72420724e-03 6.87877325e-01 5.40778039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.88, Y:76.90, Z:54.14 [[-4.24359543e-01 -7.91920751e-01 4.39067765e-01 1.11884908e+02] [ 5.42923254e-01 -6.10591532e-01 -5.76552098e-01 7.68977002e+01] [ 7.24674630e-01 -6.28528531e-03 6.89062534e-01 5.41368245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.89, Y:76.89, Z:54.13 [[-4.24738495e-01 -7.89414859e-01 4.43194529e-01 1.11887618e+02] [ 5.47325200e-01 -6.13859329e-01 -5.68868921e-01 7.68888052e+01] [ 7.21132676e-01 9.51004783e-04 6.92796333e-01 5.41263414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.91, Y:76.85, Z:54.08 [[-4.12420296e-01 -8.00983498e-01 4.33975731e-01 1.11911480e+02] [ 5.45641636e-01 -5.98665112e-01 -5.86408807e-01 7.68508490e+01] [ 7.29509907e-01 -5.05166630e-03 6.83951589e-01 5.40781570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.87, Y:76.90, Z:54.15 [[-4.12903717e-01 -7.96040071e-01 4.42527655e-01 1.11867128e+02] [ 5.45444183e-01 -6.05240715e-01 -5.79805415e-01 7.68977177e+01] [ 7.29384098e-01 1.97032425e-03 6.84101568e-01 5.41455415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.88, Y:76.86, Z:54.10 [[-4.02873360e-01 -8.00824335e-01 4.43140429e-01 1.11884352e+02] [ 5.50358829e-01 -5.98824175e-01 -5.81820218e-01 7.68601994e+01] [ 7.31298991e-01 9.48638165e-03 6.81991051e-01 5.41009071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.00710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.88, Y:76.86, Z:54.10 [[-3.95117250e-01 -8.03568015e-01 4.45152562e-01 1.11875729e+02] [ 5.62410785e-01 -5.94753038e-01 -5.74424001e-01 7.68585364e+01] [ 7.26344593e-01 2.33937708e-02 6.86932503e-01 5.41040989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:76.82, Z:54.06 [[-3.88010945e-01 -8.11586455e-01 4.36777898e-01 1.11903026e+02] [ 5.63714967e-01 -5.83905302e-01 -5.84191779e-01 7.68210873e+01] [ 7.29159065e-01 1.95454346e-02 6.84065080e-01 5.40570965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.067105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:76.82, Z:54.06 [[-3.88784849e-01 -8.08521983e-01 4.41744887e-01 1.11903445e+02] [ 5.63335927e-01 -5.88008920e-01 -5.80429275e-01 7.68190474e+01] [ 7.29039762e-01 2.31886573e-02 6.84078440e-01 5.40553763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.89, Y:76.83, Z:54.07 [[-3.88114047e-01 -8.07550923e-01 4.44104711e-01 1.11891221e+02] [ 5.71811459e-01 -5.88914220e-01 -5.71149453e-01 7.68259239e+01] [ 7.22771847e-01 3.22730367e-02 6.90332752e-01 5.40728732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.12710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.91, Y:76.81, Z:54.05 [[-3.83671220e-01 -8.13481176e-01 4.37086686e-01 1.11906909e+02] [ 5.71775222e-01 -5.80933402e-01 -5.79300853e-01 7.68062975e+01] [ 7.25168595e-01 2.76542712e-02 6.88015807e-01 5.40476738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.86, Y:76.87, Z:54.13 [[-3.83834945e-01 -8.10648984e-01 4.42175259e-01 1.11855093e+02] [ 5.76654993e-01 -5.84433425e-01 -5.70882291e-01 7.68709842e+01] [ 7.21207150e-01 3.58579981e-02 6.91790756e-01 5.41343254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.18710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.85, Y:76.88, Z:54.14 [[-3.84288275e-01 -8.11357825e-01 4.40478151e-01 1.11851262e+02] [ 5.73563869e-01 -5.83685647e-01 -5.74748252e-01 7.68768316e+01] [ 7.23427266e-01 3.17733384e-02 6.89669084e-01 5.41368135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.21710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.91, Y:76.80, Z:54.04 [[-3.79480350e-01 -8.12705778e-01 4.42158324e-01 1.11909615e+02] [ 5.71794796e-01 -5.81722043e-01 -5.78489564e-01 7.68038008e+01] [ 7.27355054e-01 3.32984066e-02 6.85453019e-01 5.40361984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.24710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.91, Y:76.80, Z:54.03 [[-3.79017816e-01 -8.10998148e-01 4.45676452e-01 1.11914936e+02] [ 5.69413029e-01 -5.84030188e-01 -5.78513217e-01 7.68033369e+01] [ 7.29461649e-01 3.45071620e-02 6.83150758e-01 5.40306161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.27710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.89, Y:76.83, Z:54.07 [[-3.89254918e-01 -8.02000351e-01 4.53073996e-01 1.11891296e+02] [ 5.76504396e-01 -5.95736405e-01 -5.59232347e-01 7.68329556e+01] [ 7.18417212e-01 4.35152089e-02 6.94250053e-01 5.40707766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.30710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.92, Y:76.82, Z:54.04 [[-3.89360470e-01 -8.12544529e-01 4.33785447e-01 1.11917117e+02] [ 5.63688857e-01 -5.82663649e-01 -5.85455330e-01 7.68153022e+01] [ 7.28459537e-01 1.65668604e-02 6.84888489e-01 5.40390769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.33710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.92, Y:76.82, Z:54.05 [[-4.00701801e-01 -8.00830268e-01 4.45094315e-01 1.11918051e+02] [ 5.58027698e-01 -5.98617861e-01 -5.74684038e-01 7.68189808e+01] [ 7.26665779e-01 1.80980273e-02 6.86752726e-01 5.40456470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.36710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.91, Y:76.84, Z:54.07 [[-4.07171131e-01 -7.96384037e-01 4.47195858e-01 1.11907763e+02] [ 5.57872184e-01 -6.04524748e-01 -5.68619781e-01 7.68356639e+01] [ 7.23180680e-01 1.79525704e-02 6.90425528e-01 5.40666707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.39710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.92, Y:76.83, Z:54.06 [[-4.14245364e-01 -7.96490837e-01 4.40457858e-01 1.11920220e+02] [ 5.51201160e-01 -6.04633099e-01 -5.74974866e-01 7.68313819e+01] [ 7.24277612e-01 4.60020946e-03 6.89493132e-01 5.40551814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.42710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.93, Y:76.83, Z:54.05 [[-4.16946934e-01 -7.92489848e-01 4.45101220e-01 1.11927303e+02] [ 5.49432063e-01 -6.09851356e-01 -5.71144230e-01 7.68269871e+01] [ 7.24071587e-01 6.41604613e-03 6.89694985e-01 5.40486007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.45710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.93, Y:76.83, Z:54.05 [[-4.16641385e-01 -7.92154680e-01 4.45983093e-01 1.11926870e+02] [ 5.49419745e-01 -6.10277264e-01 -5.70700977e-01 7.68279082e+01] [ 7.24256791e-01 7.25427195e-03 6.89492187e-01 5.40495174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.48710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.93, Y:76.82, Z:54.04 [[-4.13070328e-01 -7.92810894e-01 4.48133675e-01 1.11929551e+02] [ 5.49184232e-01 -6.09387580e-01 -5.71877134e-01 7.68225722e+01] [ 7.26477518e-01 9.88247311e-03 6.87119170e-01 5.40398525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.51710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.93, Y:76.82, Z:54.04 [[-4.10699631e-01 -7.92905709e-01 4.50140367e-01 1.11929018e+02] [ 5.48320286e-01 -6.09234981e-01 -5.72867875e-01 7.68210883e+01] [ 7.28471466e-01 1.15444704e-02 6.84978867e-01 5.40362221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.93, Y:76.82, Z:54.04 [[-4.05234532e-01 -7.94277119e-01 4.52668567e-01 1.11925059e+02] [ 5.48673071e-01 -6.07356593e-01 -5.74522263e-01 7.68229257e+01] [ 7.31261126e-01 1.55507927e-02 6.81920331e-01 5.40368507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.92, Y:76.82, Z:54.04 [[-4.05801841e-01 -7.90896532e-01 4.58047532e-01 1.11920440e+02] [ 5.56015886e-01 -6.11389363e-01 -5.63071383e-01 7.68244251e+01] [ 7.25376592e-01 2.61863005e-02 6.87853965e-01 5.40422486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.93, Y:76.81, Z:54.02 [[-3.98265060e-01 -8.02763754e-01 4.43796459e-01 1.11933554e+02] [ 5.55366303e-01 -5.96094908e-01 -5.79861302e-01 7.68108217e+01] [ 7.30036446e-01 1.55311022e-02 6.83231712e-01 5.40237165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.94, Y:76.80, Z:54.01 [[-3.97577866e-01 -7.97923033e-01 4.53045994e-01 1.11938838e+02] [ 5.57180127e-01 -6.02235460e-01 -5.71719124e-01 7.68000022e+01] [ 7.29028221e-01 2.51253553e-02 6.84022346e-01 5.40136770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.94, Y:76.80, Z:54.01 [[-3.96921349e-01 -7.98447806e-01 4.52696967e-01 1.11939542e+02] [ 5.60008953e-01 -6.01442326e-01 -5.69786891e-01 7.67978055e+01] [ 7.27216210e-01 2.73537730e-02 6.85863219e-01 5.40126881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.94, Y:76.80, Z:54.02 [[-4.00867641e-01 -7.97740549e-01 4.50461043e-01 1.11940989e+02] [ 5.63308302e-01 -6.02393714e-01 -5.65513546e-01 7.67991481e+01] [ 7.22487987e-01 2.70523645e-02 6.90854021e-01 5.40150717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.95, Y:76.79, Z:54.01 [[-4.03687016e-01 -7.96581404e-01 4.49994289e-01 1.11948178e+02] [ 5.63681072e-01 -6.03963690e-01 -5.63463849e-01 7.67916732e+01] [ 7.20625036e-01 2.61902235e-02 6.92830160e-01 5.40050373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.95, Y:76.79, Z:54.01 [[-4.05146322e-01 -7.95663320e-01 4.50306939e-01 1.11949775e+02] [ 5.63430136e-01 -6.05186797e-01 -5.62401478e-01 7.67937871e+01] [ 7.20002041e-01 2.58616097e-02 6.93489898e-01 5.40067802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.95, Y:76.79, Z:54.01 [[-4.03907705e-01 -7.95707064e-01 4.51341150e-01 1.11951395e+02] [ 5.63714893e-01 -6.05064666e-01 -5.62247516e-01 7.67943360e+01] [ 7.20474903e-01 2.73316242e-02 6.92942203e-01 5.40057022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.817105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.96, Y:76.79, Z:53.99 [[-3.94751398e-01 -7.98796281e-01 4.53977792e-01 1.11960624e+02] [ 5.66653358e-01 -6.00606935e-01 -5.64070281e-01 7.67889013e+01] [ 7.23239453e-01 3.45805083e-02 6.89731021e-01 5.39932212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.97, Y:76.78, Z:53.98 [[-3.90688713e-01 -8.00096847e-01 4.55200357e-01 1.11967913e+02] [ 5.68657042e-01 -5.98637515e-01 -5.64147405e-01 7.67822463e+01] [ 7.23872570e-01 3.84468653e-02 6.88861627e-01 5.39824046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.94, Y:76.82, Z:54.03 [[-3.87271231e-01 -7.98589876e-01 4.60733334e-01 1.11941722e+02] [ 5.76361156e-01 -5.99746270e-01 -5.55078581e-01 7.68229463e+01] [ 7.19603233e-01 5.05828316e-02 6.92540659e-01 5.40305055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.99, Y:76.79, Z:53.97 [[-3.84916188e-01 -8.06969128e-01 4.47928962e-01 1.11988980e+02] [ 5.73739725e-01 -5.89365000e-01 -5.68745659e-01 7.67870726e+01] [ 7.22953841e-01 3.80752283e-02 6.89846374e-01 5.39690502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.93710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.99, Y:76.79, Z:53.96 [[-3.85312221e-01 -8.02066051e-01 4.56316274e-01 1.11994154e+02] [ 5.73537939e-01 -5.95538903e-01 -5.62483464e-01 7.67854024e+01] [ 7.22902984e-01 4.49829429e-02 6.89483727e-01 5.39641072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.96710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.00, Y:76.80, Z:53.97 [[-3.86370688e-01 -8.00878797e-01 4.57505021e-01 1.11996997e+02] [ 5.71710989e-01 -5.97193565e-01 -5.62589008e-01 7.67962588e+01] [ 7.23784662e-01 4.41927454e-02 6.88609297e-01 5.39695412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.99710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.01, Y:76.80, Z:53.96 [[-3.91057063e-01 -7.98820738e-01 4.57121212e-01 1.12013574e+02] [ 5.70422824e-01 -6.00138505e-01 -5.60759821e-01 7.67970108e+01] [ 7.22282615e-01 4.14632835e-02 6.90353982e-01 5.39608003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.02710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.02, Y:76.80, Z:53.96 [[-3.94706733e-01 -7.96846695e-01 4.57429711e-01 1.12022214e+02] [ 5.68450302e-01 -6.02916566e-01 -5.59781984e-01 7.67958571e+01] [ 7.21852374e-01 3.90763389e-02 6.90942972e-01 5.39561116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.05710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.03, Y:76.80, Z:53.96 [[-4.01419905e-01 -7.93115506e-01 4.58071886e-01 1.12026450e+02] [ 5.63403404e-01 -6.08144119e-01 -5.59229233e-01 7.68018920e+01] [ 7.22107100e-01 3.35935142e-02 6.90965131e-01 5.39582776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.08710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.03, Y:76.80, Z:53.96 [[-4.05513842e-01 -7.90792297e-01 4.58482352e-01 1.12027504e+02] [ 5.60792729e-01 -6.11315374e-01 -5.58395047e-01 7.68047321e+01] [ 7.21851812e-01 3.06766484e-02 6.91367417e-01 5.39587405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.11710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:76.81, Z:53.96 [[-4.13635933e-01 -7.86582439e-01 4.58468517e-01 1.12035276e+02] [ 5.55893565e-01 -6.17001083e-01 -5.57038605e-01 7.68106234e+01] [ 7.21032357e-01 2.44485153e-02 6.92469935e-01 5.39590067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.14710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:76.81, Z:53.96 [[-4.18292117e-01 -7.83722374e-01 4.59141531e-01 1.12037768e+02] [ 5.52221995e-01 -6.20764106e-01 -5.56509472e-01 7.68140574e+01] [ 7.21167507e-01 2.07645271e-02 6.92449465e-01 5.39607997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.03, Y:76.83, Z:53.98 [[-4.26451078e-01 -7.78527079e-01 4.60472655e-01 1.12027922e+02] [ 5.44325381e-01 -6.27471908e-01 -5.56766454e-01 7.68286343e+01] [ 7.22391416e-01 1.32132990e-02 6.91358120e-01 5.39780921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.20710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.03, Y:76.83, Z:53.98 [[-4.29780142e-01 -7.76388696e-01 4.60987659e-01 1.12026886e+02] [ 5.41994123e-01 -6.30160243e-01 -5.56003991e-01 7.68303377e+01] [ 7.22171309e-01 1.08931278e-02 6.91628470e-01 5.39805821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.23710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:76.82, Z:53.97 [[-4.31495452e-01 -7.75505082e-01 4.60872588e-01 1.12037672e+02] [ 5.42318081e-01 -6.31250691e-01 -5.54448973e-01 7.68215196e+01] [ 7.20904136e-01 1.06973275e-02 6.92952230e-01 5.39688273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.26710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:76.82, Z:53.97 [[-4.26263280e-01 -7.77450032e-01 4.62461960e-01 1.12039129e+02] [ 5.44696105e-01 -6.28757460e-01 -5.54950637e-01 7.68208145e+01] [ 7.22222798e-01 1.53461498e-02 6.91490221e-01 5.39687269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:76.82, Z:53.97 [[-4.25320186e-01 -7.74958844e-01 4.67484256e-01 1.12035982e+02] [ 5.49046463e-01 -6.31561969e-01 -5.47428042e-01 7.68207298e+01] [ 7.19479480e-01 2.38383805e-02 6.94104466e-01 5.39707378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.32710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.05, Y:76.80, Z:53.95 [[-4.14326226e-01 -7.86708063e-01 4.57628891e-01 1.12051660e+02] [ 5.55185940e-01 -6.16899047e-01 -5.57856736e-01 7.68031935e+01] [ 7.21181219e-01 2.29344504e-02 6.92366709e-01 5.39486400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.05, Y:76.80, Z:53.94 [[-4.10945680e-01 -7.85309273e-01 4.63047507e-01 1.12053897e+02] [ 5.58801615e-01 -6.18295073e-01 -5.52677082e-01 7.67987321e+01] [ 7.20322430e-01 3.16314354e-02 6.92917779e-01 5.39437772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:76.80, Z:53.93 [[-4.04545738e-01 -7.87305145e-01 4.65288464e-01 1.12058635e+02] [ 5.60587337e-01 -6.15469835e-01 -5.54020505e-01 7.67959781e+01] [ 7.22554208e-01 3.67081866e-02 6.90338993e-01 5.39346858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:76.80, Z:53.93 [[-4.03399630e-01 -7.86528442e-01 4.67591434e-01 1.12062218e+02] [ 5.58098814e-01 -6.16450783e-01 -5.55440498e-01 7.67990581e+01] [ 7.25116854e-01 3.68977337e-02 6.87636608e-01 5.39309824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:76.80, Z:53.93 [[-4.04399284e-01 -7.85563146e-01 4.68350043e-01 1.12063963e+02] [ 5.57115148e-01 -6.17705838e-01 -5.55033522e-01 7.68008704e+01] [ 7.25316435e-01 3.64697447e-02 6.87448927e-01 5.39306821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:76.83, Z:53.97 [[-4.04769775e-01 -7.82402274e-01 4.73294952e-01 1.12041862e+02] [ 5.60010029e-01 -6.21273407e-01 -5.48094992e-01 7.68330973e+01] [ 7.22876336e-01 4.31976336e-02 6.89625817e-01 5.39721549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.80, Z:53.93 [[-4.04817392e-01 -7.89490665e-01 4.61332168e-01 1.12077751e+02] [ 5.56559783e-01 -6.13040448e-01 -5.60733998e-01 7.68004512e+01] [ 7.25509536e-01 2.97640563e-02 6.87568189e-01 5.39251595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.80, Z:53.92 [[-4.05719082e-01 -7.84096194e-01 4.69664972e-01 1.12076114e+02] [ 5.56484090e-01 -6.19550238e-01 -5.53609031e-01 7.68009507e+01] [ 7.25063779e-01 3.67513367e-02 6.87700411e-01 5.39248216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.567105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:76.82, Z:53.94 [[-4.07646459e-01 -7.79510900e-01 4.75591339e-01 1.12063962e+02] [ 5.60075949e-01 -6.24798458e-01 -5.44005347e-01 7.68156715e+01] [ 7.21206833e-01 4.46054176e-02 6.91282186e-01 5.39420646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:76.82, Z:53.95 [[-4.07968320e-01 -7.85092761e-01 4.66037774e-01 1.12063908e+02] [ 5.57573862e-01 -6.18447604e-01 -5.53745383e-01 7.68225414e+01] [ 7.22961437e-01 3.39399080e-02 6.90054232e-01 5.39481883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.62710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.09, Y:76.80, Z:53.92 [[-4.08982422e-01 -7.85530748e-01 4.64408035e-01 1.12085525e+02] [ 5.55530683e-01 -6.18070011e-01 -5.56214996e-01 7.68030097e+01] [ 7.23960661e-01 3.05107566e-02 6.89166203e-01 5.39196027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:76.80, Z:53.92 [[-4.10514772e-01 -7.81035891e-01 4.70595961e-01 1.12086198e+02] [ 5.55369428e-01 -6.23479405e-01 -5.50307397e-01 7.68007664e+01] [ 7.23216717e-01 3.54452938e-02 6.89710962e-01 5.39162669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.68710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:76.85, Z:53.98 [[-4.14021987e-01 -7.76130750e-01 4.75612084e-01 1.12043306e+02] [ 5.55660896e-01 -6.29343421e-01 -5.43293500e-01 7.68515448e+01] [ 7.20990127e-01 3.93435821e-02 6.91827521e-01 5.39821013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.71710568099996 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:112.09, Y:76.81, Z:53.92 [[-4.17401836e-01 -7.79773903e-01 4.66613724e-01 1.12088765e+02] [ 5.46941523e-01 -6.25637728e-01 -5.56266487e-01 7.68089914e+01] [ 7.25693239e-01 2.30237680e-02 6.87633062e-01 5.39157479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.74710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:112.09, Y:76.81, Z:53.92 [[-4.21448390e-01 -7.73385422e-01 4.73557012e-01 1.12085586e+02] [ 5.43581239e-01 -6.33430281e-01 -5.50713642e-01 7.68129963e+01] [ 7.25879254e-01 2.53193298e-02 6.87355978e-01 5.39190504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.77710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.82, Z:53.93 [[-4.27324507e-01 -7.69795147e-01 4.74140483e-01 1.12078135e+02] [ 5.38898100e-01 -6.37963365e-01 -5.50083250e-01 7.68225466e+01] [ 7.25935674e-01 2.04493515e-02 6.87458523e-01 5.39318262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.80710568099997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:112.09, Y:76.81, Z:53.92 [[-4.26731356e-01 -7.69706402e-01 4.74818286e-01 1.12086011e+02] [ 5.39376915e-01 -6.38032423e-01 -5.49533593e-01 7.68133650e+01] [ 7.25928986e-01 2.16028065e-02 6.87430306e-01 5.39190385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.83710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.08, Y:76.81, Z:53.92 [[-4.24703658e-01 -7.70291448e-01 4.75686754e-01 1.12084152e+02] [ 5.40650605e-01 -6.37242698e-01 -5.49198204e-01 7.68131087e+01] [ 7.26170590e-01 2.39338451e-02 6.87097842e-01 5.39204507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.86710568099997 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:112.08, Y:76.81, Z:53.92 [[-4.20825999e-01 -7.73009767e-01 4.74722423e-01 1.12083752e+02] [ 5.47239767e-01 -6.33698840e-01 -5.46767243e-01 7.68059407e+01] [ 7.23487468e-01 2.96931170e-02 6.89698632e-01 5.39159288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.89710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:112.08, Y:76.81, Z:53.92 [[-4.17740604e-01 -7.74289578e-01 4.75361376e-01 1.12077830e+02] [ 5.51975427e-01 -6.31858277e-01 -5.44130725e-01 7.68092297e+01] [ 7.21675769e-01 3.50823005e-02 6.91341679e-01 5.39228397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.92710568099997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:112.09, Y:76.79, Z:53.90 [[-4.17003215e-01 -7.77466677e-01 4.70801323e-01 1.12093812e+02] [ 5.53149933e-01 -6.28099006e-01 -5.47281271e-01 7.67897127e+01] [ 7.21202794e-01 3.22056705e-02 6.91974945e-01 5.38990658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.95710568099997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:112.09, Y:76.79, Z:53.90 [[-4.17751797e-01 -7.74695373e-01 4.74689915e-01 1.12094097e+02] [ 5.52777778e-01 -6.31355094e-01 -5.43900242e-01 7.67882494e+01] [ 7.21054897e-01 3.51827332e-02 6.91984112e-01 5.38969350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.98710568099997 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:112.09, Y:76.79, Z:53.89 [[-4.17721211e-01 -7.74508454e-01 4.75021731e-01 1.12094923e+02] [ 5.53441515e-01 -6.31534483e-01 -5.43016285e-01 7.67863148e+01] [ 7.20563306e-01 3.60673262e-02 6.92450482e-01 5.38931097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.01710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:112.07, Y:76.82, Z:53.93 [[-4.16942154e-01 -7.73083948e-01 4.78017207e-01 1.12068070e+02] [ 5.54077303e-01 -6.33074359e-01 -5.40569328e-01 7.68150668e+01] [ 7.20525907e-01 3.94723449e-02 6.92303655e-01 5.39318279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.04710568099998 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:112.09, Y:76.79, Z:53.90 [[-4.18330086e-01 -7.75435245e-01 4.72969471e-01 1.12090066e+02] [ 5.50367257e-01 -6.30645179e-01 -5.47158608e-01 7.67903725e+01] [ 7.22561985e-01 3.14140030e-02 6.90592020e-01 5.38951303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.07710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:112.09, Y:76.79, Z:53.89 [[-4.19282655e-01 -7.71359669e-01 4.78754965e-01 1.12089160e+02] [ 5.47591881e-01 -6.35493988e-01 -5.44325751e-01 7.67855737e+01] [ 7.24116833e-01 3.39359858e-02 6.88841898e-01 5.38872664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.10710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:112.09, Y:76.79, Z:53.89 [[-4.18464440e-01 -7.70074396e-01 4.81531866e-01 1.12088084e+02] [ 5.43871055e-01 -6.37082947e-01 -5.46195564e-01 7.67885722e+01] [ 7.27386959e-01 3.33278226e-02 6.85417732e-01 5.38874873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13710568099998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:112.09, Y:76.79, Z:53.89 [[-4.19484370e-01 -7.68796075e-01 4.82685672e-01 1.12086105e+02] [ 5.41981694e-01 -6.38668882e-01 -5.46221477e-01 7.67915940e+01] [ 7.28209246e-01 3.24754260e-02 6.84585014e-01 5.38912552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.16710568099998 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:112.06, Y:76.82, Z:53.94 [[-4.21802808e-01 -7.66206144e-01 4.84778853e-01 1.12057409e+02] [ 5.44214023e-01 -6.41595660e-01 -5.40542418e-01 7.68214859e+01] [ 7.25198930e-01 3.58211400e-02 6.87606979e-01 5.39361643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.04, Y:76.84, Z:53.96 [[-4.20906943e-01 -7.70511852e-01 4.78694925e-01 1.12041808e+02] [ 5.45028780e-01 -6.36657610e-01 -5.45537090e-01 7.68407135e+01] [ 7.25107560e-01 3.12821620e-02 6.87924743e-01 5.39640415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.22710568099998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:112.09, Y:76.78, Z:53.88 [[-4.24839011e-01 -7.69789494e-01 4.76377949e-01 1.12094596e+02] [ 5.42331687e-01 -6.37768117e-01 -5.46926110e-01 7.67821661e+01] [ 7.24836641e-01 2.59993098e-02 6.88430011e-01 5.38812033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:112.10, Y:76.78, Z:53.88 [[-4.29273453e-01 -7.63998300e-01 4.81695859e-01 1.12095451e+02] [ 5.39311145e-01 -6.44645009e-01 -5.41826818e-01 7.67827201e+01] [ 7.24477600e-01 2.71920758e-02 6.88761787e-01 5.38775550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.28710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:112.03, Y:76.86, Z:53.98 [[-4.33098908e-01 -7.59698361e-01 4.85060548e-01 1.12026928e+02] [ 5.39721066e-01 -6.49588651e-01 -5.35477128e-01 7.68608208e+01] [ 7.21890924e-01 2.98828368e-02 6.91361345e-01 5.39835698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.317105681 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:112.09, Y:76.80, Z:53.89 [[-4.38466415e-01 -7.61019565e-01 4.78117585e-01 1.12086990e+02] [ 5.29485028e-01 -6.48590348e-01 -5.46787130e-01 7.67988097e+01] [ 7.26218155e-01 1.34083106e-02 6.87333550e-01 5.38925872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.34710568099996 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:112.08, Y:76.80, Z:53.89 [[-4.42123944e-01 -7.55036820e-01 4.84196053e-01 1.12082585e+02] [ 5.26524019e-01 -6.55497209e-01 -5.41383290e-01 7.67998838e+01] [ 7.26153480e-01 1.55823364e-02 6.87356032e-01 5.38931861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37710568099996 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:112.01, Y:76.87, Z:54.00 [[-4.44994866e-01 -7.52454853e-01 4.85583426e-01 1.12014631e+02] [ 5.24542175e-01 -6.58483018e-01 -5.39681038e-01 7.68737085e+01] [ 7.25834056e-01 1.45536954e-02 6.87715867e-01 5.39970788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.40710568099996 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:112.03, Y:76.86, Z:53.97 [[-4.49205316e-01 -7.51425493e-01 4.83295264e-01 1.12029724e+02] [ 5.22748098e-01 -6.59740309e-01 -5.39886239e-01 7.68582262e+01] [ 7.24533650e-01 1.01219116e-02 6.89165101e-01 5.39746437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.43710568099996 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:112.00, Y:76.89, Z:54.02 [[-4.52565259e-01 -7.48969267e-01 4.83972855e-01 1.12001537e+02] [ 5.19149041e-01 -6.62568641e-01 -5.39895424e-01 7.68858868e+01] [ 7.25030316e-01 6.91613157e-03 6.88682225e-01 5.40186316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.46710568099996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:112.07, Y:76.80, Z:53.90 [[-4.50321537e-01 -7.49873014e-01 4.84665840e-01 1.12070690e+02] [ 5.18376625e-01 -6.61542460e-01 -5.41892285e-01 7.67980723e+01] [ 7.26977433e-01 7.21367571e-03 6.86623459e-01 5.39021144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.49710568099997 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:112.00, Y:76.87, Z:54.00 [[-4.48877787e-01 -7.47607281e-01 4.89481446e-01 1.12002861e+02] [ 5.24429480e-01 -6.63913020e-01 -5.33097762e-01 7.68651992e+01] [ 7.23520873e-01 1.74027567e-02 6.90083104e-01 5.39998844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.52710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:111.99, Y:76.86, Z:53.98 [[-4.65337549e-01 -7.46323471e-01 4.75880492e-01 1.11994787e+02] [ 5.53140082e-01 -6.64921761e-01 -5.01911448e-01 7.68646407e+01] [ 6.91011588e-01 2.96703310e-02 7.22234489e-01 5.39780670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.55710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.07, Y:76.78, Z:53.89 [[-4.44537594e-01 -7.64087988e-01 4.67499598e-01 1.12072552e+02] [ 5.30164434e-01 -6.45103864e-01 -5.50242380e-01 7.67836100e+01] [ 7.22019390e-01 3.24823580e-03 6.91865196e-01 5.38934272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.58710568099997 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:112.01, Y:76.84, Z:53.94 [[-4.68181852e-01 -7.40989121e-01 4.81394720e-01 1.12007322e+02] [ 5.59586021e-01 -6.70254453e-01 -4.87465335e-01 7.68379805e+01] [ 6.83863465e-01 4.11593332e-02 7.28448125e-01 5.39445109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.61710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:76.79, Z:53.88 [[-4.66750854e-01 -7.56603582e-01 4.57924296e-01 1.12057828e+02] [ 5.56168207e-01 -6.53698210e-01 -5.13181816e-01 7.67872652e+01] [ 6.87619493e-01 1.51548839e-02 7.25913055e-01 5.38791064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.64710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:111.98, Y:76.86, Z:53.99 [[-4.68937507e-01 -7.50223938e-01 4.66113353e-01 1.11981722e+02] [ 5.58158867e-01 -6.60718451e-01 -5.01906175e-01 7.68629829e+01] [ 6.84511720e-01 2.48026709e-02 7.28579806e-01 5.39853347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.07, Y:76.77, Z:53.88 [[-4.45573184e-01 -7.64659597e-01 4.65575170e-01 1.12068018e+02] [ 5.31678619e-01 -6.44428906e-01 -5.49571862e-01 7.67705855e+01] [ 7.20265495e-01 2.66187905e-03 6.93693398e-01 5.38813844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.70710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:112.02, Y:76.81, Z:53.91 [[-4.63162463e-01 -7.42908392e-01 4.83288375e-01 1.12022174e+02] [ 5.58429998e-01 -6.68067186e-01 -4.91774514e-01 7.68080147e+01] [ 6.88212518e-01 4.21112307e-02 7.24285976e-01 5.39098687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.02, Y:76.82, Z:53.95 [[-4.36697172e-01 -7.63612508e-01 4.75595960e-01 1.12017030e+02] [ 5.31989193e-01 -6.45529186e-01 -5.47977709e-01 7.68175601e+01] [ 7.25453706e-01 1.37115958e-02 6.88134372e-01 5.39481839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:76.76, Z:53.87 [[-4.32438826e-01 -7.56591853e-01 4.90474698e-01 1.12062735e+02] [ 5.32090811e-01 -6.53284989e-01 -5.38607549e-01 7.67612407e+01] [ 7.27925842e-01 2.80622636e-02 6.85081366e-01 5.38699388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.79710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:112.05, Y:76.77, Z:53.85 [[-4.49617966e-01 -7.47326228e-01 4.89231228e-01 1.12048172e+02] [ 5.62909353e-01 -6.62332655e-01 -4.94417348e-01 7.67669957e+01] [ 6.93524870e-01 5.30939118e-02 7.18473584e-01 5.38540805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.82710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.05, Y:76.77, Z:53.86 [[-4.42245681e-01 -7.62692287e-01 4.71931385e-01 1.12050959e+02] [ 5.59778919e-01 -6.45836732e-01 -5.19174805e-01 7.67677789e+01] [ 7.00761243e-01 3.45744255e-02 7.12557569e-01 5.38584069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.05, Y:76.77, Z:53.86 [[-4.39652317e-01 -7.61545947e-01 4.76186530e-01 1.12051057e+02] [ 5.57358854e-01 -6.47072002e-01 -5.20239303e-01 7.67652587e+01] [ 7.04313103e-01 3.66823633e-02 7.08941081e-01 5.38559834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.88710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.03, Y:76.79, Z:53.89 [[-4.43651330e-01 -7.57813057e-01 4.78427495e-01 1.12027629e+02] [ 5.60756693e-01 -6.51157534e-01 -5.11415485e-01 7.67871847e+01] [ 6.99089000e-01 4.13912597e-02 7.13835649e-01 5.38911866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:112.06, Y:76.77, Z:53.84 [[-4.33078345e-01 -7.66955866e-01 4.73520694e-01 1.12056958e+02] [ 5.66261884e-01 -6.40235050e-01 -5.19082421e-01 7.67659683e+01] [ 7.01277853e-01 4.33333646e-02 7.11569809e-01 5.38367940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.94710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.05, Y:76.76, Z:53.84 [[-4.53278528e-01 -7.53327671e-01 4.76482943e-01 1.12050524e+02] [ 5.61422353e-01 -6.56479888e-01 -5.03824472e-01 7.67580307e+01] [ 6.92346385e-01 3.91353602e-02 7.20503231e-01 5.38430129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:112.04, Y:76.76, Z:53.85 [[-4.64489968e-01 -7.47771422e-01 4.74433315e-01 1.12044602e+02] [ 5.56592954e-01 -6.63201445e-01 -5.00367991e-01 7.67634104e+01] [ 6.88805744e-01 3.16503284e-02 7.24254723e-01 5.38459104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.00710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.06, Y:76.75, Z:53.83 [[-4.64415679e-01 -7.47262492e-01 4.75307106e-01 1.12057780e+02] [ 5.55032030e-01 -6.63805561e-01 -5.01299933e-01 7.67503265e+01] [ 6.90114137e-01 3.09991193e-02 7.23036328e-01 5.38279564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:112.06, Y:76.77, Z:53.84 [[-4.55508532e-01 -7.58332706e-01 4.66308357e-01 1.12055221e+02] [ 5.47927696e-01 -6.51656793e-01 -5.24517554e-01 7.67735213e+01] [ 7.01631825e-01 1.65810427e-02 7.12346721e-01 5.38391998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.067105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.05, Y:76.77, Z:53.85 [[-4.76575248e-01 -7.34346852e-01 4.83332943e-01 1.12046320e+02] [ 5.45866687e-01 -6.78141016e-01 -4.92091782e-01 7.67665743e+01] [ 6.89133945e-01 2.93165891e-02 7.24040706e-01 5.38497204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.05, Y:76.76, Z:53.85 [[-4.81483741e-01 -7.36278364e-01 4.75465644e-01 1.12051471e+02] [ 5.44371900e-01 -6.76384838e-01 -4.96147947e-01 7.67629294e+01] [ 6.86900751e-01 1.99429663e-02 7.26477554e-01 5.38463492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.12710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.05, Y:76.76, Z:53.84 [[-4.85873156e-01 -7.37206568e-01 4.69525029e-01 1.12053067e+02] [ 5.41115989e-01 -6.75581892e-01 -5.00781983e-01 7.67602455e+01] [ 6.86382374e-01 1.07509781e-02 7.27161367e-01 5.38427076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:112.06, Y:76.75, Z:53.82 [[-4.87776085e-01 -7.33804456e-01 4.72869444e-01 1.12063417e+02] [ 5.38305658e-01 -6.79267830e-01 -4.98820842e-01 7.67489360e+01] [ 6.87241959e-01 1.12354200e-02 7.26341694e-01 5.38233127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.18710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:112.05, Y:76.76, Z:53.84 [[-4.93770043e-01 -7.24774031e-01 4.80514047e-01 1.12050866e+02] [ 5.31109562e-01 -6.88888593e-01 -4.93310388e-01 7.67649797e+01] [ 6.88559204e-01 1.16237135e-02 7.25086968e-01 5.38432741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.21710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.05, Y:76.77, Z:53.85 [[-4.92667772e-01 -7.29406177e-01 4.74599932e-01 1.12052928e+02] [ 5.25473906e-01 -6.84080845e-01 -5.05876044e-01 7.67687004e+01] [ 6.93653834e-01 1.61056400e-04 7.20308499e-01 5.38464707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.24710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:76.77, Z:53.85 [[-4.96288140e-01 -7.23648063e-01 4.79616057e-01 1.12043679e+02] [ 5.15805566e-01 -6.90154404e-01 -5.07574150e-01 7.67709337e+01] [ 6.98314184e-01 -4.51439937e-03 7.15777144e-01 5.38511823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.27710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:76.77, Z:53.85 [[-4.96038313e-01 -7.20185207e-01 4.85055935e-01 1.12041690e+02] [ 5.20580585e-01 -6.93758951e-01 -4.97689032e-01 7.67688297e+01] [ 6.94940175e-01 5.63787448e-03 7.19045456e-01 5.38506448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.30710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.05, Y:76.77, Z:53.85 [[-4.93247945e-01 -7.26841451e-01 4.77920465e-01 1.12046489e+02] [ 5.18178456e-01 -6.86794969e-01 -5.09709484e-01 7.67689084e+01] [ 6.98711351e-01 -3.76506707e-03 7.15393788e-01 5.38530432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.33710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:76.76, Z:53.86 [[-4.85100387e-01 -7.29170800e-01 4.82687849e-01 1.12041456e+02] [ 5.26763925e-01 -6.84263933e-01 -5.04284282e-01 7.67639279e+01] [ 6.97995259e-01 9.63404542e-03 7.16037571e-01 5.38550351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.36710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:112.06, Y:76.74, Z:53.82 [[-4.65975541e-01 -7.41019487e-01 4.83484141e-01 1.12061625e+02] [ 5.28648078e-01 -6.71346921e-01 -5.19446359e-01 7.67376340e+01] [ 7.09505465e-01 1.35436638e-02 7.04569773e-01 5.38221032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.39710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.05, Y:76.74, Z:53.83 [[-4.69076170e-01 -7.33117685e-01 4.92448989e-01 1.12049787e+02] [ 5.36357628e-01 -6.79470762e-01 -5.00639570e-01 7.67421542e+01] [ 7.01632412e-01 2.92906799e-02 7.11936805e-01 5.38323911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.42710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:112.06, Y:76.73, Z:53.82 [[-4.61134536e-01 -7.41412153e-01 4.87506881e-01 1.12060432e+02] [ 5.37093687e-01 -6.70551855e-01 -5.11752461e-01 7.67330193e+01] [ 7.06318137e-01 2.58501340e-02 7.07422405e-01 5.38170692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.45710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.05, Y:76.74, Z:53.83 [[-4.55170694e-01 -7.41709981e-01 4.92631650e-01 1.12054753e+02] [ 5.30368472e-01 -6.70254809e-01 -5.19102856e-01 7.67389019e+01] [ 7.15212502e-01 2.49958887e-02 6.98459936e-01 5.38287657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.48710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.06, Y:76.73, Z:53.81 [[-4.66434470e-01 -7.34369887e-01 4.93092034e-01 1.12057991e+02] [ 5.28637525e-01 -6.78370845e-01 -5.10250296e-01 7.67298028e+01] [ 7.09211712e-01 2.26686257e-02 7.04631025e-01 5.38101522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.51710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.05, Y:76.73, Z:53.83 [[-4.65448237e-01 -7.28694823e-01 5.02356242e-01 1.12049233e+02] [ 5.36378598e-01 -6.83718638e-01 -4.94799782e-01 7.67325259e+01] [ 7.04028365e-01 3.91494499e-02 7.09091942e-01 5.38252200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.05, Y:76.73, Z:53.83 [[-4.62326051e-01 -7.38507787e-01 4.90775785e-01 1.12050818e+02] [ 5.31715491e-01 -6.73826545e-01 -5.13065711e-01 7.67349789e+01] [ 7.09600774e-01 2.37494434e-02 7.04203596e-01 5.38254577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:76.74, Z:53.81 [[-4.55278864e-01 -7.39997565e-01 4.95100757e-01 1.12055831e+02] [ 5.13476938e-01 -6.72510087e-01 -5.32983693e-01 7.67367722e+01] [ 7.27366888e-01 1.15666096e-02 6.86151312e-01 5.38141513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.60710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.06, Y:76.73, Z:53.81 [[-4.57596472e-01 -7.24402627e-01 5.15602854e-01 1.12058689e+02] [ 5.23738328e-01 -6.88198624e-01 -5.02076507e-01 7.67276148e+01] [ 7.18542715e-01 4.02925389e-02 6.94314682e-01 5.38144418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.06, Y:76.73, Z:53.82 [[-4.61280854e-01 -7.25904372e-01 5.10179201e-01 1.12055154e+02] [ 5.33156988e-01 -6.86395296e-01 -4.94575701e-01 7.67289762e+01] [ 7.09199267e-01 4.38673040e-02 7.03641996e-01 5.38213974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.66710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.05, Y:76.73, Z:53.82 [[-4.62100629e-01 -7.34577459e-01 4.96849037e-01 1.12053350e+02] [ 5.21080888e-01 -6.78245419e-01 -5.18129192e-01 7.67338230e+01] [ 7.17591609e-01 1.94707120e-02 6.96191909e-01 5.38203270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:112.07, Y:76.72, Z:53.80 [[-4.58367017e-01 -7.29201013e-01 5.08099951e-01 1.12066074e+02] [ 5.21064780e-01 -6.83618996e-01 -5.11034796e-01 7.67212589e+01] [ 7.19993869e-01 3.05114943e-02 6.93309366e-01 5.37989100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.07, Y:76.72, Z:53.81 [[-4.48876989e-01 -7.30438226e-01 5.14751831e-01 1.12070645e+02] [ 5.30924937e-01 -6.81351275e-01 -5.03864219e-01 7.67246579e+01] [ 7.18768502e-01 4.71215307e-02 6.93650778e-01 5.38067685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.73, Z:53.80 [[-4.48609267e-01 -7.39149650e-01 5.02401752e-01 1.12077671e+02] [ 5.29782214e-01 -6.72661192e-01 -5.16582740e-01 7.67258927e+01] [ 7.19778113e-01 3.44197079e-02 6.93350382e-01 5.38028514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.73, Z:53.81 [[-4.49848853e-01 -7.37486131e-01 5.03736256e-01 1.12075834e+02] [ 5.25240887e-01 -6.74637789e-01 -5.18638471e-01 7.67347276e+01] [ 7.22328194e-01 3.12739568e-02 6.90842906e-01 5.38138822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.817105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.73, Z:53.81 [[-4.53683845e-01 -7.34316526e-01 5.04925943e-01 1.12081787e+02] [ 5.24195054e-01 -6.78100997e-01 -5.15168500e-01 7.67296110e+01] [ 7.20687529e-01 3.09560559e-02 6.92568559e-01 5.38056194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.84710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.74, Z:53.82 [[-4.62237543e-01 -7.32003442e-01 5.00507158e-01 1.12081095e+02] [ 5.16845973e-01 -6.81038198e-01 -5.18707252e-01 7.67390233e+01] [ 7.20559987e-01 1.89191429e-02 6.93134454e-01 5.38156592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.74, Z:53.81 [[-4.63047164e-01 -7.26664289e-01 5.07490231e-01 1.12080684e+02] [ 5.16423547e-01 -6.86534944e-01 -5.11836391e-01 7.67368523e+01] [ 7.20343005e-01 2.50755162e-02 6.93164608e-01 5.38134497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.90710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.08, Y:76.74, Z:53.82 [[-4.64007409e-01 -7.23338795e-01 5.11349306e-01 1.12082282e+02] [ 5.13824058e-01 -6.89996227e-01 -5.09794120e-01 7.67394474e+01] [ 7.21582956e-01 2.61953263e-02 6.91832236e-01 5.38151479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.93710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:76.73, Z:53.80 [[-4.77531725e-01 -7.18533203e-01 5.05641660e-01 1.12098251e+02] [ 5.05149613e-01 -6.95400053e-01 -5.11119004e-01 7.67341886e+01] [ 7.18879212e-01 1.13491492e-02 6.95042356e-01 5.38011312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.96710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.76, Z:53.85 [[-4.76246757e-01 -7.19468516e-01 5.05523571e-01 1.12075623e+02] [ 4.85464327e-01 -6.94484583e-01 -5.31051363e-01 7.67638399e+01] [ 7.33153063e-01 -7.49782983e-03 6.80022330e-01 5.38547010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.99710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.76, Z:53.85 [[-4.79883843e-01 -7.11158331e-01 5.13775559e-01 1.12076179e+02] [ 4.83268923e-01 -7.03028812e-01 -5.21729467e-01 7.67625269e+01] [ 7.32231278e-01 -2.07778099e-03 6.81052889e-01 5.38539441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.02710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.05, Y:76.79, Z:53.89 [[-4.86685698e-01 -7.05816335e-01 5.14742977e-01 1.12054970e+02] [ 4.84495473e-01 -7.08394759e-01 -5.13265041e-01 7.67851714e+01] [ 7.26912078e-01 -4.08112777e-04 6.86730417e-01 5.38906443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.05710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.76, Z:53.85 [[-4.84758729e-01 -7.10884601e-01 5.09560653e-01 1.12084414e+02] [ 4.83480579e-01 -7.03280536e-01 -5.21193838e-01 7.67564939e+01] [ 7.28872763e-01 -6.29058286e-03 6.84620277e-01 5.38489734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.08710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.05, Y:76.78, Z:53.89 [[-4.84961270e-01 -7.08300178e-01 5.12955578e-01 1.12052276e+02] [ 4.82881031e-01 -7.05902142e-01 -5.18196947e-01 7.67815800e+01] [ 7.29135431e-01 -3.60893133e-03 6.84359920e-01 5.38897873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.11710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.75, Z:53.84 [[-4.85354434e-01 -7.06820863e-01 5.14621551e-01 1.12082004e+02] [ 4.82023499e-01 -7.07386828e-01 -5.16969266e-01 7.67492063e+01] [ 7.29441170e-01 -2.85364504e-03 6.84037599e-01 5.38418463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.14710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:76.73, Z:53.80 [[-4.89992042e-01 -7.05807557e-01 5.11608728e-01 1.12097467e+02] [ 4.84176803e-01 -7.08392691e-01 -5.13568514e-01 7.67312054e+01] [ 7.24900422e-01 -3.93540707e-03 6.88842428e-01 5.38030067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:76.73, Z:53.80 [[-4.95911690e-01 -6.98597662e-01 5.15783775e-01 1.12091530e+02] [ 4.93399021e-01 -7.15455776e-01 -4.94651836e-01 7.67256656e+01] [ 7.14583097e-01 9.18358168e-03 6.99490285e-01 5.38015252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.20710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.07, Y:76.74, Z:53.85 [[-4.90471579e-01 -7.09121638e-01 5.06541343e-01 1.12073975e+02] [ 4.81720934e-01 -7.04995908e-01 -5.20505246e-01 7.67444926e+01] [ 7.26211107e-01 -1.12814603e-02 6.87379194e-01 5.38476627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.23710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.73, Z:53.84 [[-4.87435025e-01 -7.07781412e-01 5.11324329e-01 1.12075520e+02] [ 4.84603674e-01 -7.06421994e-01 -5.15875224e-01 7.67348305e+01] [ 7.26337646e-01 -3.66600455e-03 6.87328295e-01 5.38420225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.26710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:76.77, Z:53.90 [[-4.88881679e-01 -7.05396982e-01 5.13234646e-01 1.12035053e+02] [ 4.81979559e-01 -7.08798542e-01 -5.15073133e-01 7.67652516e+01] [ 7.27111002e-01 -4.44120979e-03 6.86505547e-01 5.38951063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.07, Y:76.73, Z:53.84 [[-4.85154662e-01 -7.03210970e-01 5.19730012e-01 1.12067362e+02] [ 4.87712205e-01 -7.10939855e-01 -5.06657012e-01 7.67252554e+01] [ 7.25783548e-01 7.67165884e-03 6.87880358e-01 5.38391766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.32710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:76.73, Z:53.84 [[-4.80178406e-01 -7.06786212e-01 5.19501636e-01 1.12056542e+02] [ 4.92815663e-01 -7.07313788e-01 -5.06793772e-01 7.67299775e+01] [ 7.25645520e-01 1.26671178e-02 6.87952123e-01 5.38447975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.07, Y:76.72, Z:53.83 [[-4.69904778e-01 -7.15279115e-01 5.17267134e-01 1.12065140e+02] [ 4.94590532e-01 -6.98718929e-01 -5.16886897e-01 7.67217191e+01] [ 7.31142740e-01 1.29478044e-02 6.82101641e-01 5.38301996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.07, Y:76.71, Z:53.81 [[-4.62003184e-01 -7.17804763e-01 5.20873669e-01 1.12073775e+02] [ 5.00171798e-01 -6.95882803e-01 -5.15339982e-01 7.67052946e+01] [ 7.32380523e-01 2.24376074e-02 6.80525770e-01 5.38081216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.07, Y:76.70, Z:53.80 [[-4.57059527e-01 -7.19505758e-01 5.22884359e-01 1.12071087e+02] [ 5.02126470e-01 -6.93972849e-01 -5.16014238e-01 7.67009845e+01] [ 7.34142764e-01 2.67048540e-02 6.78469788e-01 5.38039399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.07, Y:76.70, Z:53.81 [[-4.55849285e-01 -7.19212011e-01 5.24342934e-01 1.12067177e+02] [ 5.01602354e-01 -6.94237608e-01 -5.16167824e-01 7.67040394e+01] [ 7.35252683e-01 2.77169164e-02 6.77226155e-01 5.38082273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.07, Y:76.70, Z:53.80 [[-4.54179817e-01 -7.19325894e-01 5.25633858e-01 1.12074219e+02] [ 5.01883780e-01 -6.94051019e-01 -5.16145188e-01 7.66995180e+01] [ 7.36093313e-01 2.93843805e-02 6.76241963e-01 5.37996057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.70, Z:53.80 [[-4.55028326e-01 -7.18788875e-01 5.25634641e-01 1.12075527e+02] [ 5.02460807e-01 -6.94587955e-01 -5.14859893e-01 7.67017769e+01] [ 7.35175053e-01 2.98349705e-02 6.77220433e-01 5.38018301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.70, Z:53.80 [[-4.56301873e-01 -7.17821617e-01 5.25852381e-01 1.12080385e+02] [ 5.02155615e-01 -6.95596947e-01 -5.13794341e-01 7.66986462e+01] [ 7.34593996e-01 2.96144060e-02 6.77860346e-01 5.37965558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.567105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:76.72, Z:53.82 [[-4.58725234e-01 -7.16157056e-01 5.26013527e-01 1.12061911e+02] [ 5.00843705e-01 -6.97366246e-01 -5.12675240e-01 7.67172010e+01] [ 7.33980069e-01 2.82734939e-02 6.78582248e-01 5.38244246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.70, Z:53.80 [[-4.62348128e-01 -7.14502584e-01 5.25090722e-01 1.12082744e+02] [ 5.00655760e-01 -6.99116449e-01 -5.10470372e-01 7.66974850e+01] [ 7.31831960e-01 2.68746739e-02 6.80955016e-01 5.37970289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.62710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.70, Z:53.80 [[-4.66858409e-01 -7.11971019e-01 5.24538364e-01 1.12083434e+02] [ 4.98783678e-01 -7.01792619e-01 -5.08627528e-01 7.66988003e+01] [ 7.30245212e-01 2.41741359e-02 6.82757308e-01 5.37985893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:76.70, Z:53.80 [[-4.68245540e-01 -7.10526908e-01 5.25259580e-01 1.12085648e+02] [ 4.97263384e-01 -7.03284248e-01 -5.08055503e-01 7.66978165e+01] [ 7.30393894e-01 2.32976330e-02 6.82628728e-01 5.37958034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.68710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:76.70, Z:53.80 [[-4.71275750e-01 -7.07977510e-01 5.25991456e-01 1.12085375e+02] [ 4.94080081e-01 -7.05931136e-01 -5.07490005e-01 7.66988464e+01] [ 7.30605257e-01 2.07141680e-02 6.82485811e-01 5.37957337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.70, Z:53.80 [[-4.74432589e-01 -7.05501493e-01 5.26480163e-01 1.12084145e+02] [ 4.91255477e-01 -7.08473502e-01 -5.06688616e-01 7.67006432e+01] [ 7.30466820e-01 1.82466715e-02 6.82704390e-01 5.37978102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.74710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.71, Z:53.81 [[-4.82422352e-01 -6.97113694e-01 5.30378330e-01 1.12078109e+02] [ 4.87189264e-01 -7.16742044e-01 -4.98926310e-01 7.67058135e+01] [ 7.27952811e-01 1.77014243e-02 6.85398690e-01 5.38068404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.77710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.71, Z:53.81 [[-4.83971725e-01 -7.00959705e-01 5.23857673e-01 1.12075899e+02] [ 4.76834698e-01 -7.13199972e-01 -5.13784459e-01 7.67092491e+01] [ 7.33757480e-01 1.13636456e-03 6.79410530e-01 5.38134962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.80710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.70, Z:53.81 [[-4.84917499e-01 -6.95585795e-01 5.30108877e-01 1.12076886e+02] [ 4.76065902e-01 -7.18414344e-01 -5.07190386e-01 7.67044722e+01] [ 7.33632249e-01 6.42126742e-03 6.79516365e-01 5.38097716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.83710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:76.71, Z:53.83 [[-4.86412597e-01 -6.91626231e-01 5.33906305e-01 1.12060447e+02] [ 4.88399228e-01 -7.21910871e-01 -4.90215146e-01 7.67149640e+01] [ 7.24478419e-01 2.23126050e-02 6.88936258e-01 5.38340070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.86710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:112.08, Y:76.70, Z:53.79 [[-4.92533229e-01 -7.01213328e-01 5.15471520e-01 1.12077659e+02] [ 5.11434830e-01 -7.12440950e-01 -4.80481329e-01 7.66968496e+01] [ 7.04162931e-01 2.69770692e-02 7.09525760e-01 5.37894290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.89710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:76.72, Z:53.84 [[-4.71018641e-01 -7.18210844e-01 5.12166598e-01 1.12059842e+02] [ 4.92626781e-01 -6.95798627e-01 -5.22669232e-01 7.67176439e+01] [ 7.31751525e-01 6.12003167e-03 6.81544019e-01 5.38396587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.92710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.06, Y:76.71, Z:53.83 [[-4.72166890e-01 -7.02676823e-01 5.32262820e-01 1.12060129e+02] [ 5.08311962e-01 -7.10345371e-01 -4.86855629e-01 7.67053128e+01] [ 7.20192597e-01 4.06784505e-02 6.92580600e-01 5.38271029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.95710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.05, Y:76.73, Z:53.86 [[-4.67596286e-01 -7.13447781e-01 5.21867778e-01 1.12046425e+02] [ 5.02326018e-01 -7.00263673e-01 -5.07246844e-01 7.67269524e+01] [ 7.27339182e-01 2.49610229e-02 6.85824075e-01 5.38552095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.98710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.10, Y:76.68, Z:53.78 [[-4.66702861e-01 -7.08430194e-01 5.29447921e-01 1.12098287e+02] [ 5.04876025e-01 -7.04922281e-01 -4.98181470e-01 7.66775228e+01] [ 7.26146431e-01 3.48028443e-02 6.86658665e-01 5.37808419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.01710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:76.68, Z:53.78 [[-4.72891589e-01 -7.10396035e-01 5.21259071e-01 1.12102638e+02] [ 4.98196115e-01 -7.03517371e-01 -5.06817462e-01 7.66795270e+01] [ 7.26755927e-01 2.00195290e-02 6.86603992e-01 5.37809128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:76.68, Z:53.79 [[-4.78245043e-01 -7.01974151e-01 5.27744228e-01 1.12099121e+02] [ 4.94255000e-01 -7.11856049e-01 -4.98971903e-01 7.66809244e+01] [ 7.25943300e-01 2.22093841e-02 6.87395861e-01 5.37852585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.07710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:76.68, Z:53.79 [[-4.87009959e-01 -6.95307937e-01 5.28552904e-01 1.12096457e+02] [ 4.84916080e-01 -7.18584514e-01 -4.98490413e-01 7.66849818e+01] [ 7.26414273e-01 1.35340062e-02 6.87123814e-01 5.37903782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.10710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:76.69, Z:53.80 [[-4.94660031e-01 -6.89624833e-01 5.28894170e-01 1.12095053e+02] [ 4.77562703e-01 -7.24138001e-01 -4.97552028e-01 7.66888862e+01] [ 7.26116601e-01 6.46102791e-03 6.87541225e-01 5.37961880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:76.69, Z:53.80 [[-4.97975808e-01 -6.86961449e-01 5.29248583e-01 1.12094058e+02] [ 4.74671296e-01 -7.26683284e-01 -4.96607053e-01 7.66887517e+01] [ 7.25745999e-01 3.92081222e-03 6.87951577e-01 5.37979153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:76.68, Z:53.79 [[-5.01401009e-01 -6.84174586e-01 5.29624549e-01 1.12095465e+02] [ 4.71601950e-01 -7.29317209e-01 -4.95669255e-01 7.66818524e+01] [ 7.25388605e-01 1.24290544e-03 6.88338453e-01 5.37916764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:76.69, Z:53.80 [[-5.02011011e-01 -6.83343138e-01 5.30119892e-01 1.12085603e+02] [ 4.71260994e-01 -7.30096006e-01 -4.94846338e-01 7.66882472e+01] [ 7.25188265e-01 1.40651689e-03 6.88549201e-01 5.38026147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.68, Z:53.80 [[-4.99330656e-01 -6.84519213e-01 5.31133075e-01 1.12082098e+02] [ 4.73356224e-01 -7.28980924e-01 -4.94490340e-01 7.66832168e+01] [ 7.25674019e-01 4.50096116e-03 6.88023953e-01 5.37992914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.67, Z:53.79 [[-4.93285286e-01 -6.88188297e-01 5.32039936e-01 1.12084837e+02] [ 4.79250165e-01 -7.25444274e-01 -4.94014053e-01 7.66689223e+01] [ 7.25940015e-01 1.12903637e-02 6.87665341e-01 5.37859326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:76.66, Z:53.78 [[-4.86439839e-01 -6.91799153e-01 5.33657395e-01 1.12083710e+02] [ 4.84427098e-01 -7.21862736e-01 -4.94211065e-01 7.66621388e+01] [ 7.27122184e-01 1.81141526e-02 6.86269049e-01 5.37799194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.317105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:76.65, Z:53.77 [[-4.83631028e-01 -6.92574542e-01 5.35202328e-01 1.12089524e+02] [ 4.85488847e-01 -7.21047878e-01 -4.94358713e-01 7.66544084e+01] [ 7.28286762e-01 2.07475484e-02 6.84958343e-01 5.37692796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:76.66, Z:53.77 [[-4.82195774e-01 -6.92887567e-01 5.36091461e-01 1.12085161e+02] [ 4.86468689e-01 -7.20690519e-01 -4.93916381e-01 7.66560184e+01] [ 7.28584553e-01 2.26273190e-02 6.84582029e-01 5.37730755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.09, Y:76.65, Z:53.76 [[-4.81082011e-01 -6.93183152e-01 5.36709620e-01 1.12090370e+02] [ 4.87674488e-01 -7.20346455e-01 -4.93228728e-01 7.66487197e+01] [ 7.28514717e-01 2.44561211e-02 6.84593460e-01 5.37641140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:76.65, Z:53.77 [[-4.81949777e-01 -6.92063685e-01 5.37375351e-01 1.12087029e+02] [ 4.86717386e-01 -7.21432416e-01 -4.92586495e-01 7.66521798e+01] [ 7.28581223e-01 2.41479750e-02 6.84533620e-01 5.37689616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.43710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:76.65, Z:53.77 [[-4.83427337e-01 -6.89553670e-01 5.39271495e-01 1.12088016e+02] [ 4.82543218e-01 -7.23904599e-01 -4.93066096e-01 7.66516346e+01] [ 7.30376652e-01 2.18601731e-02 6.82694719e-01 5.37660409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.46710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:76.65, Z:53.76 [[-4.86366404e-01 -6.87082229e-01 5.39783041e-01 1.12086978e+02] [ 4.79721337e-01 -7.26317370e-01 -4.92270775e-01 7.66507756e+01] [ 7.30284301e-01 1.95214757e-02 6.82864373e-01 5.37643801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.49710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:76.65, Z:53.76 [[-4.88325138e-01 -6.85971318e-01 5.39427391e-01 1.12089775e+02] [ 4.79738650e-01 -7.27376043e-01 -4.90688210e-01 7.66518138e+01] [ 7.28964600e-01 1.91687805e-02 6.84282961e-01 5.37633560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.52710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.09, Y:76.65, Z:53.76 [[-4.87995935e-01 -6.84962669e-01 5.41004723e-01 1.12091277e+02] [ 4.78119844e-01 -7.28327014e-01 -4.90857592e-01 7.66521813e+01] [ 7.30247480e-01 1.91285844e-02 6.82914866e-01 5.37617352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.55710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:76.65, Z:53.75 [[-4.85003576e-01 -6.84627557e-01 5.44110870e-01 1.12094250e+02] [ 4.76094820e-01 -7.28612211e-01 -4.92400212e-01 7.66494065e+01] [ 7.33556578e-01 2.02325034e-02 6.79327161e-01 5.37539243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.58710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:76.65, Z:53.76 [[-4.83314093e-01 -6.84303235e-01 5.46018837e-01 1.12088078e+02] [ 4.75197690e-01 -7.28887541e-01 -4.92859116e-01 7.66542542e+01] [ 7.35251415e-01 2.12611337e-02 6.77460937e-01 5.37611836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.61710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:76.65, Z:53.76 [[-4.83997322e-01 -6.83468311e-01 5.46459203e-01 1.12091838e+02] [ 4.74907523e-01 -7.29666496e-01 -4.91985415e-01 7.66521065e+01] [ 7.34989412e-01 2.13979628e-02 6.77740873e-01 5.37573377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:76.65, Z:53.75 [[-4.85770919e-01 -6.82335333e-01 5.46301297e-01 1.12096664e+02] [ 4.74730500e-01 -7.30736398e-01 -4.90566274e-01 7.66490009e+01] [ 7.33932944e-01 2.10430575e-02 6.78895885e-01 5.37528781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:76.65, Z:53.75 [[-4.91176700e-01 -6.79964086e-01 5.44421061e-01 1.12098935e+02] [ 4.74264052e-01 -7.33007146e-01 -4.87620890e-01 7.66485405e+01] [ 7.30629221e-01 1.86913184e-02 6.82518553e-01 5.37548416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:76.65, Z:53.76 [[-4.93333433e-01 -6.78079884e-01 5.44820883e-01 1.12099182e+02] [ 4.72434007e-01 -7.34785137e-01 -4.86720569e-01 7.66487548e+01] [ 7.30361714e-01 1.72763832e-02 6.82842071e-01 5.37555059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:76.65, Z:53.76 [[-5.01129000e-01 -6.72433198e-01 5.44704800e-01 1.12101787e+02] [ 4.65512050e-01 -7.40085589e-01 -4.85357448e-01 7.66510073e+01] [ 7.29498634e-01 1.03399560e-02 6.83904108e-01 5.37564583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:76.65, Z:53.75 [[-5.01733544e-01 -6.71472577e-01 5.45332952e-01 1.12103004e+02] [ 4.64860814e-01 -7.40957286e-01 -4.84651136e-01 7.66497973e+01] [ 7.29498372e-01 1.03381883e-02 6.83904414e-01 5.37546406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.79710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:76.65, Z:53.76 [[-5.05101894e-01 -6.68753815e-01 5.45564306e-01 1.12101084e+02] [ 4.61987451e-01 -7.43443196e-01 -4.83590540e-01 7.66528233e+01] [ 7.28999089e-01 7.78136515e-03 6.84470436e-01 5.37590580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.82710568099998 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:112.10, Y:76.65, Z:53.76 [[-5.06721249e-01 -6.66768052e-01 5.46492398e-01 1.12102662e+02] [ 4.59562496e-01 -7.45238405e-01 -4.83137694e-01 7.66527639e+01] [ 7.29407902e-01 6.33127490e-03 6.84049726e-01 5.37578906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.11, Y:76.65, Z:53.76 [[-5.06955398e-01 -6.65637689e-01 5.47651979e-01 1.12105671e+02] [ 4.58193088e-01 -7.46249858e-01 -4.82877049e-01 7.66547523e+01] [ 7.30106374e-01 6.13322500e-03 6.83305982e-01 5.37574499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.88710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.08, Y:76.68, Z:53.80 [[-5.07561507e-01 -6.64853339e-01 5.48043205e-01 1.12080514e+02] [ 4.53472320e-01 -7.46971887e-01 -4.86205570e-01 7.66828841e+01] [ 7.32628263e-01 1.74319150e-03 6.80626762e-01 5.37995536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.12, Y:76.65, Z:53.75 [[-5.04113598e-01 -6.62013644e-01 5.54623670e-01 1.12118796e+02] [ 4.64314284e-01 -7.49239759e-01 -4.72283843e-01 7.66470172e+01] [ 7.28204453e-01 1.94349849e-02 6.85084342e-01 5.37466777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.94710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.13, Y:76.64, Z:53.74 [[-5.01980772e-01 -6.71320056e-01 5.45293211e-01 1.12129824e+02] [ 4.72040784e-01 -7.40957997e-01 -4.77659655e-01 7.66397119e+01] [ 7.24701872e-01 1.76246727e-02 6.88837113e-01 5.37368008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.14, Y:76.63, Z:53.73 [[-5.01079210e-01 -6.72277947e-01 5.44942187e-01 1.12136726e+02] [ 4.75050696e-01 -7.40020508e-01 -4.76126543e-01 7.66347368e+01] [ 7.23357768e-01 2.02980534e-02 6.90174998e-01 5.37283964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.14, Y:76.63, Z:53.72 [[-4.97686097e-01 -6.74795121e-01 5.44940450e-01 1.12142579e+02] [ 4.80032635e-01 -7.37573864e-01 -4.74924694e-01 7.66339548e+01] [ 7.22410700e-01 2.52257831e-02 6.91003937e-01 5.37226580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:112.15, Y:76.63, Z:53.69 [[-5.10177300e-01 -6.66747538e-01 5.43292595e-01 1.12146818e+02] [ 4.99087421e-01 -7.43956519e-01 -4.44342710e-01 7.66298634e+01] [ 7.00450476e-01 4.44569358e-02 7.12315037e-01 5.36854339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.06710568099996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:112.15, Y:76.63, Z:53.69 [[-5.07788754e-01 -6.78534669e-01 5.30793072e-01 1.12147915e+02] [ 4.97443750e-01 -7.33986264e-01 -4.62400129e-01 7.66341633e+01] [ 7.03349342e-01 2.92381104e-02 7.10242800e-01 5.36864062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:76.64, Z:53.71 [[-4.86758976e-01 -6.88034226e-01 5.38214272e-01 1.12145036e+02] [ 4.77845681e-01 -7.25499710e-01 -4.95291505e-01 7.66400152e+01] [ 7.31251806e-01 1.60957794e-02 6.81917680e-01 5.37144414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.12710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:76.63, Z:53.70 [[-4.86309721e-01 -6.75750457e-01 5.53953225e-01 1.12150474e+02] [ 4.77489511e-01 -7.36458507e-01 -4.79199994e-01 7.66343475e+01] [ 7.31783180e-01 3.14672392e-02 6.80810686e-01 5.37042580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.15710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:76.68, Z:53.78 [[-4.91248357e-01 -6.69546703e-01 5.57119614e-01 1.12093424e+02] [ 4.77579297e-01 -7.41949329e-01 -4.70562651e-01 7.66836338e+01] [ 7.28418195e-01 3.49056646e-02 6.84243032e-01 5.37826753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.18710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:76.64, Z:53.69 [[-5.10250024e-01 -6.64431569e-01 5.46054579e-01 1.12148265e+02] [ 4.94404940e-01 -7.46142708e-01 -4.45908975e-01 7.66365666e+01] [ 7.03710643e-01 4.24470165e-02 7.09217585e-01 5.36859027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.21710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:76.69, Z:53.78 [[-4.94005595e-01 -6.80899835e-01 5.40679098e-01 1.12104565e+02] [ 4.74621495e-01 -7.32216391e-01 -4.88460432e-01 7.66852862e+01] [ 7.28486725e-01 1.53157353e-02 6.84888691e-01 5.37791056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.24710568099997 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:112.16, Y:76.64, Z:53.68 [[-5.21072759e-01 -6.57149139e-01 5.44645012e-01 1.12158835e+02] [ 4.88622220e-01 -7.52882573e-01 -4.40926477e-01 7.66369076e+01] [ 6.99808192e-01 3.63708789e-02 7.13404270e-01 5.36799602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.27710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:76.70, Z:53.80 [[-5.05633469e-01 -6.72073623e-01 5.40973050e-01 1.12102310e+02] [ 4.64049016e-01 -7.40466000e-01 -4.86177553e-01 7.67011878e+01] [ 7.27319260e-01 5.21036890e-03 6.86279496e-01 5.37958908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.30710568099997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:112.15, Y:76.65, Z:53.70 [[-5.27519985e-01 -6.50517628e-01 5.46396817e-01 1.12151548e+02] [ 4.72640561e-01 -7.59167432e-01 -4.47521743e-01 7.66542173e+01] [ 7.05927451e-01 2.21726351e-02 7.07937009e-01 5.36971417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.33710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.11, Y:76.70, Z:53.79 [[-5.13958120e-01 -6.58831647e-01 5.49352266e-01 1.12109331e+02] [ 4.52985771e-01 -7.52284553e-01 -4.78405521e-01 7.67026085e+01] [ 7.28457921e-01 2.96835756e-03 6.85084116e-01 5.37881977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.36710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.16, Y:76.65, Z:53.69 [[-5.36773232e-01 -6.41099491e-01 5.48512480e-01 1.12163092e+02] [ 4.71149470e-01 -7.67060793e-01 -4.35472061e-01 7.66531123e+01] [ 6.99923335e-01 2.46816184e-02 7.13791386e-01 5.36874964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.39710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.10, Y:76.72, Z:53.81 [[-5.24006955e-01 -6.57402311e-01 5.41515385e-01 1.12102924e+02] [ 4.51619835e-01 -7.53517549e-01 -4.77756034e-01 7.67192706e+01] [ 7.22119267e-01 -5.78839597e-03 6.91744360e-01 5.38087783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.42710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:76.68, Z:53.74 [[-5.31699547e-01 -6.45806599e-01 5.47931956e-01 1.12151239e+02] [ 4.45263338e-01 -7.63486259e-01 -4.67791933e-01 7.66763193e+01] [ 7.20441636e-01 -4.75074723e-03 6.93499300e-01 5.37429076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.45710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.11, Y:76.71, Z:53.80 [[-5.32651813e-01 -6.43256199e-01 5.50003189e-01 1.12107576e+02] [ 4.43782480e-01 -7.65640766e-01 -4.65672984e-01 7.67109350e+01] [ 7.20651897e-01 -3.95978010e-03 6.93285773e-01 5.38014988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.48710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:112.14, Y:76.68, Z:53.73 [[-5.53653471e-01 -6.34506047e-01 5.39323567e-01 1.12135843e+02] [ 4.62451437e-01 -7.72867424e-01 -4.34528036e-01 7.66802447e+01] [ 6.92536283e-01 8.83300299e-03 7.21328965e-01 5.37342807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.51710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.14, Y:76.67, Z:53.76 [[-5.35327823e-01 -6.52758219e-01 5.36032489e-01 1.12143426e+02] [ 4.46755869e-01 -7.57409091e-01 -4.76172933e-01 7.66749695e+01] [ 7.16821676e-01 -1.54329595e-02 6.97085725e-01 5.37564656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.54710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:112.14, Y:76.67, Z:53.76 [[-5.33283682e-01 -6.44878014e-01 5.47485947e-01 1.12137352e+02] [ 4.51518213e-01 -7.64283719e-01 -4.60436424e-01 7.66701959e+01] [ 7.15359922e-01 1.65664518e-03 6.98754204e-01 5.37573989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.57710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.12, Y:76.67, Z:53.77 [[-5.25285144e-01 -6.54479097e-01 5.43813046e-01 1.12123938e+02] [ 4.55593159e-01 -7.56079510e-01 -4.69870885e-01 7.66700595e+01] [ 7.18686574e-01 9.41308353e-04 6.95333533e-01 5.37670629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.60710568099998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:112.15, Y:76.63, Z:53.69 [[-5.46559982e-01 -6.37991330e-01 5.42438244e-01 1.12154977e+02] [ 4.83595858e-01 -7.69287466e-01 -4.17530646e-01 7.66300150e+01] [ 6.83671875e-01 3.41153454e-02 7.28991708e-01 5.36861927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.16, Y:76.63, Z:53.71 [[-5.10986746e-01 -6.77432393e-01 5.29129377e-01 1.12159331e+02] [ 4.67475089e-01 -7.35578164e-01 -4.90297671e-01 7.66324945e+01] [ 7.21359541e-01 -3.18080883e-03 6.92553461e-01 5.37073584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:76.63, Z:53.70 [[-5.03710700e-01 -6.62564569e-01 5.54331780e-01 1.12153300e+02] [ 4.70133777e-01 -7.48583991e-01 -4.67542769e-01 7.66261022e+01] [ 7.24741169e-01 2.51037982e-02 6.88563749e-01 5.37010579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.69710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.11, Y:76.66, Z:53.75 [[-5.07398399e-01 -6.55216856e-01 5.59676457e-01 1.12110909e+02] [ 4.74631100e-01 -7.54595359e-01 -4.53112749e-01 7.66578800e+01] [ 7.19216368e-01 3.57311698e-02 6.93866774e-01 5.37546568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.11, Y:76.66, Z:53.75 [[-5.04905774e-01 -6.62534588e-01 5.53279386e-01 1.12111797e+02] [ 4.73785283e-01 -7.48512252e-01 -4.63957881e-01 7.66579968e+01] [ 7.21524543e-01 2.78806171e-02 6.91827295e-01 5.37514387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.12, Y:76.64, Z:53.73 [[-5.04918383e-01 -6.61397810e-01 5.54626328e-01 1.12122967e+02] [ 4.72793868e-01 -7.49502710e-01 -4.63369880e-01 7.66449714e+01] [ 7.22165760e-01 2.82599561e-02 6.91142526e-01 5.37305249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.78710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.11, Y:76.66, Z:53.75 [[-5.05302335e-01 -6.60130903e-01 5.55784798e-01 1.12106158e+02] [ 4.71580993e-01 -7.50619364e-01 -4.62797944e-01 7.66596867e+01] [ 7.22690056e-01 2.82446653e-02 6.90594904e-01 5.37527377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.12, Y:76.66, Z:53.74 [[-5.05540084e-01 -6.58311708e-01 5.57722976e-01 1.12115494e+02] [ 4.71936008e-01 -7.52120530e-01 -4.59990340e-01 7.66564085e+01] [ 7.22291927e-01 3.06659995e-02 6.90908075e-01 5.37446912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.84710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.16, Y:76.62, Z:53.68 [[-5.01177338e-01 -6.66283387e-01 5.52166392e-01 1.12164882e+02] [ 4.65069485e-01 -7.45492959e-01 -4.77441748e-01 7.66214329e+01] [ 7.29747662e-01 1.75127551e-02 6.83492248e-01 5.36827042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.16, Y:76.63, Z:53.69 [[-5.04819682e-01 -6.56293069e-01 5.60746374e-01 1.12158331e+02] [ 4.62782295e-01 -7.54115780e-01 -4.65984911e-01 7.66251339e+01] [ 7.28690357e-01 2.42651390e-02 6.84413301e-01 5.36906979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.90710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:76.69, Z:53.79 [[-5.18604939e-01 -6.45390591e-01 5.60820739e-01 1.12088758e+02] [ 4.62973931e-01 -7.63407927e-01 -4.50403682e-01 7.66856522e+01] [ 7.18821296e-01 2.60638084e-02 6.94706141e-01 5.37875512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.93710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.17, Y:76.63, Z:53.69 [[-5.22569757e-01 -6.49988950e-01 5.51756480e-01 1.12172703e+02] [ 4.54479883e-01 -7.59902637e-01 -4.64753718e-01 7.66303168e+01] [ 7.21365986e-01 7.89598326e-03 6.92509038e-01 5.36873450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.96710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.13, Y:76.67, Z:53.75 [[-5.22377986e-01 -6.44933160e-01 5.57837305e-01 1.12128505e+02] [ 4.53242860e-01 -7.64127302e-01 -4.58999319e-01 7.66690685e+01] [ 7.22282596e-01 1.30646355e-02 6.91474632e-01 5.37480136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.99710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.17, Y:76.63, Z:53.67 [[-5.43986925e-01 -6.33292229e-01 5.50471778e-01 1.12173634e+02] [ 4.63285507e-01 -7.73656892e-01 -4.32228588e-01 7.66313428e+01] [ 6.99603291e-01 1.98988971e-02 7.14254345e-01 5.36694993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.02710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.17, Y:76.64, Z:53.70 [[-5.27500252e-01 -6.51232330e-01 5.45563870e-01 1.12170119e+02] [ 4.47300738e-01 -7.58857312e-01 -4.73347261e-01 7.66426628e+01] [ 7.22264172e-01 -5.65967730e-03 6.91594125e-01 5.37011111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.05710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:76.66, Z:53.73 [[-5.27525054e-01 -6.39564899e-01 5.59172655e-01 1.12147918e+02] [ 4.50439865e-01 -7.68639152e-01 -4.54200157e-01 7.66574983e+01] [ 7.20292472e-01 1.22716929e-02 6.93561936e-01 5.37266375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.08710568099997 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:112.18, Y:76.63, Z:53.66 [[-5.39821949e-01 -6.36665586e-01 5.50680664e-01 1.12180097e+02] [ 4.70990609e-01 -7.70644694e-01 -4.29272177e-01 7.66276136e+01] [ 6.97681954e-01 2.76348781e-02 7.15874433e-01 5.36570048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.11710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.17, Y:76.64, Z:53.70 [[-5.21096012e-01 -6.58621253e-01 5.42841590e-01 1.12170884e+02] [ 4.49003883e-01 -7.52438418e-01 -4.81904492e-01 7.66429325e+01] [ 7.25847408e-01 -7.38052645e-03 6.87816159e-01 5.37008190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.14710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.18, Y:76.63, Z:53.68 [[-5.18656122e-01 -6.45265767e-01 5.60917032e-01 1.12180210e+02] [ 4.53200892e-01 -7.63794018e-01 -4.59595093e-01 7.66263416e+01] [ 7.24986054e-01 1.58362902e-02 6.88581465e-01 5.36808829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.11, Y:76.68, Z:53.77 [[-5.20135792e-01 -6.43344929e-01 5.61752668e-01 1.12113756e+02] [ 4.56831899e-01 -7.65294809e-01 -4.53462755e-01 7.66791077e+01] [ 7.21639365e-01 2.07643287e-02 6.91957708e-01 5.37701606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.20710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.19, Y:76.62, Z:53.67 [[-5.13719014e-01 -6.52557262e-01 5.57011485e-01 1.12192193e+02] [ 4.65414456e-01 -7.57361098e-01 -4.58032261e-01 7.66187198e+01] [ 7.20751108e-01 2.39413160e-02 6.92780379e-01 5.36728660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.23710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:112.19, Y:76.62, Z:53.66 [[-5.28619463e-01 -6.44339683e-01 5.52619070e-01 1.12186566e+02] [ 4.88794541e-01 -7.63305212e-01 -4.22427569e-01 7.66215037e+01] [ 6.94003862e-01 4.68137499e-02 7.18447711e-01 5.36567327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.26710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:112.21, Y:76.61, Z:53.65 [[-5.02965978e-01 -6.69284988e-01 5.46884658e-01 1.12208987e+02] [ 4.75311879e-01 -7.42659759e-01 -4.71736260e-01 7.66113067e+01] [ 7.21875226e-01 2.26734851e-02 6.91651698e-01 5.36543423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.21, Y:76.61, Z:53.65 [[-5.01886216e-01 -6.57722898e-01 5.61703495e-01 1.12207685e+02] [ 4.75372712e-01 -7.52296599e-01 -4.56147576e-01 7.66077643e+01] [ 7.22586334e-01 3.80843331e-02 6.90230811e-01 5.36492354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.32710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.20, Y:76.61, Z:53.65 [[-5.01642603e-01 -6.56209710e-01 5.63687426e-01 1.12204474e+02] [ 4.72728243e-01 -7.53651575e-01 -4.56658856e-01 7.66139877e+01] [ 7.24487893e-01 3.73914294e-02 6.88272602e-01 5.36530983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.35710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.21, Y:76.61, Z:53.65 [[-5.03147250e-01 -6.54139454e-01 5.64751645e-01 1.12209551e+02] [ 4.69958443e-01 -7.55527932e-01 -4.56417140e-01 7.66127808e+01] [ 7.25246101e-01 3.57647751e-02 6.87560160e-01 5.36480541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.21, Y:76.62, Z:53.65 [[-5.06688968e-01 -6.50039362e-01 5.66317153e-01 1.12209222e+02] [ 4.63759756e-01 -7.59255837e-01 -4.56571422e-01 7.66170029e+01] [ 7.26769000e-01 3.12954021e-02 6.86168652e-01 5.36541855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.21, Y:76.61, Z:53.63 [[-5.19572624e-01 -6.42322060e-01 5.63441798e-01 1.12213665e+02] [ 4.70272497e-01 -7.65548726e-01 -4.39065970e-01 7.66119776e+01] [ 7.13363909e-01 3.68445225e-02 6.99824559e-01 5.36339399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.44710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:112.13, Y:76.68, Z:53.76 [[-5.11288987e-01 -6.50769405e-01 5.61322325e-01 1.12134777e+02] [ 4.57851027e-01 -7.59003453e-01 -4.62910570e-01 7.66801022e+01] [ 7.27293619e-01 2.03209266e-02 6.86025547e-01 5.37577233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.47710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.21, Y:76.61, Z:53.64 [[-5.33486853e-01 -6.30710064e-01 5.63557089e-01 1.12212355e+02] [ 4.69889386e-01 -7.75018549e-01 -4.22552025e-01 7.66126776e+01] [ 7.03275012e-01 3.93835444e-02 7.09826172e-01 5.36370517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.50710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.19, Y:76.64, Z:53.69 [[-5.23184169e-01 -6.49568052e-01 5.51669893e-01 1.12186375e+02] [ 4.56851633e-01 -7.60232556e-01 -4.61879905e-01 7.66429696e+01] [ 7.19419843e-01 1.03830372e-02 6.94497863e-01 5.36928744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.21, Y:76.62, Z:53.65 [[-5.32877354e-01 -6.35523376e-01 5.58705435e-01 1.12207209e+02] [ 4.58528939e-01 -7.71784602e-01 -4.40567520e-01 7.66226271e+01] [ 7.11191210e-01 2.14141561e-02 7.02672396e-01 5.36502473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.56710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.21, Y:76.63, Z:53.66 [[-5.26134234e-01 -6.42690246e-01 5.56894977e-01 1.12208899e+02] [ 4.47326801e-01 -7.66100234e-01 -4.61507492e-01 7.66250896e+01] [ 7.23243736e-01 6.29915760e-03 6.90564131e-01 5.36628144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.16, Y:76.66, Z:53.72 [[-5.32629678e-01 -6.27675868e-01 5.67739933e-01 1.12164884e+02] [ 4.39993204e-01 -7.78392797e-01 -4.47784138e-01 7.66571955e+01] [ 7.22987971e-01 1.12985908e-02 6.90768221e-01 5.37178299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.62710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:76.64, Z:53.68 [[-5.32215056e-01 -6.25782460e-01 5.70213510e-01 1.12193481e+02] [ 4.31170341e-01 -7.79984838e-01 -4.53559025e-01 7.66352670e+01] [ 7.28587175e-01 4.46821174e-03 6.84938511e-01 5.36784336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:76.63, Z:53.67 [[-5.46106371e-01 -6.13545597e-01 5.70376746e-01 1.12190937e+02] [ 4.31087495e-01 -7.89624349e-01 -4.36642828e-01 7.66349822e+01] [ 7.18283651e-01 7.42885242e-03 6.95710722e-01 5.36685696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.68710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:76.63, Z:53.67 [[-5.46725374e-01 -6.17816705e-01 5.65149435e-01 1.12193580e+02] [ 4.30395905e-01 -7.86321620e-01 -4.43235462e-01 7.66348903e+01] [ 7.18227492e-01 9.09928737e-04 6.95807762e-01 5.36672065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.71710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.19, Y:76.64, Z:53.68 [[-5.37873324e-01 -6.23669050e-01 5.67211781e-01 1.12190809e+02] [ 4.20990731e-01 -7.81639512e-01 -4.60224377e-01 7.66402225e+01] [ 7.30382839e-01 -8.75151295e-03 6.82981932e-01 5.36844481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.74710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:76.63, Z:53.67 [[-5.54105478e-01 -6.07763373e-01 5.68850422e-01 1.12191144e+02] [ 4.25022867e-01 -7.94117483e-01 -4.34434099e-01 7.66336507e+01] [ 7.15767198e-01 1.05212363e-03 6.98338178e-01 5.36701108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.77710568099997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:112.19, Y:76.63, Z:53.67 [[-5.59197053e-01 -6.10368104e-01 5.61025341e-01 1.12190891e+02] [ 4.22091804e-01 -7.92057238e-01 -4.41003220e-01 7.66306130e+01] [ 7.13538481e-01 -9.80350263e-03 7.00547448e-01 5.36723625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.80710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.19, Y:76.63, Z:53.69 [[-5.51483507e-01 -6.15058076e-01 5.63533056e-01 1.12189695e+02] [ 4.10735176e-01 -7.88194425e-01 -4.58307935e-01 7.66306925e+01] [ 7.26059609e-01 -2.12864185e-02 6.87302213e-01 5.36875328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.83710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:76.63, Z:53.69 [[-5.53289918e-01 -6.06509002e-01 5.70979070e-01 1.12186896e+02] [ 4.09544207e-01 -7.94956960e-01 -4.47567844e-01 7.66292320e+01] [ 7.25357711e-01 -1.37936051e-02 6.88233919e-01 5.36885316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.86710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.20, Y:76.62, Z:53.67 [[-5.55110904e-01 -6.04622782e-01 5.71212023e-01 1.12199726e+02] [ 4.07934286e-01 -7.96373504e-01 -4.46518599e-01 7.66166767e+01] [ 7.24873439e-01 -1.48503744e-02 6.88721979e-01 5.36711246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.89710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.19, Y:76.61, Z:53.65 [[-5.73797248e-01 -5.90066631e-01 5.67959585e-01 1.12194955e+02] [ 4.14698898e-01 -8.07336839e-01 -4.19800015e-01 7.66055548e+01] [ 7.06244676e-01 -5.34787893e-03 7.07947638e-01 5.36502965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.92710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.20, Y:76.60, Z:53.66 [[-5.61627947e-01 -6.07150642e-01 5.62087312e-01 1.12198918e+02] [ 3.99476624e-01 -7.93904871e-01 -4.58403188e-01 7.65986272e+01] [ 7.24563645e-01 -3.29112991e-02 6.88421652e-01 5.36605525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.95710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.14, Y:76.63, Z:53.73 [[-5.68703134e-01 -5.88615691e-01 5.74550533e-01 1.12138642e+02] [ 3.99141758e-01 -8.08236559e-01 -4.32942861e-01 7.66286128e+01] [ 7.19209707e-01 -1.68888520e-02 6.94587766e-01 5.37275641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.98710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.19, Y:76.58, Z:53.66 [[-5.69882350e-01 -5.94042526e-01 5.67756624e-01 1.12193910e+02] [ 3.92191998e-01 -8.03786465e-01 -4.47339642e-01 7.65827982e+01] [ 7.22093861e-01 -3.22613618e-02 6.91042445e-01 5.36561259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.01710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:112.19, Y:76.57, Z:53.64 [[-5.69188634e-01 -5.92138187e-01 5.70435507e-01 1.12194545e+02] [ 3.88086358e-01 -8.05122565e-01 -4.48516035e-01 7.65688829e+01] [ 7.24853970e-01 -3.39119907e-02 6.88067365e-01 5.36442024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.04710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.19, Y:76.56, Z:53.65 [[-5.70327038e-01 -5.88439337e-01 5.73119722e-01 1.12189591e+02] [ 3.88117076e-01 -8.07969234e-01 -4.43340559e-01 7.65649047e+01] [ 7.23942128e-01 -3.04115574e-02 6.89190055e-01 5.36460747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.07710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.19, Y:76.55, Z:53.64 [[-5.69576423e-01 -5.89420591e-01 5.72857805e-01 1.12187878e+02] [ 3.90920898e-01 -8.07347308e-01 -4.42008118e-01 7.65480653e+01] [ 7.23023893e-01 -2.78153150e-02 6.90262819e-01 5.36400300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.10710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:112.18, Y:76.54, Z:53.64 [[-5.67430895e-01 -5.90448069e-01 5.73927920e-01 1.12181569e+02] [ 3.92638642e-01 -8.06679273e-01 -4.41705159e-01 7.65427992e+01] [ 7.23779715e-01 -2.52908752e-02 6.89567470e-01 5.36429514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.17, Y:76.53, Z:53.64 [[-5.60200919e-01 -5.95540006e-01 5.75766473e-01 1.12171879e+02] [ 3.99526401e-01 -8.03133501e-01 -4.41990085e-01 7.65342535e+01] [ 7.25640121e-01 -1.75693447e-02 6.87850081e-01 5.36422671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.16710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.16, Y:76.53, Z:53.65 [[-5.52716805e-01 -6.02022133e-01 5.76258176e-01 1.12160121e+02] [ 4.09641473e-01 -7.98441134e-01 -4.41231933e-01 7.65326557e+01] [ 7.25739621e-01 -7.81705606e-03 6.87925066e-01 5.36494116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.19710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.15, Y:76.53, Z:53.66 [[-5.47192984e-01 -6.06492822e-01 5.76841655e-01 1.12150087e+02] [ 4.16856235e-01 -7.95088740e-01 -4.40527837e-01 7.65275489e+01] [ 7.25817276e-01 -5.93701209e-04 6.87887294e-01 5.36588176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.14, Y:76.53, Z:53.67 [[-5.45358982e-01 -6.07938747e-01 5.77056376e-01 1.12142030e+02] [ 4.20024981e-01 -7.93979396e-01 -4.39517616e-01 7.65268529e+01] [ 7.25370661e-01 2.68321325e-03 6.88353256e-01 5.36673648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.14, Y:76.51, Z:53.66 [[-5.43265272e-01 -6.10797636e-01 5.76011365e-01 1.12144842e+02] [ 4.26267807e-01 -7.91747917e-01 -4.37528277e-01 7.65148217e+01] [ 7.23297035e-01 7.84118290e-03 6.90492516e-01 5.36615595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:76.51, Z:53.66 [[-5.43288107e-01 -6.10775108e-01 5.76013715e-01 1.12145455e+02] [ 4.27487084e-01 -7.91750851e-01 -4.36331734e-01 7.65120386e+01] [ 7.22559911e-01 9.18458080e-03 6.91247291e-01 5.36608475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.14, Y:76.51, Z:53.66 [[-5.43478493e-01 -6.10421618e-01 5.76208795e-01 1.12144996e+02] [ 4.28062792e-01 -7.92012499e-01 -4.35291221e-01 7.65108233e+01] [ 7.22075740e-01 1.00821288e-02 6.91740541e-01 5.36598020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.14, Y:76.51, Z:53.66 [[-5.43739577e-01 -6.09713835e-01 5.76711637e-01 1.12143763e+02] [ 4.27887679e-01 -7.92551765e-01 -4.34481108e-01 7.65107772e+01] [ 7.21982969e-01 1.05232297e-02 6.91830799e-01 5.36603824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.14, Y:76.51, Z:53.66 [[-5.40822782e-01 -6.11129970e-01 5.77954045e-01 1.12144696e+02] [ 4.30260460e-01 -7.91409353e-01 -4.34220189e-01 7.65078658e+01] [ 7.22763208e-01 1.38346030e-02 6.90957270e-01 5.36577137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.14, Y:76.51, Z:53.66 [[-5.32634593e-01 -6.16186521e-01 5.80184937e-01 1.12142558e+02] [ 4.37287410e-01 -7.87288016e-01 -4.34692191e-01 7.65074022e+01] [ 7.24624117e-01 2.21754698e-02 6.88787440e-01 5.36578930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.43710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:76.50, Z:53.64 [[-5.28693774e-01 -6.18853094e-01 5.80950722e-01 1.12153899e+02] [ 4.41940131e-01 -7.85033634e-01 -4.34063491e-01 7.64995973e+01] [ 7.24687391e-01 2.72587731e-02 6.88538412e-01 5.36431123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.46710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.16, Y:76.50, Z:53.64 [[-5.21334820e-01 -6.24161152e-01 5.81921697e-01 1.12161131e+02] [ 4.50407194e-01 -7.80463475e-01 -4.33601341e-01 7.64991401e+01] [ 7.24805743e-01 3.60502416e-02 6.88009459e-01 5.36366139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.49710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.17, Y:76.49, Z:53.63 [[-5.18225997e-01 -6.25737116e-01 5.83005041e-01 1.12170698e+02] [ 4.53236425e-01 -7.79022058e-01 -4.33245169e-01 7.64937907e+01] [ 7.25271369e-01 3.97202106e-02 6.87316336e-01 5.36252660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.52710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.17, Y:76.49, Z:53.62 [[-5.19081828e-01 -6.25078972e-01 5.82949684e-01 1.12174894e+02] [ 4.53488041e-01 -7.79531609e-01 -4.32063731e-01 7.64927198e+01] [ 7.24501658e-01 4.00842789e-02 6.88106531e-01 5.36220206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.55710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.18, Y:76.50, Z:53.62 [[-5.24094377e-01 -6.22620950e-01 5.81092278e-01 1.12179447e+02] [ 4.52266589e-01 -7.81616208e-01 -4.29570757e-01 7.64990577e+01] [ 7.21650896e-01 3.76730041e-02 6.91231313e-01 5.36236773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.58710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.13, Y:76.54, Z:53.69 [[-5.36300255e-01 -6.10862680e-01 5.82433535e-01 1.12131473e+02] [ 4.52709934e-01 -7.90592880e-01 -4.12330709e-01 7.65425733e+01] [ 7.12345248e-01 4.25403832e-02 7.00538767e-01 5.36904936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.61710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.19, Y:76.51, Z:53.62 [[-5.31656230e-01 -6.23767514e-01 5.72936072e-01 1.12191443e+02] [ 4.42446418e-01 -7.81366650e-01 -4.40121945e-01 7.65084540e+01] [ 7.22206910e-01 1.94999390e-02 6.91402149e-01 5.36176225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.18, Y:76.52, Z:53.63 [[-5.35556622e-01 -6.11192745e-01 5.82771425e-01 1.12183557e+02] [ 4.36586775e-01 -7.91087831e-01 -4.28453068e-01 7.65197580e+01] [ 7.22890789e-01 2.49694193e-02 6.90510996e-01 5.36276432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.67710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.19, Y:76.52, Z:53.62 [[-5.37587360e-01 -6.08413397e-01 5.83809017e-01 1.12186976e+02] [ 4.32926011e-01 -7.93297985e-01 -4.28081039e-01 7.65219681e+01] [ 7.23584756e-01 2.26151528e-02 6.89864955e-01 5.36248345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:76.53, Z:53.62 [[-5.42842025e-01 -6.02358411e-01 5.85223787e-01 1.12190945e+02] [ 4.24188066e-01 -7.98066823e-01 -4.27964754e-01 7.65288075e+01] [ 7.24835858e-01 1.59276928e-02 6.88737460e-01 5.36242665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:76.54, Z:53.63 [[-5.49481737e-01 -5.95641135e-01 5.85902262e-01 1.12187112e+02] [ 4.15050453e-01 -8.03206942e-01 -4.27307535e-01 7.65382552e+01] [ 7.25122709e-01 8.38131260e-03 6.88568668e-01 5.36345293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.76710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.18, Y:76.54, Z:53.64 [[-5.53303339e-01 -5.91672544e-01 5.86326714e-01 1.12184343e+02] [ 4.10171262e-01 -8.06165608e-01 -4.26446420e-01 7.65426103e+01] [ 7.24993070e-01 4.54014036e-03 6.88741196e-01 5.36390204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.79710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.19, Y:76.54, Z:53.63 [[-5.59881257e-01 -5.84827424e-01 5.86949624e-01 1.12192413e+02] [ 4.01009070e-01 -8.11152300e-01 -4.25703736e-01 7.65424128e+01] [ 7.25068758e-01 -2.97142017e-03 6.88670072e-01 5.36317968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.82710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.20, Y:76.54, Z:53.62 [[-5.61804364e-01 -5.81949077e-01 5.87972047e-01 1.12203371e+02] [ 3.97312849e-01 -8.13207977e-01 -4.25247323e-01 7.65364775e+01] [ 7.25615846e-01 -5.29695277e-03 6.88079636e-01 5.36197722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.85710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.20, Y:76.54, Z:53.63 [[-5.61470700e-01 -5.81008907e-01 5.89219232e-01 1.12201025e+02] [ 3.96226648e-01 -8.13880932e-01 -4.24973260e-01 7.65412679e+01] [ 7.26467547e-01 -5.14567255e-03 6.87181508e-01 5.36274029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.88710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.20, Y:76.54, Z:53.63 [[-5.58343007e-01 -5.83862756e-01 5.89370316e-01 1.12202085e+02] [ 4.01487838e-01 -8.11852375e-01 -4.23914186e-01 7.65374652e+01] [ 7.25989396e-01 -6.45076670e-05 6.87705892e-01 5.36289774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.91710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.20, Y:76.54, Z:53.64 [[-5.56477896e-01 -5.85692633e-01 5.89318667e-01 1.12195905e+02] [ 4.05432881e-01 -8.10524767e-01 -4.22698215e-01 7.65391236e+01] [ 7.25228606e-01 3.70695135e-03 6.88498168e-01 5.36372691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.21, Y:76.53, Z:53.62 [[-5.52752722e-01 -5.90857555e-01 5.87666383e-01 1.12206901e+02] [ 4.15421722e-01 -8.06689725e-01 -4.20329014e-01 7.65274668e+01] [ 7.22419006e-01 1.17913744e-02 6.91355005e-01 5.36241223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.21, Y:76.52, Z:53.62 [[-5.52713294e-01 -5.91903887e-01 5.86649642e-01 1.12212352e+02] [ 4.18902752e-01 -8.05878484e-01 -4.18426042e-01 7.65229172e+01] [ 7.20436326e-01 1.44795136e-02 6.93369919e-01 5.36172305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.00710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:112.21, Y:76.52, Z:53.62 [[-5.54270549e-01 -5.91763241e-01 5.85320788e-01 1.12213182e+02] [ 4.20823450e-01 -8.05961720e-01 -4.16333197e-01 7.65213625e+01] [ 7.18116831e-01 1.55554838e-02 6.95748693e-01 5.36157173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.20, Y:76.53, Z:53.62 [[-5.57951387e-01 -5.87226384e-01 5.86391868e-01 1.12204388e+02] [ 4.14658073e-01 -8.09347023e-01 -4.15952014e-01 7.65256424e+01] [ 7.18852510e-01 1.10711187e-02 6.95074456e-01 5.36234179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.06710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.21, Y:76.52, Z:53.62 [[-5.61365717e-01 -5.83836017e-01 5.86518574e-01 1.12209607e+02] [ 4.10850080e-01 -8.11831523e-01 -4.14887684e-01 7.65207245e+01] [ 7.18380640e-01 8.06748058e-03 6.95603459e-01 5.36159444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.09710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.19, Y:76.53, Z:53.61 [[-5.93705967e-01 -5.64144500e-01 5.73806769e-01 1.12187010e+02] [ 4.19256446e-01 -8.25515984e-01 -3.77819259e-01 7.65300994e+01] [ 6.86831316e-01 1.62586379e-02 7.26634984e-01 5.36132236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.12710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.22, Y:76.52, Z:53.60 [[-5.74885629e-01 -5.82481540e-01 5.74649258e-01 1.12219488e+02] [ 3.93221139e-01 -8.12562627e-01 -4.30254708e-01 7.65153593e+01] [ 7.17553935e-01 -2.13830131e-02 6.96174631e-01 5.36033107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.15710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.22, Y:76.51, Z:53.60 [[-5.78810380e-01 -5.65554603e-01 5.87474710e-01 1.12215427e+02] [ 3.86218244e-01 -8.24618453e-01 -4.13327806e-01 7.65133002e+01] [ 7.18201930e-01 -1.23449732e-02 6.95725226e-01 5.36038761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.18710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.17, Y:76.53, Z:53.63 [[-6.04646111e-01 -5.46522311e-01 5.79410428e-01 1.12173100e+02] [ 3.89610321e-01 -8.37422886e-01 -3.83310198e-01 7.65330606e+01] [ 6.94699128e-01 -6.02273783e-03 7.19275225e-01 5.36252827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.21710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.23, Y:76.49, Z:53.58 [[-5.86124439e-01 -5.67612342e-01 5.78164658e-01 1.12232070e+02] [ 3.74938988e-01 -8.22602472e-01 -4.27487928e-01 7.64947910e+01] [ 7.18247101e-01 -3.37846498e-02 6.94967409e-01 5.35755732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.24710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.23, Y:76.49, Z:53.58 [[-5.86389127e-01 -5.56612408e-01 5.88498444e-01 1.12228187e+02] [ 3.75178826e-01 -8.30516508e-01 -4.11683347e-01 7.64927989e+01] [ 7.17905732e-01 -2.06144832e-02 6.95835040e-01 5.35797184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.27710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.23, Y:76.49, Z:53.58 [[-5.85426893e-01 -5.57329138e-01 5.88778044e-01 1.12226160e+02] [ 3.77083256e-01 -8.30085942e-01 -4.10810840e-01 7.64879365e+01] [ 7.17693229e-01 -1.84813717e-02 6.96114120e-01 5.35803291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.30710568099997 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:112.22, Y:76.48, Z:53.58 [[-5.84640350e-01 -5.57854579e-01 5.89061907e-01 1.12223428e+02] [ 3.78722032e-01 -8.29773218e-01 -4.09934176e-01 7.64848399e+01] [ 7.17471451e-01 -1.65733381e-02 6.96390724e-01 5.35810620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.33710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.22, Y:76.48, Z:53.58 [[-5.80696416e-01 -5.62113546e-01 5.88914284e-01 1.12219121e+02] [ 3.85995278e-01 -8.26999080e-01 -4.08754410e-01 7.64790858e+01] [ 7.16797961e-01 -1.00440881e-02 6.97208576e-01 5.35830665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.36710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.22, Y:76.48, Z:53.58 [[-5.77536991e-01 -5.64149575e-01 5.90073115e-01 1.12218131e+02] [ 3.89172030e-01 -8.25648821e-01 -4.08471732e-01 7.64776880e+01] [ 7.17632325e-01 -6.26758292e-03 6.96393971e-01 5.35818566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.39710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.21, Y:76.48, Z:53.59 [[-5.69899952e-01 -5.68707995e-01 5.93114880e-01 1.12207846e+02] [ 3.94660127e-01 -8.22539180e-01 -4.09478548e-01 7.64821207e+01] [ 7.20733952e-01 7.16988762e-04 6.93211409e-01 5.35898186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.42710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.20, Y:76.48, Z:53.60 [[-5.64412765e-01 -5.72731070e-01 5.94489152e-01 1.12199098e+02] [ 4.00666875e-01 -8.19711971e-01 -4.09314475e-01 7.64833702e+01] [ 7.21736992e-01 7.16979655e-03 6.92130269e-01 5.35967754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.45710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.20, Y:76.48, Z:53.59 [[-5.63425517e-01 -5.73518114e-01 5.94666847e-01 1.12203102e+02] [ 4.02870712e-01 -8.19137477e-01 -4.08300114e-01 7.64778360e+01] [ 7.21281413e-01 9.52715275e-03 6.92576608e-01 5.35908385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.48710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.20, Y:76.48, Z:53.59 [[-5.61857150e-01 -5.75892283e-01 5.93855724e-01 1.12199572e+02] [ 4.08064510e-01 -8.17407791e-01 -4.06605286e-01 7.64772462e+01] [ 7.19583142e-01 1.38773582e-02 6.94267615e-01 5.35940000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.51710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:76.48, Z:53.60 [[-5.59689428e-01 -5.77675201e-01 5.94170940e-01 1.12194555e+02] [ 4.11627771e-01 -8.16078656e-01 -4.05682395e-01 7.64795445e+01] [ 7.19242881e-01 1.75211121e-02 6.94537752e-01 5.35985449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.20, Y:76.48, Z:53.59 [[-5.58162832e-01 -5.77536677e-01 5.95739574e-01 1.12200258e+02] [ 4.11577165e-01 -8.16148116e-01 -4.05593996e-01 7.64750484e+01] [ 7.20457140e-01 1.88053117e-02 6.93244452e-01 5.35901428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.20, Y:76.47, Z:53.59 [[-5.58704651e-01 -5.76457015e-01 5.96277136e-01 1.12201716e+02] [ 4.10842136e-01 -8.16910933e-01 -4.04802751e-01 7.64739561e+01] [ 7.20456697e-01 1.88105928e-02 6.93244769e-01 5.35883422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.20, Y:76.47, Z:53.58 [[-5.58479634e-01 -5.75279128e-01 5.97623981e-01 1.12202025e+02] [ 4.09417454e-01 -8.17742572e-01 -4.04566971e-01 7.64698572e+01] [ 7.21441506e-01 1.87352749e-02 6.92221889e-01 5.35834746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.20, Y:76.47, Z:53.59 [[-5.59645060e-01 -5.73346959e-01 5.98390066e-01 1.12198305e+02] [ 4.07272258e-01 -8.19122657e-01 -4.03939823e-01 7.64720855e+01] [ 7.21752530e-01 1.76447474e-02 6.91926259e-01 5.35859413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.20, Y:76.47, Z:53.58 [[-5.60761278e-01 -5.70610584e-01 5.99958625e-01 1.12203223e+02] [ 4.03420287e-01 -8.21073074e-01 -4.03845366e-01 7.64734539e+01] [ 7.23048312e-01 1.55746371e-02 6.90621871e-01 5.35821404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.20, Y:76.47, Z:53.58 [[-5.61865910e-01 -5.68754504e-01 6.00687118e-01 1.12203910e+02] [ 4.01423598e-01 -8.22377796e-01 -4.03179681e-01 7.64739413e+01] [ 7.23302008e-01 1.45970655e-02 6.90377528e-01 5.35816312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.21, Y:76.47, Z:53.58 [[-5.64507863e-01 -5.66328944e-01 6.00501790e-01 1.12205699e+02] [ 3.99206812e-01 -8.24079187e-01 -4.01904733e-01 7.64732557e+01] [ 7.22471310e-01 1.28460233e-02 6.91281553e-01 5.35820330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.75710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.21, Y:76.48, Z:53.58 [[-5.65660065e-01 -5.64646806e-01 6.01001393e-01 1.12206591e+02] [ 3.97622681e-01 -8.25244029e-01 -4.01084152e-01 7.64751595e+01] [ 7.22443697e-01 1.20944979e-02 6.91323968e-01 5.35831040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.78710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.22, Y:76.47, Z:53.55 [[-5.87030816e-01 -5.52291377e-01 5.91919806e-01 1.12221564e+02] [ 4.05970267e-01 -8.33407139e-01 -3.74994244e-01 7.64675866e+01] [ 7.00416279e-01 2.01686645e-02 7.13449550e-01 5.35467649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.21, Y:76.48, Z:53.58 [[-5.69130310e-01 -5.69355249e-01 5.93232915e-01 1.12214771e+02] [ 3.93891442e-01 -8.22091544e-01 -4.11114371e-01 7.64821240e+01] [ 7.21761888e-01 -3.08280497e-04 6.92141375e-01 5.35769504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.84710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.22, Y:76.48, Z:53.57 [[-5.70753837e-01 -5.57467591e-01 6.02884684e-01 1.12220999e+02] [ 3.88456667e-01 -8.30177313e-01 -3.99883792e-01 7.64825144e+01] [ 7.23423441e-01 5.95936661e-03 6.90378889e-01 5.35724253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.23, Y:76.49, Z:53.57 [[-5.72341688e-01 -5.54779048e-01 6.03858593e-01 1.12225400e+02] [ 3.85089078e-01 -8.31988300e-01 -3.99376853e-01 7.64853590e+01] [ 7.23969195e-01 3.95932677e-03 6.89820940e-01 5.35717802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.90710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.23, Y:76.48, Z:53.54 [[-5.95044738e-01 -5.42125596e-01 5.93314080e-01 1.12234596e+02] [ 3.97179413e-01 -8.40147271e-01 -3.69325165e-01 7.64776113e+01] [ 6.98691830e-01 1.58871415e-02 7.15246339e-01 5.35388282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.93710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.23, Y:76.50, Z:53.57 [[-5.72081964e-01 -5.64454010e-01 5.95074699e-01 1.12230325e+02] [ 3.86326134e-01 -8.25445794e-01 -4.11571816e-01 7.64952053e+01] [ 7.23515269e-01 -5.55990478e-03 6.90285987e-01 5.35748165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.96710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.23, Y:76.49, Z:53.58 [[-5.72969384e-01 -5.54605137e-01 6.03422926e-01 1.12231520e+02] [ 3.87521724e-01 -8.32088418e-01 -3.96806979e-01 7.64941316e+01] [ 7.22172416e-01 6.48124208e-03 6.91682727e-01 5.35752681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.99710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.25, Y:76.49, Z:53.56 [[-5.73677903e-01 -5.56428034e-01 6.01066973e-01 1.12248305e+02] [ 3.92923978e-01 -8.30834661e-01 -3.94112310e-01 7.64867489e+01] [ 7.18682413e-01 1.00801024e-02 6.95265403e-01 5.35609523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.02710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.25, Y:76.49, Z:53.56 [[-5.69958667e-01 -5.60193949e-01 6.01107193e-01 1.12248754e+02] [ 3.99527752e-01 -8.28203832e-01 -3.93008890e-01 7.64869527e+01] [ 7.18000483e-01 1.61601828e-02 6.95854981e-01 5.35619184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.05710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.26, Y:76.48, Z:53.55 [[-5.67688457e-01 -5.61871858e-01 6.01689148e-01 1.12259271e+02] [ 4.02746328e-01 -8.26991172e-01 -3.92276685e-01 7.64797509e+01] [ 7.18000843e-01 1.96371485e-02 6.95765170e-01 5.35472056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.08710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.25, Y:76.49, Z:53.56 [[-5.68891293e-01 -5.60200233e-01 6.02111614e-01 1.12245493e+02] [ 4.08101781e-01 -8.27921422e-01 -3.84706454e-01 7.64875662e+01] [ 7.14013748e-01 2.68666698e-02 6.99616001e-01 5.35618004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.11710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.23, Y:76.50, Z:53.58 [[-5.69757035e-01 -5.59979249e-01 6.01498264e-01 1.12233097e+02] [ 4.11105914e-01 -8.27964275e-01 -3.81401477e-01 7.64983472e+01] [ 7.11595987e-01 2.99733187e-02 7.01949252e-01 5.35791524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.14710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.23, Y:76.51, Z:53.58 [[-5.66620097e-01 -5.64553153e-01 6.00184474e-01 1.12229867e+02] [ 4.06665164e-01 -8.25107572e-01 -3.92200126e-01 7.65060988e+01] [ 7.16634572e-01 2.18456441e-02 6.97106633e-01 5.35839119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.17710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.24, Y:76.50, Z:53.57 [[-5.68456659e-01 -5.57131736e-01 6.05360434e-01 1.12241709e+02] [ 4.02730231e-01 -8.30062241e-01 -3.85752559e-01 7.65048722e+01] [ 7.17401832e-01 2.45133367e-02 6.96228201e-01 5.35711810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.20710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.25, Y:76.50, Z:53.56 [[-5.75874567e-01 -5.50423454e-01 6.04485322e-01 1.12254729e+02] [ 4.01004271e-01 -8.34517145e-01 -3.77858055e-01 7.64979556e+01] [ 7.12435301e-01 2.48023526e-02 7.01299355e-01 5.35553468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.23710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.23, Y:76.52, Z:53.59 [[-5.72984767e-01 -5.56123288e-01 6.02009423e-01 1.12231491e+02] [ 3.95090738e-01 -8.30990767e-01 -3.91609058e-01 7.65232423e+01] [ 7.18047189e-01 1.34623224e-02 6.95864212e-01 5.35891329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.26710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.26, Y:76.51, Z:53.55 [[-5.75133793e-01 -5.49569971e-01 6.05965319e-01 1.12263606e+02] [ 3.97326108e-01 -8.35157184e-01 -3.80321499e-01 7.65054615e+01] [ 7.15089564e-01 2.20300957e-02 6.98685616e-01 5.35518207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.28, Y:76.50, Z:53.54 [[-5.68912131e-01 -5.60023489e-01 6.02256323e-01 1.12281873e+02] [ 3.97437655e-01 -8.28345620e-01 -3.94825080e-01 7.65038426e+01] [ 7.19987706e-01 1.47385629e-02 6.93830294e-01 5.35353577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.32710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.29, Y:76.50, Z:53.52 [[-5.67025081e-01 -5.56435158e-01 6.07340492e-01 1.12290171e+02] [ 3.98683871e-01 -8.30607763e-01 -3.88769745e-01 7.65003731e+01] [ 7.20786882e-01 2.16946624e-02 6.92817157e-01 5.35236675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.35710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.26, Y:76.52, Z:53.56 [[-5.64348086e-01 -5.54675456e-01 6.11429781e-01 1.12264091e+02] [ 4.05976933e-01 -8.31369166e-01 -3.79483913e-01 7.65224850e+01] [ 7.18814280e-01 3.40653670e-02 6.94367037e-01 5.35554472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.31, Y:76.51, Z:53.51 [[-5.55876158e-01 -5.67618089e-01 6.07298446e-01 1.12308225e+02] [ 4.04610648e-01 -8.22941383e-01 -3.98820390e-01 7.65054299e+01] [ 7.26148690e-01 2.40246720e-02 6.87117817e-01 5.35084255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.31, Y:76.51, Z:53.51 [[-5.54603534e-01 -5.61819866e-01 6.13818669e-01 1.12305333e+02] [ 4.05103694e-01 -8.26638954e-01 -3.90588066e-01 7.65085594e+01] [ 7.26846557e-01 3.20386883e-02 6.86052188e-01 5.35122669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.44710568099998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:112.32, Y:76.51, Z:53.48 [[-5.72723264e-01 -5.52451234e-01 6.05628349e-01 1.12317057e+02] [ 4.23618302e-01 -8.31962468e-01 -3.58309903e-01 7.65052807e+01] [ 7.01808804e-01 5.13428362e-02 7.10512714e-01 5.34769651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.33, Y:76.51, Z:53.50 [[-5.51362328e-01 -5.78578039e-01 6.01038298e-01 1.12327067e+02] [ 4.09521314e-01 -8.15369200e-01 -4.09225318e-01 7.65142134e+01] [ 7.26836898e-01 2.05065699e-02 6.86503899e-01 5.35009657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.32, Y:76.52, Z:53.51 [[-5.54222707e-01 -5.61884274e-01 6.14103618e-01 1.12321618e+02] [ 4.13554027e-01 -8.26155157e-01 -3.82675743e-01 7.65157942e+01] [ 7.22364353e-01 4.18774381e-02 6.90243451e-01 5.35070432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.30, Y:76.54, Z:53.54 [[-5.54657445e-01 -5.66092072e-01 6.09831849e-01 1.12303665e+02] [ 4.20291698e-01 -8.23138941e-01 -3.81833959e-01 7.65355665e+01] [ 7.18129520e-01 4.45202154e-02 6.94483940e-01 5.35375612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.56710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.27, Y:76.56, Z:53.59 [[-5.52003258e-01 -5.70492635e-01 6.08136955e-01 1.12266250e+02] [ 4.23801048e-01 -8.20045402e-01 -3.84601365e-01 7.65629144e+01] [ 7.18112160e-01 4.54278722e-02 6.94443111e-01 5.35858624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.37, Y:76.51, Z:53.47 [[-5.43970649e-01 -5.77311910e-01 6.08939153e-01 1.12365135e+02] [ 4.27958471e-01 -8.15099903e-01 -3.90465999e-01 7.65099964e+01] [ 7.21766915e-01 4.81986258e-02 6.90455945e-01 5.34703451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.62710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.37, Y:76.52, Z:53.46 [[-5.40408910e-01 -5.74760686e-01 6.14498465e-01 1.12373475e+02] [ 4.29658011e-01 -8.16434376e-01 -3.85783493e-01 7.65151231e+01] [ 7.23430856e-01 5.55433515e-02 6.88158944e-01 5.34622312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.38, Y:76.52, Z:53.46 [[-5.41341268e-01 -5.73156118e-01 6.15176150e-01 1.12378729e+02] [ 4.27877099e-01 -8.17620620e-01 -3.85250191e-01 7.65188425e+01] [ 7.23789209e-01 5.46679601e-02 6.87852160e-01 5.34593404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.68710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.38, Y:76.53, Z:53.46 [[-5.45073336e-01 -5.69490783e-01 6.15284735e-01 1.12384406e+02] [ 4.23292104e-01 -8.20417992e-01 -3.84367159e-01 7.65301495e+01] [ 7.23684222e-01 5.09368804e-02 6.88248924e-01 5.34632316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.33, Y:76.58, Z:53.53 [[-5.50170891e-01 -5.63414637e-01 6.16340764e-01 1.12331506e+02] [ 4.22819321e-01 -8.24432421e-01 -3.76211382e-01 7.65752778e+01] [ 7.20094308e-01 5.36202324e-02 6.91801314e-01 5.35325692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.74710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.40, Y:76.54, Z:53.46 [[-5.47388168e-01 -5.70661384e-01 6.12137058e-01 1.12396691e+02] [ 4.20702426e-01 -8.19949574e-01 -3.88190888e-01 7.65435326e+01] [ 7.23447069e-01 4.50364468e-02 6.88909324e-01 5.34596242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.77710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:112.30, Y:76.62, Z:53.58 [[-5.47925925e-01 -5.63693812e-01 6.18082896e-01 1.12300827e+02] [ 4.25953164e-01 -8.23912741e-01 -3.73807031e-01 7.66150761e+01] [ 7.19959084e-01 5.84558021e-02 6.91550314e-01 5.35781920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.80710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:112.49, Y:76.22, Z:53.68 [[-6.69190705e-01 3.68234174e-01 -6.45435816e-01 1.12493232e+02] [ 2.35221268e-01 9.28888671e-01 2.86071305e-01 7.62248105e+01] [ 7.04879248e-01 3.96160269e-02 -7.08220174e-01 5.36757278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.83710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:112.50, Y:76.22, Z:53.68 [[ -0.6864773 0.34982276 -0.63747388 112.49766362] [ 0.15321809 0.92657857 0.34347688 76.2222279 ] [ 0.71082567 0.13811656 -0.68967433 53.67520739] [ 0. 0. 0. 1. ]] SLAMing on 209.86710568099997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:112.50, Y:76.22, Z:53.63 [[-7.34638298e-01 3.78861001e-01 -5.62824052e-01 1.12497583e+02] [ 1.03422273e-01 8.82402060e-01 4.58988495e-01 7.62169512e+01] [ 6.70529944e-01 2.78981984e-01 -6.87429013e-01 5.36261815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.89710568099997 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:112.56, Y:76.26, Z:53.66 [[-7.33154353e-01 1.14797471e-01 -6.70303092e-01 1.12558363e+02] [ 1.37805641e-02 9.87955021e-01 1.54126482e-01 7.62617334e+01] [ 6.79922636e-01 1.03761346e-01 -7.25905498e-01 5.36619850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.92710568099997 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:112.58, Y:76.28, Z:53.66 [[-7.33776585e-01 3.29252050e-03 -6.79382869e-01 1.12582849e+02] [-6.91440822e-02 9.94433984e-01 7.94993593e-02 7.62804267e+01] [ 6.75863166e-01 1.05310073e-01 -7.29464714e-01 5.36589762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.95710568099997 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:112.62, Y:76.30, Z:53.64 [[-7.23047629e-01 -1.10516848e-01 -6.81900397e-01 1.12618034e+02] [-1.55515253e-01 9.87821823e-01 4.80125981e-03 7.63017307e+01] [ 6.73065474e-01 1.09517453e-01 -7.31429283e-01 5.36435999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.98710568099997 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:112.63, Y:76.33, Z:53.64 [[-7.02912470e-01 -2.19855131e-01 -6.76444958e-01 1.12632736e+02] [-2.36313107e-01 9.69192325e-01 -6.94431601e-02 7.63288996e+01] [ 6.70872697e-01 1.11040347e-01 -7.33212020e-01 5.36446097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.01710568099998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:112.63, Y:76.35, Z:53.66 [[ -0.67253167 -0.32052746 -0.6670557 112.62531725] [ -0.31632603 0.93935884 -0.13244926 76.35058864] [ 0.66905829 0.12193076 -0.73313975 53.66300272] [ 0. 0. 0. 1. ]] SLAMing on 210.04710568099998 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:112.67, Y:76.38, Z:53.62 [[ -0.6407805 -0.38959671 -0.66152456 112.67187398] [ -0.38941054 0.907536 -0.15728268 76.38417662] [ 0.66163417 0.15682096 -0.73324444 53.61924854] [ 0. 0. 0. 1. ]] SLAMing on 210.07710568099998 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:112.69, Y:76.43, Z:53.63 [[ -0.59210631 -0.52234579 -0.61364891 112.68607311] [ -0.45554406 0.84509679 -0.27980534 76.42900797] [ 0.66474787 0.11386961 -0.73833867 53.62769641] [ 0. 0. 0. 1. ]] SLAMing on 210.10710568099998 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:112.70, Y:76.46, Z:53.62 [[-5.43549079e-01 -6.08333718e-01 -5.78346338e-01 1.12698301e+02] [-5.14501468e-01 7.85869217e-01 -3.43071149e-01 7.64608461e+01] [ 6.63206331e-01 1.11084033e-01 -7.40147080e-01 5.36243579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.13710568099998 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:112.71, Y:76.49, Z:53.62 [[-4.92391989e-01 -6.86892502e-01 -5.34536079e-01 1.12706917e+02] [-5.68781270e-01 7.18809352e-01 -3.99751151e-01 7.64921911e+01] [ 6.58815601e-01 1.07199845e-01 -7.44627556e-01 5.36232663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.16710568099998 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:112.70, Y:76.52, Z:53.64 [[-4.32139355e-01 -7.59289286e-01 -4.86554579e-01 1.12697347e+02] [-6.19052566e-01 6.42096907e-01 -4.52200710e-01 7.65184226e+01] [ 6.55766344e-01 1.05789137e-01 -7.47515324e-01 5.36368481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.19710568099998 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:112.71, Y:76.57, Z:53.62 [[ -0.35836629 -0.81540009 -0.45463864 112.71156448] [ -0.66065132 0.56557937 -0.49361909 76.56502083] [ 0.65963129 0.12346118 -0.74137972 53.62025607] [ 0. 0. 0. 1. ]] SLAMing on 210.22710568099998 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:112.70, Y:76.56, Z:53.61 [[ -0.30378301 -0.8252801 -0.47605529 112.69947299] [ -0.70888488 0.52963221 -0.46580249 76.5646934 ] [ 0.63655174 0.19596552 -0.74592185 53.60826647] [ 0. 0. 0. 1. ]] SLAMing on 210.25710568099998 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:112.68, Y:76.62, Z:53.63 [[-2.22794635e-01 -9.22788698e-01 -3.14362162e-01 1.12683057e+02] [-7.34647645e-01 3.70899261e-01 -5.68090289e-01 7.66247490e+01] [ 6.40823992e-01 1.04377953e-01 -7.60558909e-01 5.36344340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.28710568099999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:112.67, Y:76.66, Z:53.64 [[-1.45920499e-01 -9.56565708e-01 -2.52367299e-01 1.12669656e+02] [-7.55722012e-01 2.72404428e-01 -5.95550224e-01 7.66587439e+01] [ 6.38428891e-01 1.03816537e-01 -7.62647151e-01 5.36352819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31710568099996 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:112.66, Y:76.70, Z:53.62 [[-6.65203391e-02 -9.74313774e-01 -2.15145799e-01 1.12661152e+02] [-7.62251663e-01 1.88760465e-01 -6.19146096e-01 7.67043590e+01] [ 6.43853591e-01 1.22809435e-01 -7.55228705e-01 5.36215375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.34710568099996 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:112.65, Y:76.69, Z:53.60 [[ 2.26066509e-03 -9.58843475e-01 -2.83926186e-01 1.12651671e+02] [-7.88590766e-01 1.72881764e-01 -5.90115667e-01 7.66874638e+01] [ 6.14914217e-01 2.25235622e-01 -7.55744283e-01 5.36043019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37710568099996 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:112.62, Y:76.76, Z:53.63 [[ 9.07821908e-02 -9.92744531e-01 -7.88472608e-02 1.12616394e+02] [-7.72960712e-01 -2.03192024e-02 -6.34128431e-01 7.67566839e+01] [ 6.27925418e-01 1.18513403e-01 -7.69197141e-01 5.36317857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.40710568099996 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:112.09, Y:76.51, Z:53.41 [[-6.37129223e-02 9.96560050e-01 -5.29974525e-02 1.12094011e+02] [-7.47636336e-01 -1.24872225e-02 6.63990947e-01 7.65141409e+01] [ 6.61045061e-01 8.19276249e-02 7.45860102e-01 5.34119451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.43710568099996 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:112.61, Y:76.76, Z:53.70 [[ 1.67413133e-01 -9.78210166e-01 1.22791346e-01 1.12608763e+02] [-7.52207590e-01 -2.07249496e-01 -6.25484922e-01 7.67554420e+01] [ 6.37304154e-01 1.23498078e-02 -7.70513399e-01 5.37014655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.46710568099996 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:112.12, Y:76.45, Z:53.46 [[ 2.00205370e-02 9.92737066e-01 -1.18626711e-01 1.12116489e+02] [-7.44639548e-01 9.39812432e-02 6.60817274e-01 7.64454407e+01] [ 6.67166487e-01 7.51042239e-02 7.41112835e-01 5.34636683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.49710568099997 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:112.64, Y:76.73, Z:53.73 [[ 2.35319904e-01 -9.59929365e-01 1.52184612e-01 1.12636478e+02] [-7.37779351e-01 -2.78358388e-01 -6.14978241e-01 7.67263223e+01] [ 6.32697536e-01 3.24379567e-02 -7.73719333e-01 5.37309840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.52710568099997 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:112.16, Y:76.38, Z:53.51 [[ 9.55551734e-02 9.82134333e-01 -1.62115272e-01 1.12158164e+02] [-7.40369081e-01 1.78983753e-01 6.47933978e-01 7.63819849e+01] [ 6.65374205e-01 5.81116916e-02 7.44244717e-01 5.35096388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.55710568099997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:112.16, Y:76.36, Z:53.53 [[ 9.52050382e-02 9.84689388e-01 -1.46023321e-01 1.12157857e+02] [-7.40833543e-01 1.68066533e-01 6.50322460e-01 7.63638347e+01] [ 6.64907258e-01 4.62649996e-02 7.45491709e-01 5.35315672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.58710568099997 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:112.16, Y:76.33, Z:53.54 [[ 8.99760170e-02 9.81466296e-01 -1.69198778e-01 1.12161732e+02] [-7.46815376e-01 1.78886185e-01 6.40520513e-01 7.63308773e+01] [ 6.58916619e-01 6.87287645e-02 7.49069587e-01 5.35426714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.61710568099997 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:112.63, Y:76.69, Z:53.85 [[ 3.09677090e-01 -8.64522114e-01 3.95855547e-01 1.12625073e+02] [-6.83899643e-01 -4.91753444e-01 -5.38943252e-01 7.66927427e+01] [ 6.60591689e-01 -1.03827089e-01 -7.43531140e-01 5.38469815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.64710568099997 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:112.20, Y:76.28, Z:53.60 [[ 1.54951912e-01 9.64548259e-01 -2.13627153e-01 1.12196604e+02] [-7.21566334e-01 2.58195536e-01 6.42399479e-01 7.62772253e+01] [ 6.74782877e-01 5.46051343e-02 7.35993443e-01 5.35954330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.67710568099997 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:112.20, Y:76.26, Z:53.61 [[ 1.53675102e-01 9.64634163e-01 -2.14160907e-01 1.12202333e+02] [-7.20726385e-01 2.57693015e-01 6.43543152e-01 7.62558067e+01] [ 6.75971480e-01 5.54548570e-02 7.34838293e-01 5.36132417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.70710568099997 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:112.21, Y:76.23, Z:53.63 [[ 1.56093267e-01 9.63597460e-01 -2.17059503e-01 1.12208108e+02] [-7.18800087e-01 2.61538526e-01 6.44145973e-01 7.62331616e+01] [ 6.77466845e-01 5.54755401e-02 7.33458341e-01 5.36337626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.73710568099997 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:112.75, Y:76.62, Z:53.86 [[ 0.38913082 -0.90124316 0.19062519 112.74927229] [ -0.66348168 -0.41775894 -0.62070083 76.62148181] [ 0.63903776 0.1150575 -0.76052121 53.8644568 ] [ 0. 0. 0. 1. ]] SLAMing on 210.76710568099998 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:112.29, Y:76.16, Z:53.65 [[ 2.33427125e-01 9.14922458e-01 -3.29285095e-01 1.12291868e+02] [-7.15492626e-01 3.90931481e-01 5.79001623e-01 7.61616205e+01] [ 6.58469497e-01 1.00446373e-01 7.45874284e-01 5.36466412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.79710568099998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:112.28, Y:76.15, Z:53.68 [[ 2.33030911e-01 9.34075367e-01 -2.70554621e-01 1.12278977e+02] [-7.10057768e-01 3.53529248e-01 6.08962263e-01 7.61470783e+01] [ 6.64465621e-01 5.02023791e-02 7.45630713e-01 5.36820886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.82710568099998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:112.70, Y:76.62, Z:53.99 [[ 0.44173554 -0.72720011 0.52540433 112.69792472] [ -0.60138443 -0.67459886 -0.42808077 76.62212519] [ 0.66573755 -0.12687149 -0.73532111 53.99041007] [ 0. 0. 0. 1. ]] SLAMing on 210.85710568099998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:112.33, Y:76.10, Z:53.73 [[ 2.98988399e-01 8.91049731e-01 -3.41520590e-01 1.12331942e+02] [-6.69148180e-01 4.50926411e-01 5.90682728e-01 7.60950042e+01] [ 6.80328340e-01 5.19205979e-02 7.31066072e-01 5.37262786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.88710568099998 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:112.80, Y:76.59, Z:53.95 [[ 0.50758874 -0.81297028 0.28536469 112.79926753] [ -0.57233445 -0.56571763 -0.59363022 76.59443445] [ 0.64403956 0.13799597 -0.75244279 53.95315193] [ 0. 0. 0. 1. ]] SLAMing on 210.91710568099998 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:112.41, Y:76.04, Z:53.76 [[ 3.74792834e-01 8.17556142e-01 -4.37186786e-01 1.12405330e+02] [-6.32019640e-01 5.70312108e-01 5.24685882e-01 7.60434166e+01] [ 6.78293083e-01 7.96621265e-02 7.30460430e-01 5.37605577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.94710568099998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:112.78, Y:76.62, Z:54.05 [[ 5.52099900e-01 -6.57571588e-01 5.12625894e-01 1.12776531e+02] [-5.11828021e-01 -7.52638307e-01 -4.14207261e-01 7.66195896e+01] [ 6.58192812e-01 -3.36925097e-02 -7.52095098e-01 5.40483347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.97710568099998 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:112.49, Y:76.00, Z:53.80 [[ 4.42030895e-01 7.53493239e-01 -4.86679182e-01 1.12493236e+02] [-5.89282611e-01 6.52990935e-01 4.75761330e-01 7.60048224e+01] [ 6.76280040e-01 7.64903721e-02 7.32662631e-01 5.37970354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.00710568099998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:112.77, Y:76.61, Z:54.09 [[ 5.95169951e-01 -5.52568440e-01 5.83473091e-01 1.12774465e+02] [-4.51997299e-01 -8.30521404e-01 -3.25472946e-01 7.66068568e+01] [ 6.64432969e-01 -7.00165437e-02 -7.44060826e-01 5.40944525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.03710568099999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:112.56, Y:75.98, Z:53.85 [[ 4.92207597e-01 7.04184182e-01 -5.11718984e-01 1.12558990e+02] [-5.31773016e-01 7.08660051e-01 4.63700756e-01 7.59829313e+01] [ 6.89165539e-01 4.38813123e-02 7.23274007e-01 5.38523033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.06710568099996 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:112.85, Y:76.60, Z:54.08 [[ 0.64963336 -0.60109205 0.46547271 112.84874113] [ -0.39526075 -0.79005309 -0.46859903 76.60165505] [ 0.6494193 0.12043447 -0.75083294 54.07781628] [ 0. 0. 0. 1. ]] SLAMing on 211.09710568099996 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:112.90, Y:76.60, Z:54.04 [[ 0.7029555 -0.6099638 0.36578372 112.89627348] [ -0.34244587 -0.74102465 -0.57759268 76.60299327] [ 0.62336538 0.28076082 -0.72978693 54.04179372] [ 0. 0. 0. 1. ]] SLAMing on 211.12710568099996 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:112.91, Y:76.63, Z:54.05 [[ 0.74797009 -0.53585929 0.39165747 112.91041881] [ -0.28180322 -0.79064394 -0.54357069 76.62603275] [ 0.60093901 0.29620428 -0.74238489 54.04632167] [ 0. 0. 0. 1. ]] SLAMing on 211.15710568099996 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:112.91, Y:76.66, Z:54.07 [[ 0.78005123 -0.42894959 0.4555462 112.90556515] [ -0.20385009 -0.86253597 -0.46311644 76.65987788] [ 0.59157859 0.26839141 -0.76026365 54.07423752] [ 0. 0. 0. 1. ]] SLAMing on 211.18710568099996 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:112.94, Y:76.67, Z:54.04 [[ 0.8139912 -0.42074224 0.40049255 112.9418494 ] [ -0.1460362 -0.8155444 -0.55996496 76.66575974] [ 0.56222037 0.39732014 -0.72528957 54.04127459] [ 0. 0. 0. 1. ]] SLAMing on 211.21710568099996 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:112.95, Y:76.68, Z:54.04 [[ 8.41267936e-01 -3.54315525e-01 4.08324342e-01 1.12954442e+02] [-8.21747029e-02 -8.30322108e-01 -5.51191903e-01 7.66758214e+01] [ 5.34336577e-01 4.30146144e-01 -7.27639139e-01 5.40392317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.24710568099997 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:112.86, Y:76.67, Z:54.18 [[ 8.31173162e-01 -3.64388448e-02 5.54818336e-01 1.12859426e+02] [ 1.70575017e-02 -9.95709445e-01 -9.09491201e-02 7.66741104e+01] [ 5.55751938e-01 8.50582824e-02 -8.26985412e-01 5.41765951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.27710568099997 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:112.85, Y:76.69, Z:54.19 [[ 8.27146983e-01 5.92830731e-02 5.58850057e-01 1.12853405e+02] [ 9.64205216e-02 -9.94645346e-01 -3.71983691e-02 7.66877130e+01] [ 5.53652375e-01 8.46531327e-02 -8.28434002e-01 5.41910730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.30710568099997 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:112.85, Y:76.70, Z:54.21 [[ 8.14142458e-01 1.54202511e-01 5.59815723e-01 1.12847649e+02] [ 1.74969871e-01 -9.84432070e-01 1.67045988e-02 7.67015204e+01] [ 5.53676443e-01 8.43509615e-02 -8.28448738e-01 5.42052066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.33710568099997 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:112.85, Y:76.72, Z:54.20 [[ 7.98940300e-01 1.89248815e-01 5.70858373e-01 1.12847280e+02] [ 2.47388145e-01 -9.68590604e-01 -2.51266094e-02 7.67182940e+01] [ 5.48172876e-01 1.61298255e-01 -8.20663982e-01 5.42030246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.36710568099997 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:112.93, Y:76.77, Z:54.08 [[ 8.18426700e-01 1.71736257e-02 5.74354249e-01 1.12933209e+02] [ 2.99873267e-01 -8.65408160e-01 -4.01428374e-01 7.67732277e+01] [ 4.90156874e-01 5.00773185e-01 -7.13423056e-01 5.40804568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.39710568099997 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:112.87, Y:76.78, Z:54.17 [[ 7.80809769e-01 2.69213513e-01 5.63790908e-01 1.12873078e+02] [ 3.85110050e-01 -9.17966424e-01 -9.50152312e-02 7.67792494e+01] [ 4.91961740e-01 2.91310366e-01 -8.20433981e-01 5.41732653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.42710568099997 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:112.83, Y:76.74, Z:54.26 [[ 7.33334026e-01 4.90089660e-01 4.71204130e-01 1.12832488e+02] [ 4.56929815e-01 -8.68493413e-01 1.92183079e-01 7.67438863e+01] [ 5.03424623e-01 7.43728251e-02 -8.60832348e-01 5.42615509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.45710568099997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:112.82, Y:76.75, Z:54.28 [[ 6.92387992e-01 5.66636318e-01 4.46679027e-01 1.12822996e+02] [ 5.22226618e-01 -8.20739492e-01 2.31659330e-01 7.67525866e+01] [ 4.97873707e-01 7.28695392e-02 -8.64182736e-01 5.42753861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.48710568099997 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:112.81, Y:76.76, Z:54.29 [[ 6.44175487e-01 6.38744301e-01 4.20765564e-01 1.12811718e+02] [ 5.83469669e-01 -7.66061653e-01 2.69652904e-01 7.67604279e+01] [ 4.94571619e-01 7.18001540e-02 -8.66166064e-01 5.42889600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.51710568099998 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:112.80, Y:76.77, Z:54.30 [[ 5.91473830e-01 7.04362700e-01 3.92468974e-01 1.12800100e+02] [ 6.38517231e-01 -7.06388158e-01 3.05469337e-01 7.67653169e+01] [ 4.92396643e-01 6.99210841e-02 -8.67557830e-01 5.43022740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.54710568099998 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:113.35, Y:76.43, Z:54.07 [[ 6.52707467e-01 -6.49633142e-01 -3.89807315e-01 1.13349863e+02] [ 5.36189538e-01 7.59605146e-01 -3.68104336e-01 7.64311851e+01] [ 5.35232418e-01 3.12538446e-02 8.44126445e-01 5.40741975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.57710568099998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:113.37, Y:76.45, Z:54.09 [[ 6.53115695e-01 -6.49427622e-01 -3.89465855e-01 1.13366606e+02] [ 5.35969741e-01 7.59763708e-01 -3.68097194e-01 7.64477112e+01] [ 5.34954507e-01 3.16681413e-02 8.44287157e-01 5.40884924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.60710568099998 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:113.38, Y:76.46, Z:54.10 [[ 6.53547990e-01 -6.49354902e-01 -3.88861461e-01 1.13383360e+02] [ 5.36093282e-01 7.59815506e-01 -3.67810263e-01 7.64635221e+01] [ 5.34302365e-01 3.19156409e-02 8.44690698e-01 5.41035071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.63710568099998 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:113.40, Y:76.48, Z:54.12 [[ 6.53570959e-01 -6.49493295e-01 -3.88591639e-01 1.13400893e+02] [ 5.36249659e-01 7.59692613e-01 -3.67836154e-01 7.64795407e+01] [ 5.34117314e-01 3.20248941e-02 8.44803588e-01 5.41182907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.66710568099998 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:113.42, Y:76.50, Z:54.13 [[ 6.52867504e-01 -6.52327736e-01 -3.85009801e-01 1.13419249e+02] [ 5.36765268e-01 7.57056357e-01 -3.72489891e-01 7.64968325e+01] [ 5.34459604e-01 3.65266565e-02 8.44404367e-01 5.41318789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.69710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:113.44, Y:76.51, Z:54.15 [[ 6.51768650e-01 -6.54954819e-01 -3.82402682e-01 1.13437205e+02] [ 5.36505795e-01 7.54546635e-01 -3.77916536e-01 7.65132751e+01] [ 5.36058914e-01 4.11528957e-02 8.43176897e-01 5.41461909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.72710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:113.46, Y:76.52, Z:54.17 [[ 6.51520950e-01 -6.44270389e-01 -4.00544776e-01 1.13455190e+02] [ 5.40006044e-01 7.64690745e-01 -3.51626987e-01 7.65194679e+01] [ 5.32835738e-01 1.27957491e-02 8.46121944e-01 5.41684846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.75710568099998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:113.47, Y:76.54, Z:54.18 [[ 6.49820143e-01 -6.56324151e-01 -3.83369784e-01 1.13473468e+02] [ 5.46976000e-01 7.54008009e-01 -3.63715792e-01 7.65393826e+01] [ 5.27779346e-01 2.66557769e-02 8.48963151e-01 5.41780195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.78710568099999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:113.49, Y:76.55, Z:54.19 [[ 6.47390468e-01 -6.59667115e-01 -3.81739281e-01 1.13490400e+02] [ 5.51680253e-01 7.51172520e-01 -3.62475853e-01 7.65541844e+01] [ 5.25865458e-01 2.40653890e-02 8.50227250e-01 5.41923047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81710568099996 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:113.51, Y:76.57, Z:54.21 [[ 6.39660823e-01 -6.67099426e-01 -3.81853882e-01 1.13507988e+02] [ 5.60075788e-01 7.44745313e-01 -3.62862964e-01 7.65692176e+01] [ 5.26449564e-01 1.82421075e-02 8.50010637e-01 5.42080514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.84710568099996 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:113.52, Y:76.59, Z:54.22 [[ 6.30686929e-01 -6.74370381e-01 -3.84003369e-01 1.13524252e+02] [ 5.67053766e-01 7.38285952e-01 -3.65217577e-01 7.65882462e+01] [ 5.29796210e-01 1.25873956e-02 8.48031564e-01 5.42196463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87710568099996 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:113.54, Y:76.61, Z:54.23 [[ 6.26622657e-01 -6.77832971e-01 -3.84560150e-01 1.13540972e+02] [ 5.70593760e-01 7.35148787e-01 -3.66031450e-01 7.66071732e+01] [ 5.30817113e-01 9.93597767e-03 8.47428150e-01 5.42321047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.90710568099996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:113.56, Y:76.63, Z:54.24 [[ 6.21436400e-01 -6.82437915e-01 -3.84831512e-01 1.13555255e+02] [ 5.75641488e-01 7.30916450e-01 -3.66603355e-01 7.66268705e+01] [ 5.31463712e-01 6.29568471e-03 8.47057664e-01 5.42443357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.93710568099996 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:113.57, Y:76.64, Z:54.26 [[ 6.19877353e-01 -6.83935841e-01 -3.84686667e-01 1.13570639e+02] [ 5.77313187e-01 7.29523234e-01 -3.66749691e-01 7.66442548e+01] [ 5.31471120e-01 5.25514230e-03 8.47060111e-01 5.42597374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.96710568099996 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:113.58, Y:76.67, Z:54.27 [[ 6.17992412e-01 -6.85522311e-01 -3.84895492e-01 1.13581950e+02] [ 5.78857793e-01 7.28039702e-01 -3.67262641e-01 7.66657164e+01] [ 5.31985934e-01 4.16577011e-03 8.46742944e-01 5.42742497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.99710568099997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:113.60, Y:76.68, Z:54.29 [[ 6.18583427e-01 -6.82425245e-01 -3.89423071e-01 1.13595160e+02] [ 5.79363284e-01 7.30950971e-01 -3.60622882e-01 7.66849812e+01] [ 5.30747330e-01 -2.54209061e-03 8.47526288e-01 5.42875526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.02710568099997 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:113.61, Y:76.72, Z:54.30 [[ 6.19392390e-01 -6.88201797e-01 -3.77798033e-01 1.13605994e+02] [ 5.77503529e-01 7.25387571e-01 -3.74569814e-01 7.67156348e+01] [ 5.31829617e-01 1.38259948e-02 8.46738508e-01 5.42963683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.05710568099997 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:113.62, Y:76.74, Z:54.30 [[ 6.26550895e-01 -6.93846667e-01 -3.54979970e-01 1.13618554e+02] [ 5.79197870e-01 7.19283799e-01 -3.83615229e-01 7.67440694e+01] [ 5.21501490e-01 3.47508227e-02 8.52542419e-01 5.42998080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.08710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:113.63, Y:76.75, Z:54.34 [[ 6.21647202e-01 -6.71737548e-01 -4.02893811e-01 1.13632747e+02] [ 5.72764904e-01 7.40684526e-01 -3.51179153e-01 7.67474013e+01] [ 5.34317434e-01 -1.24538969e-02 8.45192156e-01 5.43360390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.11710568099997 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:113.65, Y:76.77, Z:54.35 [[ 6.23159573e-01 -6.80048483e-01 -3.86272194e-01 1.13647019e+02] [ 5.70786929e-01 7.33099236e-01 -3.69821298e-01 7.67714427e+01] [ 5.34672263e-01 9.97856273e-03 8.45000592e-01 5.43456188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.14710568099997 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:113.66, Y:76.79, Z:54.36 [[ 6.27114646e-01 -6.76348235e-01 -3.86368070e-01 1.13656737e+02] [ 5.66003623e-01 7.36455285e-01 -3.70504402e-01 7.67919427e+01] [ 5.35132805e-01 1.36630096e-02 8.44657447e-01 5.43614469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.17710568099997 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:113.67, Y:76.82, Z:54.36 [[ 6.36200934e-01 -6.85650472e-01 -3.53739737e-01 1.13668915e+02] [ 5.68500209e-01 7.26576266e-01 -3.85868427e-01 7.68241180e+01] [ 5.21589766e-01 4.43887397e-02 8.52040935e-01 5.43619464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.20710568099997 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:113.68, Y:76.84, Z:54.38 [[ 6.36521677e-01 -6.82741549e-01 -3.58753581e-01 1.13683319e+02] [ 5.68942734e-01 7.29707732e-01 -3.79250303e-01 7.68439087e+01] [ 5.20715201e-01 3.72907953e-02 8.52915632e-01 5.43774625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.23710568099997 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:113.70, Y:76.86, Z:54.40 [[ 6.40398754e-01 -6.69225909e-01 -3.76863527e-01 1.13697855e+02] [ 5.64362399e-01 7.42842721e-01 -3.60110780e-01 7.68565652e+01] [ 5.20945792e-01 1.79268908e-02 8.53401493e-01 5.43999579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.26710568099998 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:113.71, Y:76.88, Z:54.42 [[ 6.42155946e-01 -6.68518032e-01 -3.75125821e-01 1.13710596e+02] [ 5.62062420e-01 7.43370207e-01 -3.62610771e-01 7.68752189e+01] [ 5.21269198e-01 2.20085355e-02 8.53108462e-01 5.44188623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.29710568099998 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:113.73, Y:76.90, Z:54.43 [[ 6.43129504e-01 -6.71922040e-01 -3.67294451e-01 1.13726635e+02] [ 5.60147702e-01 7.39844723e-01 -3.72645056e-01 7.68956481e+01] [ 5.22129287e-01 3.39198867e-02 8.52191556e-01 5.44323808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.32710568099998 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:113.74, Y:76.91, Z:54.45 [[ 6.43039269e-01 -6.64646137e-01 -3.80455006e-01 1.13740536e+02] [ 5.54205466e-01 7.46717789e-01 -3.67789132e-01 7.69117488e+01] [ 5.28542146e-01 2.56526105e-02 8.48519383e-01 5.44512573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.35710568099998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:113.75, Y:76.94, Z:54.46 [[ 6.45382335e-01 -6.69469779e-01 -3.67820414e-01 1.13754751e+02] [ 5.55340704e-01 7.41851677e-01 -3.75836123e-01 7.69375537e+01] [ 5.24479117e-01 3.82923473e-02 8.50561786e-01 5.44575761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.38710568099998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:113.77, Y:76.95, Z:54.47 [[ 6.45136157e-01 -6.67238107e-01 -3.72280335e-01 1.13771947e+02] [ 5.54831978e-01 7.44089331e-01 -3.72145862e-01 7.69524688e+01] [ 5.25319726e-01 3.35317167e-02 8.50243970e-01 5.44737305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.41710568099998 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:113.79, Y:76.97, Z:54.49 [[ 6.45229872e-01 -6.66140401e-01 -3.74079373e-01 1.13789024e+02] [ 5.53925267e-01 7.45120194e-01 -3.71433299e-01 7.69689279e+01] [ 5.26160822e-01 3.24478435e-02 8.49765807e-01 5.44901201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.44710568099998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:113.81, Y:76.97, Z:54.52 [[ 6.38797139e-01 -6.53162120e-01 -4.06592499e-01 1.13809484e+02] [ 5.48754310e-01 7.57211417e-01 -3.54259195e-01 7.69731511e+01] [ 5.39265169e-01 3.18037448e-03 8.42130015e-01 5.45234045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.47710568099998 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:113.83, Y:77.00, Z:54.51 [[ 6.43825154e-01 -6.77057370e-01 -3.56486310e-01 1.13827975e+02] [ 5.54220253e-01 7.33846850e-01 -3.92821475e-01 7.70035080e+01] [ 5.27569031e-01 5.53364139e-02 8.47707968e-01 5.45149754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.50710568099998 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:113.85, Y:77.01, Z:54.53 [[ 6.37422272e-01 -6.67712984e-01 -3.84515563e-01 1.13847558e+02] [ 5.54214437e-01 7.44005521e-01 -3.73232022e-01 7.70087888e+01] [ 5.35293569e-01 2.48023273e-02 8.44301865e-01 5.45346147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53710568099996 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:113.86, Y:77.02, Z:54.56 [[ 6.33357771e-01 -6.65866096e-01 -3.94309873e-01 1.13861987e+02] [ 5.58292505e-01 7.46007159e-01 -3.63019004e-01 7.70238907e+01] [ 5.35880035e-01 9.78066056e-03 8.44237482e-01 5.45553945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.56710568099996 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:113.88, Y:77.04, Z:54.57 [[ 6.31929753e-01 -6.75079317e-01 -3.80700280e-01 1.13880359e+02] [ 5.61335476e-01 7.37362571e-01 -3.75764451e-01 7.70421159e+01] [ 5.34384946e-01 2.37561637e-02 8.44907317e-01 5.45665767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59710568099996 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:113.90, Y:77.07, Z:54.57 [[ 6.29979841e-01 -6.94065181e-01 -3.48423485e-01 1.13900445e+02] [ 5.67091923e-01 7.17647444e-01 -4.04213924e-01 7.70687536e+01] [ 5.30596034e-01 5.70584794e-02 8.45702181e-01 5.45693610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.62710568099996 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:113.92, Y:77.06, Z:54.61 [[ 6.24758052e-01 -6.67157280e-01 -4.05682807e-01 1.13918817e+02] [ 5.65336226e-01 7.44874246e-01 -3.54340668e-01 7.70636938e+01] [ 5.38583631e-01 -7.97000117e-03 8.42534362e-01 5.46086796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.65710568099996 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:113.94, Y:77.09, Z:54.61 [[ 6.21300755e-01 -6.95206113e-01 -3.61488358e-01 1.13941128e+02] [ 5.72414298e-01 7.17728679e-01 -3.96493903e-01 7.70938167e+01] [ 5.35095547e-01 3.94208567e-02 8.43871289e-01 5.46067589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.68710568099996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:113.96, Y:77.10, Z:54.64 [[ 6.15604180e-01 -6.75676225e-01 -4.05577529e-01 1.13955766e+02] [ 5.73646749e-01 7.37088559e-01 -3.57253221e-01 7.70953882e+01] [ 5.40334064e-01 -1.27316545e-02 8.41354268e-01 5.46397881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.71710568099996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:113.97, Y:77.13, Z:54.64 [[ 6.14997490e-01 -6.99647665e-01 -3.63691121e-01 1.13974542e+02] [ 5.78439709e-01 7.13748085e-01 -3.94931861e-01 7.71278437e+01] [ 5.35896995e-01 3.25087167e-02 8.43657273e-01 5.46370113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.74710568099997 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:114.00, Y:77.14, Z:54.65 [[ 6.08756426e-01 -6.79213208e-01 -4.09981747e-01 1.13996520e+02] [ 5.94425973e-01 7.32736729e-01 -3.31292391e-01 7.71442287e+01] [ 5.25426851e-01 -4.20274270e-02 8.49800164e-01 5.46466436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.77710568099997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:114.01, Y:77.16, Z:54.67 [[ 6.14904884e-01 -7.06857613e-01 -3.49634520e-01 1.14006077e+02] [ 5.80064620e-01 7.05774442e-01 -4.06703176e-01 7.71627849e+01] [ 5.34244345e-01 4.72731547e-02 8.44007245e-01 5.46682581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.80710568099997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:114.02, Y:77.16, Z:54.71 [[ 6.12178822e-01 -6.74062628e-01 -4.13372305e-01 1.14017183e+02] [ 5.77548506e-01 7.38237168e-01 -3.48487599e-01 7.71617148e+01] [ 5.40069267e-01 -2.54058296e-02 8.41237024e-01 5.47067188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.83710568099997 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:114.04, Y:77.20, Z:54.70 [[ 6.16267217e-01 -7.00701208e-01 -3.59489269e-01 1.14037060e+02] [ 5.77417022e-01 7.12432362e-01 -3.98785296e-01 7.71989755e+01] [ 5.35541128e-01 3.81830810e-02 8.43645514e-01 5.47000627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.86710568099997 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:114.05, Y:77.21, Z:54.72 [[ 6.15092945e-01 -6.70703008e-01 -4.14509523e-01 1.14052880e+02] [ 5.82241992e-01 7.40880199e-01 -3.34799632e-01 7.72136687e+01] [ 5.31653018e-01 -3.54119587e-02 8.46221638e-01 5.47179590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.89710568099997 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:114.06, Y:77.23, Z:54.74 [[ 6.22112699e-01 -6.85186534e-01 -3.78807608e-01 1.14063506e+02] [ 5.67099372e-01 7.27941431e-01 -3.85356426e-01 7.72274256e+01] [ 5.39790786e-01 2.49135699e-02 8.41430461e-01 5.47433695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.92710568099997 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:114.08, Y:77.24, Z:54.76 [[ 6.25017487e-01 -6.79857547e-01 -3.83597259e-01 1.14080005e+02] [ 5.63877379e-01 7.33030172e-01 -3.80406452e-01 7.72427963e+01] [ 5.39810562e-01 2.14588671e-02 8.41512967e-01 5.47613961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.95710568099997 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:114.10, Y:77.26, Z:54.77 [[ 6.31662377e-01 -6.78691209e-01 -3.74674371e-01 1.14095241e+02] [ 5.62356122e-01 7.33808210e-01 -3.81157582e-01 7.72629465e+01] [ 5.33627430e-01 3.00624778e-02 8.45185195e-01 5.47734482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.98710568099997 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:114.11, Y:77.27, Z:54.80 [[ 6.30645816e-01 -6.63450747e-01 -4.02639989e-01 1.14109385e+02] [ 5.57529259e-01 7.48216376e-01 -3.59629503e-01 7.72702414e+01] [ 5.39858296e-01 2.31526646e-03 8.41752731e-01 5.48032133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.01710568099998 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:114.12, Y:77.29, Z:54.81 [[ 6.34046080e-01 -6.71173364e-01 -3.84072759e-01 1.14124410e+02] [ 5.56792674e-01 7.40902920e-01 -3.75559291e-01 7.72924439e+01] [ 5.36626021e-01 2.42729977e-02 8.43471004e-01 5.48096066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.04710568099998 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:114.14, Y:77.31, Z:54.82 [[ 6.34088010e-01 -6.74609562e-01 -3.77934299e-01 1.14140483e+02] [ 5.55128286e-01 7.37381116e-01 -3.84839805e-01 7.73121670e+01] [ 5.38298227e-01 3.42202865e-02 8.42059375e-01 5.48238571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.07710568099998 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:114.16, Y:77.33, Z:54.83 [[ 6.40513668e-01 -6.73121965e-01 -3.69660739e-01 1.14162509e+02] [ 5.55934816e-01 7.38510552e-01 -3.81495275e-01 7.73304788e+01] [ 5.29791205e-01 3.88456632e-02 8.47238038e-01 5.48289295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.10710568099998 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:114.17, Y:77.34, Z:54.86 [[ 6.36491163e-01 -6.61359291e-01 -3.96841136e-01 1.14174896e+02] [ 5.50774053e-01 7.49926193e-01 -3.66413219e-01 7.73379524e+01] [ 5.39932349e-01 1.46489753e-02 8.41580932e-01 5.48613849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.13710568099998 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:114.19, Y:77.37, Z:54.87 [[ 6.38676518e-01 -6.77066346e-01 -3.65613824e-01 1.14194469e+02] [ 5.52087192e-01 7.34184043e-01 -3.95187960e-01 7.73683052e+01] [ 5.35996304e-01 5.05465610e-02 8.42705766e-01 5.48651530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.16710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:114.21, Y:77.38, Z:54.88 [[ 6.38771839e-01 -6.65875918e-01 -3.85460503e-01 1.14212506e+02] [ 5.48463718e-01 7.45435705e-01 -3.78831308e-01 7.73824076e+01] [ 5.39590667e-01 3.05756709e-02 8.41372118e-01 5.48842948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.19710568099998 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:114.23, Y:77.40, Z:54.90 [[ 6.38180970e-01 -6.60869051e-01 -3.94939422e-01 1.14230321e+02] [ 5.46934878e-01 7.50204123e-01 -3.71558896e-01 7.73959711e+01] [ 5.41836957e-01 2.11156719e-02 8.40218329e-01 5.49022940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.22710568099998 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:114.26, Y:77.41, Z:54.92 [[ 6.43647294e-01 -6.41485397e-01 -4.17390281e-01 1.14260044e+02] [ 5.40326284e-01 7.67129496e-01 -3.45774267e-01 7.74055865e+01] [ 5.42001539e-01 -2.97026813e-03 8.40372244e-01 5.49151677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.25710568099998 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:114.26, Y:77.44, Z:54.92 [[ 6.38565365e-01 -6.80536391e-01 -3.59311140e-01 1.14263116e+02] [ 5.46003154e-01 7.29673790e-01 -4.11651208e-01 7.74384077e+01] [ 5.42323548e-01 6.66811881e-02 8.37519426e-01 5.49201688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.28710568099996 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:114.28, Y:77.44, Z:54.95 [[ 6.36330949e-01 -6.60326225e-01 -3.98813489e-01 1.14284597e+02] [ 5.43624125e-01 7.50652689e-01 -3.75490813e-01 7.74414735e+01] [ 5.47316849e-01 2.21317914e-02 8.36632805e-01 5.49471257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31710568099996 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:114.30, Y:77.46, Z:54.96 [[ 6.32878897e-01 -6.71892010e-01 -3.84740729e-01 1.14302411e+02] [ 5.44067550e-01 7.39481750e-01 -3.96430627e-01 7.74618237e+01] [ 5.50867318e-01 4.15676323e-02 8.33557034e-01 5.49597920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.34710568099996 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:114.32, Y:77.47, Z:54.98 [[ 6.28270995e-01 -6.70255697e-01 -3.95009946e-01 1.14321398e+02] [ 5.53212079e-01 7.41872943e-01 -3.78920746e-01 7.74714879e+01] [ 5.47020980e-01 1.95406403e-02 8.36890800e-01 5.49756105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37710568099996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:114.34, Y:77.47, Z:55.02 [[ 6.16143703e-01 -6.56708416e-01 -4.34857441e-01 1.14338538e+02] [ 5.51894181e-01 7.53870245e-01 -3.56500304e-01 7.74681118e+01] [ 5.61942835e-01 -2.03398737e-02 8.26925958e-01 5.50164472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.40710568099996 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:114.36, Y:77.51, Z:55.00 [[ 6.16793687e-01 -6.97460778e-01 -3.64847927e-01 1.14361782e+02] [ 5.65725590e-01 7.15089306e-01 -4.10611546e-01 7.75062194e+01] [ 5.47284300e-01 4.68588006e-02 8.35633980e-01 5.50033550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.43710568099996 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:114.37, Y:77.50, Z:55.05 [[ 6.10320686e-01 -6.62849277e-01 -4.33750501e-01 1.14373100e+02] [ 5.63784945e-01 7.48112806e-01 -3.49962519e-01 7.74960452e+01] [ 5.56466707e-01 -3.09526374e-02 8.30293164e-01 5.50507806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.46710568099996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:114.39, Y:77.54, Z:55.03 [[ 6.09446971e-01 -7.07988830e-01 -3.56827979e-01 1.14394365e+02] [ 5.73266839e-01 7.04414878e-01 -4.18526953e-01 7.75412575e+01] [ 5.47667345e-01 5.05123361e-02 8.35170032e-01 5.50336119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.49710568099997 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:114.41, Y:77.54, Z:55.07 [[ 6.05339021e-01 -6.86858910e-01 -4.02230665e-01 1.14407443e+02] [ 5.72612598e-01 7.26790443e-01 -3.79328967e-01 7.75422569e+01] [ 5.52882884e-01 -6.99720663e-04 8.33258680e-01 5.50698823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.52710568099997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:114.42, Y:77.55, Z:55.10 [[ 6.05413516e-01 -6.66431556e-01 -4.35136135e-01 1.14419896e+02] [ 5.72606529e-01 7.44424960e-01 -3.43443213e-01 7.75465409e+01] [ 5.52807595e-01 -4.12366288e-02 8.32287993e-01 5.51005110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.55710568099997 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:114.44, Y:77.60, Z:55.08 [[ 6.12516392e-01 -7.11916738e-01 -3.43508702e-01 1.14437108e+02] [ 5.75717878e-01 6.99566275e-01 -4.23268179e-01 7.75961184e+01] [ 5.41638804e-01 6.14945972e-02 8.38359004e-01 5.50847417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.58710568099997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:114.45, Y:77.60, Z:55.12 [[ 6.12100248e-01 -6.81785948e-01 -4.00626020e-01 1.14448675e+02] [ 5.71217950e-01 7.31551021e-01 -3.72213860e-01 7.75957734e+01] [ 5.46848554e-01 -1.01257763e-03 8.37230932e-01 5.51201730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.61710568099997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:114.46, Y:77.61, Z:55.14 [[ 6.15603869e-01 -6.61143063e-01 -4.28860964e-01 1.14462736e+02] [ 5.66018697e-01 7.49597385e-01 -3.43113093e-01 7.76072746e+01] [ 5.48319899e-01 -3.15215764e-02 8.35674385e-01 5.51417903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.64710568099997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:114.48, Y:77.65, Z:55.13 [[ 6.20992919e-01 -6.97233334e-01 -3.58097016e-01 1.14481957e+02] [ 5.67054015e-01 7.15039099e-01 -4.08862852e-01 7.76472455e+01] [ 5.41126177e-01 5.08405853e-02 8.39403178e-01 5.51308897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.67710568099997 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:114.50, Y:77.66, Z:55.15 [[ 6.19355705e-01 -6.83001438e-01 -3.87178960e-01 1.14497405e+02] [ 5.64828854e-01 7.30158011e-01 -3.84496612e-01 7.76609721e+01] [ 5.45313558e-01 1.94503218e-02 8.38006449e-01 5.51503200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.70710568099997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:114.51, Y:77.68, Z:55.16 [[ 6.16007199e-01 -6.92398643e-01 -3.75658423e-01 1.14513888e+02] [ 5.61407532e-01 7.20407884e-01 -4.07227287e-01 7.76839445e+01] [ 5.52590910e-01 3.99574718e-02 8.32494256e-01 5.51648187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.73710568099997 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:114.53, Y:77.70, Z:55.19 [[ 6.16507280e-01 -6.82560462e-01 -3.92466544e-01 1.14531235e+02] [ 5.59501080e-01 7.30503400e-01 -3.91565222e-01 7.76996992e+01] [ 5.53965084e-01 2.18173545e-02 8.32253981e-01 5.51865110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.76710568099998 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:114.54, Y:77.69, Z:55.23 [[ 6.13594774e-01 -6.35810281e-01 -4.68237910e-01 1.14539224e+02] [ 5.50968987e-01 7.69521480e-01 -3.22908450e-01 7.76874398e+01] [ 5.65627642e-01 -5.98496298e-02 8.22486105e-01 5.52329233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.79710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:114.55, Y:77.73, Z:55.23 [[ 6.18234498e-01 -6.76606845e-01 -3.99986604e-01 1.14554575e+02] [ 5.50602571e-01 7.35975604e-01 -3.93924763e-01 7.77250064e+01] [ 5.60912574e-01 2.33042261e-02 8.27546976e-01 5.52282341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.82710568099998 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:114.57, Y:77.76, Z:55.22 [[ 6.23742970e-01 -6.96999318e-01 -3.53746602e-01 1.14574519e+02] [ 5.55628479e-01 7.13697514e-01 -4.26512429e-01 7.77599888e+01] [ 5.49746943e-01 6.94824429e-02 8.32436478e-01 5.52220096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.85710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:114.59, Y:77.77, Z:55.24 [[ 6.21098791e-01 -6.86455226e-01 -3.78173921e-01 1.14591529e+02] [ 5.53070237e-01 7.25782881e-01 -4.09087426e-01 7.77735445e+01] [ 5.55292360e-01 4.49269656e-02 8.30440825e-01 5.52443673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.88710568099998 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:114.61, Y:77.78, Z:55.27 [[ 6.21758493e-01 -6.69364697e-01 -4.06653759e-01 1.14609496e+02] [ 5.50710680e-01 7.42824527e-01 -3.80696032e-01 7.77822697e+01] [ 5.56896870e-01 1.27524230e-02 8.30483746e-01 5.52675463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.91710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:114.63, Y:77.81, Z:55.28 [[ 6.18748286e-01 -6.84873809e-01 -3.84835580e-01 1.14626479e+02] [ 5.54248374e-01 7.27738301e-01 -4.03987259e-01 7.78073933e+01] [ 5.56739884e-01 3.66719297e-02 8.29877022e-01 5.52780173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.94710568099998 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:114.64, Y:77.80, Z:55.32 [[ 6.13775379e-01 -6.56393208e-01 -4.38665864e-01 1.14641914e+02] [ 5.56187855e-01 7.53850609e-01 -3.49806131e-01 7.78047995e+01] [ 5.60298897e-01 -2.92782355e-02 8.27772874e-01 5.53172887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.97710568099998 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:114.65, Y:77.82, Z:55.33 [[ 6.09422824e-01 -6.71893711e-01 -4.20906953e-01 1.14652960e+02] [ 5.56100291e-01 7.40635405e-01 -3.77109617e-01 7.78222640e+01] [ 5.65116172e-01 -4.24727141e-03 8.25000408e-01 5.53299320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.00710568099998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:114.67, Y:77.84, Z:55.34 [[ 6.04292641e-01 -6.88677746e-01 -4.00691111e-01 1.14667609e+02] [ 5.63446871e-01 7.24938767e-01 -3.96221413e-01 7.78442072e+01] [ 5.63345389e-01 1.36655317e-02 8.26108483e-01 5.53402869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03710568099996 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:114.68, Y:77.86, Z:55.36 [[ 6.02153839e-01 -6.90499707e-01 -4.00775384e-01 1.14684044e+02] [ 5.65363922e-01 7.23229118e-01 -3.96614773e-01 7.78611339e+01] [ 5.63714812e-01 1.22391650e-02 8.25878813e-01 5.53563049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.06710568099996 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:114.70, Y:77.88, Z:55.37 [[ 5.99109508e-01 -6.92744428e-01 -4.01463517e-01 1.14698881e+02] [ 5.67342651e-01 7.21107169e-01 -3.97651566e-01 7.78795439e+01] [ 5.64969127e-01 1.04694574e-02 8.25045621e-01 5.53718626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09710568099996 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:114.71, Y:77.90, Z:55.39 [[ 5.98179047e-01 -6.93507113e-01 -4.01534198e-01 1.14713658e+02] [ 5.67967116e-01 7.20379481e-01 -3.98078835e-01 7.78963643e+01] [ 5.65327501e-01 1.00641979e-02 8.24805146e-01 5.53869382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.12710568099996 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:114.73, Y:77.92, Z:55.40 [[ 5.96485808e-01 -6.94265232e-01 -4.02741193e-01 1.14727675e+02] [ 5.67819537e-01 7.19654273e-01 -3.99598174e-01 7.79162379e+01] [ 5.67261539e-01 9.67032245e-03 8.23480923e-01 5.54017582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.15710568099996 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:114.74, Y:77.94, Z:55.42 [[ 5.95024972e-01 -6.95079900e-01 -4.03496239e-01 1.14741975e+02] [ 5.68045622e-01 7.18873490e-01 -4.00680767e-01 7.79352470e+01] [ 5.68567897e-01 9.21078986e-03 8.22584773e-01 5.54170374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.18710568099996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:114.76, Y:77.95, Z:55.43 [[ 5.94924980e-01 -6.95397748e-01 -4.03095821e-01 1.14756958e+02] [ 5.68461911e-01 7.18566072e-01 -4.00641805e-01 7.79517108e+01] [ 5.68256390e-01 9.20719723e-03 8.22800038e-01 5.54333941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.21710568099996 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:114.77, Y:77.97, Z:55.45 [[ 5.96696284e-01 -6.94818462e-01 -4.01473349e-01 1.14769539e+02] [ 5.68649945e-01 7.19115430e-01 -3.99387328e-01 7.79708172e+01] [ 5.66207369e-01 1.00151369e-02 8.24201985e-01 5.54507912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.24710568099997 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:114.78, Y:77.99, Z:55.47 [[ 6.00771439e-01 -6.92459092e-01 -3.99467250e-01 1.14782409e+02] [ 5.66966530e-01 7.21349337e-01 -3.97748774e-01 7.79894522e+01] [ 5.63580191e-01 1.24715424e-02 8.25967208e-01 5.54656563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.27710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:114.80, Y:78.01, Z:55.48 [[ 6.02439822e-01 -6.91072652e-01 -3.99355545e-01 1.14798686e+02] [ 5.65161409e-01 7.22648809e-01 -3.97958893e-01 7.80064181e+01] [ 5.63612316e-01 1.40459422e-02 8.25920013e-01 5.54815668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.30710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:114.82, Y:78.02, Z:55.50 [[ 6.02213175e-01 -6.91369030e-01 -3.99184365e-01 1.14815276e+02] [ 5.65403277e-01 7.22365005e-01 -3.98130550e-01 7.80233226e+01] [ 5.63611947e-01 1.40593145e-02 8.25920038e-01 5.54975097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.33710568099997 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:114.83, Y:78.04, Z:55.51 [[ 6.06159922e-01 -6.87355324e-01 -4.00140985e-01 1.14831137e+02] [ 5.59697733e-01 7.26094614e-01 -3.99405884e-01 7.80392419e+01] [ 5.65073975e-01 1.81458377e-02 8.24840671e-01 5.55126814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.36710568099997 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:114.85, Y:78.06, Z:55.53 [[ 6.07911926e-01 -6.86277685e-01 -3.99331979e-01 1.14846456e+02] [ 5.58772635e-01 7.27081840e-01 -3.98904926e-01 7.80571588e+01] [ 5.64106580e-01 1.93632799e-02 8.25474912e-01 5.55273434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.39710568099997 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:114.86, Y:78.08, Z:55.54 [[ 6.10828909e-01 -6.84811284e-01 -3.97393444e-01 1.14860078e+02] [ 5.58166946e-01 7.28421432e-01 -3.97305773e-01 7.80762351e+01] [ 5.61549378e-01 2.08739671e-02 8.27179892e-01 5.55411847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.42710568099997 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:114.88, Y:78.09, Z:55.56 [[ 6.12130943e-01 -6.84230360e-01 -3.96389358e-01 1.14875416e+02] [ 5.58030361e-01 7.28948010e-01 -3.96531102e-01 7.80919261e+01] [ 5.60265852e-01 2.15316613e-02 8.28032948e-01 5.55579932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.45710568099997 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:114.89, Y:78.11, Z:55.57 [[ 6.12394082e-01 -6.84343809e-01 -3.95786609e-01 1.14891071e+02] [ 5.58367004e-01 7.28837302e-01 -3.96260618e-01 7.81074604e+01] [ 5.59642544e-01 2.16734740e-02 8.28450652e-01 5.55740120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.48710568099997 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:114.91, Y:78.13, Z:55.58 [[ 6.15000683e-01 -6.95800647e-01 -3.70992750e-01 1.14910987e+02] [ 5.60563030e-01 7.16682787e-01 -4.14891397e-01 7.81345558e+01] [ 5.54565820e-01 4.71936728e-02 8.30800522e-01 5.55766496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.51710568099998 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:114.93, Y:78.15, Z:55.60 [[ 6.14381351e-01 -6.84476228e-01 -3.92463819e-01 1.14928573e+02] [ 5.57723344e-01 7.28592538e-01 -3.97614870e-01 7.81469825e+01] [ 5.58104137e-01 2.54009271e-02 8.29382038e-01 5.55952017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.54710568099998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:114.94, Y:78.15, Z:55.62 [[ 6.12582389e-01 -6.68236492e-01 -4.22140744e-01 1.14941623e+02] [ 5.52105782e-01 7.43944879e-01 -3.76464104e-01 7.81524819e+01] [ 5.65616497e-01 -2.45106478e-03 8.24664763e-01 5.56242539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.57710568099998 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:114.96, Y:78.17, Z:55.63 [[ 6.16687858e-01 -6.77934372e-01 -4.00126321e-01 1.14958173e+02] [ 5.46878020e-01 7.34554263e-01 -4.01689514e-01 7.81744371e+01] [ 5.66233624e-01 2.88967559e-02 8.23738102e-01 5.56327322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.60710568099998 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:114.98, Y:78.19, Z:55.65 [[ 6.18055645e-01 -6.76379425e-01 -4.00647092e-01 1.14976205e+02] [ 5.44438373e-01 7.35915524e-01 -4.02511118e-01 7.81904483e+01] [ 5.67092653e-01 3.06466178e-02 8.23083658e-01 5.56474791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.63710568099998 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:115.00, Y:78.21, Z:55.66 [[ 6.20194976e-01 -6.73848443e-01 -4.01604865e-01 1.14995224e+02] [ 5.40490672e-01 7.38115580e-01 -4.03800972e-01 7.82051377e+01] [ 5.68531464e-01 3.33716508e-02 8.21984372e-01 5.56616661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.66710568099998 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:115.01, Y:78.22, Z:55.68 [[ 6.19684030e-01 -6.73442787e-01 -4.03071354e-01 1.15012382e+02] [ 5.38686046e-01 7.38447054e-01 -4.05602383e-01 7.82207302e+01] [ 5.70796853e-01 3.42164052e-02 8.20378078e-01 5.56756161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.69710568099998 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:115.03, Y:78.24, Z:55.69 [[ 6.12511833e-01 -6.89818898e-01 -3.85978164e-01 1.15026695e+02] [ 5.37449888e-01 7.21494753e-01 -4.36569513e-01 7.82444846e+01] [ 5.79635120e-01 5.99600714e-02 8.12667163e-01 5.56933153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.72710568099998 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:115.05, Y:78.24, Z:55.72 [[ 6.15050208e-01 -6.59802944e-01 -4.31709761e-01 1.15050124e+02] [ 5.42869465e-01 7.51429558e-01 -3.75028484e-01 7.82392656e+01] [ 5.71844372e-01 -3.70070024e-03 8.20353777e-01 5.57151327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.75710568099998 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:115.07, Y:78.26, Z:55.72 [[ 6.08641625e-01 -6.86542588e-01 -3.97762049e-01 1.15067880e+02] [ 5.55485535e-01 7.26656809e-01 -4.04234713e-01 7.82618678e+01] [ 5.66560847e-01 2.50830078e-02 8.23638057e-01 5.57244376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.78710568099996 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:115.08, Y:78.27, Z:55.74 [[ 6.04250777e-01 -6.86980144e-01 -4.03657380e-01 1.15084532e+02] [ 5.58381393e-01 7.26485898e-01 -4.00535216e-01 7.82737947e+01] [ 5.68411135e-01 1.66289452e-02 8.22576598e-01 5.57413141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81710568099996 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:115.10, Y:78.29, Z:55.76 [[ 5.95319573e-01 -6.97469925e-01 -3.98911407e-01 1.15101005e+02] [ 5.69551639e-01 7.16503565e-01 -4.02782287e-01 7.82878187e+01] [ 5.66749977e-01 1.25835335e-02 8.23793735e-01 5.57573774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.84710568099996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:115.12, Y:78.31, Z:55.77 [[ 5.92139215e-01 -7.10498459e-01 -3.80214532e-01 1.15119769e+02] [ 5.77152159e-01 7.03202541e-01 -4.15212682e-01 7.83114299e+01] [ 5.62375796e-01 2.64220736e-02 8.26459520e-01 5.57663035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87710568099996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:115.13, Y:78.32, Z:55.79 [[ 5.84768577e-01 -7.05670929e-01 -4.00092803e-01 1.15134502e+02] [ 5.83051911e-01 7.08539252e-01 -3.97520563e-01 7.83238420e+01] [ 5.64000161e-01 -8.17339613e-04 8.25774274e-01 5.57875997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.90710568099996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:115.15, Y:78.33, Z:55.81 [[ 5.82215773e-01 -6.98450271e-01 -4.16163445e-01 1.15145440e+02] [ 5.82328581e-01 7.15442658e-01 -3.86050808e-01 7.83337401e+01] [ 5.67378372e-01 -1.75789990e-02 8.23269556e-01 5.58106388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.93710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:115.16, Y:78.37, Z:55.82 [[ 5.72251153e-01 -7.34132283e-01 -3.65483802e-01 1.15158307e+02] [ 5.84279579e-01 6.77709822e-01 -4.46460267e-01 7.83735298e+01] [ 5.75452858e-01 4.19426805e-02 8.16758728e-01 5.58180735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.96710568099996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:115.17, Y:78.36, Z:55.85 [[ 5.77147016e-01 -6.85206017e-01 -4.44290487e-01 1.15171243e+02] [ 5.86801430e-01 7.26334256e-01 -3.57914278e-01 7.83649797e+01] [ 5.67948417e-01 -5.41411355e-02 8.21281518e-01 5.58502746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.99710568099997 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:115.18, Y:78.40, Z:55.85 [[ 5.76100341e-01 -7.13109943e-01 -3.99477918e-01 1.15183596e+02] [ 5.86870750e-01 7.01051413e-01 -4.05104479e-01 7.83966058e+01] [ 5.68938590e-01 -1.06107694e-03 8.22379325e-01 5.58545092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.02710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:115.20, Y:78.43, Z:55.86 [[ 5.74319776e-01 -7.22481843e-01 -3.84937374e-01 1.15195887e+02] [ 5.90391568e-01 6.91285711e-01 -4.16607563e-01 7.84253410e+01] [ 5.67093106e-01 1.20021817e-02 8.23566243e-01 5.58630975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.05710568099997 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:115.21, Y:78.44, Z:55.88 [[ 5.73108691e-01 -7.16688880e-01 -3.97370707e-01 1.15211410e+02] [ 5.92401215e-01 6.97380283e-01 -4.03387582e-01 7.84400131e+01] [ 5.66221890e-01 -4.21796072e-03 8.24242064e-01 5.58830555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.08710568099997 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:115.22, Y:78.45, Z:55.91 [[ 5.70441049e-01 -7.11544196e-01 -4.10246106e-01 1.15222668e+02] [ 5.95123430e-01 7.02317642e-01 -3.90612382e-01 7.84509247e+01] [ 5.66061051e-01 -2.13257331e-02 8.24087435e-01 5.59074576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.11710568099997 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:115.24, Y:78.48, Z:55.91 [[ 5.69235611e-01 -7.29864828e-01 -3.78507798e-01 1.15236794e+02] [ 5.98379192e-01 6.83495004e-01 -4.18063299e-01 7.84794765e+01] [ 5.63837887e-01 1.14853276e-02 8.25805622e-01 5.59129195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.14710568099997 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:115.25, Y:78.49, Z:55.94 [[ 5.67327509e-01 -7.13276885e-01 -4.11552650e-01 1.15246492e+02] [ 5.98727686e-01 7.00400760e-01 -3.88540775e-01 7.84912359e+01] [ 5.65388942e-01 -2.59780956e-02 8.24415237e-01 5.59395682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.17710568099997 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:115.26, Y:78.52, Z:55.94 [[ 5.68020955e-01 -7.30473966e-01 -3.79156933e-01 1.15258949e+02] [ 5.99522988e-01 6.82870164e-01 -4.17445238e-01 7.85215514e+01] [ 5.63847835e-01 9.80434530e-03 8.25820497e-01 5.59438635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.20710568099997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:115.27, Y:78.54, Z:55.97 [[ 5.73635487e-01 -7.16315692e-01 -3.97283472e-01 1.15269875e+02] [ 5.94554604e-01 6.97741283e-01 -3.99577182e-01 7.85393816e+01] [ 5.63424486e-01 -6.99506599e-03 8.26137953e-01 5.59659035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.23710568099997 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:115.28, Y:78.56, Z:55.99 [[ 5.79708230e-01 -7.05956975e-01 -4.06894480e-01 1.15277202e+02] [ 5.85081766e-01 7.08197528e-01 -3.95139961e-01 7.85589935e+01] [ 5.67113477e-01 -9.00065360e-03 8.23590489e-01 5.59873247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.26710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:115.28, Y:78.59, Z:56.00 [[ 5.84201653e-01 -7.16672668e-01 -3.80905126e-01 1.15281645e+02] [ 5.72173558e-01 6.96531034e-01 -4.32968750e-01 7.85909106e+01] [ 5.75609110e-01 3.49972184e-02 8.16975732e-01 5.60027226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.29710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:115.30, Y:78.60, Z:56.02 [[ 5.92434160e-01 -6.86905572e-01 -4.20930518e-01 1.15297310e+02] [ 5.70546040e-01 7.26623001e-01 -3.82748262e-01 7.86021737e+01] [ 5.68769709e-01 -1.34070949e-02 8.22387541e-01 5.60220902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.32710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.30, Y:78.63, Z:56.03 [[ 5.99303630e-01 -6.94412645e-01 -3.98279095e-01 1.15304392e+02] [ 5.62916923e-01 7.19305264e-01 -4.07092710e-01 7.86320343e+01] [ 5.69174575e-01 1.97740966e-02 8.21978885e-01 5.60335664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.35710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.32, Y:78.65, Z:56.05 [[ 6.01412121e-01 -6.92562303e-01 -3.98322630e-01 1.15317303e+02] [ 5.60411406e-01 7.21026977e-01 -4.07503565e-01 7.86520303e+01] [ 5.69422969e-01 2.18530387e-02 8.21754177e-01 5.60493367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.32, Y:78.68, Z:56.06 [[ 6.03298237e-01 -7.00390398e-01 -3.81424341e-01 1.15324424e+02] [ 5.54467335e-01 7.12122895e-01 -4.30635526e-01 7.86781514e+01] [ 5.73233993e-01 4.83143156e-02 8.17966085e-01 5.60646674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.34, Y:78.69, Z:56.08 [[ 6.06859426e-01 -6.76550346e-01 -4.17134591e-01 1.15343550e+02] [ 5.54675299e-01 7.36387006e-01 -3.87388036e-01 7.86906553e+01] [ 5.69260002e-01 3.71582680e-03 8.22149161e-01 5.60834366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.35, Y:78.72, Z:56.10 [[ 6.05989897e-01 -6.97648821e-01 -3.82181066e-01 1.15354715e+02] [ 5.47187400e-01 7.14305089e-01 -4.36295989e-01 7.87151337e+01] [ 5.77375263e-01 5.52662974e-02 8.14606311e-01 5.60966733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.38, Y:78.73, Z:56.12 [[ 6.03758233e-01 -6.83454979e-01 -4.10323395e-01 1.15375197e+02] [ 5.46214101e-01 7.29586857e-01 -4.11525424e-01 7.87250824e+01] [ 5.80625656e-01 2.43374389e-02 8.13806818e-01 5.61161196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.50710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.39, Y:78.74, Z:56.13 [[ 6.04647906e-01 -6.76995227e-01 -4.19616935e-01 1.15393589e+02] [ 5.51004997e-01 7.35957318e-01 -3.93395881e-01 7.87382445e+01] [ 5.75147288e-01 6.65496759e-03 8.18022805e-01 5.61309947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.41, Y:78.76, Z:56.14 [[ 6.00254203e-01 -6.98923720e-01 -3.88845119e-01 1.15409503e+02] [ 5.54395290e-01 7.14015149e-01 -4.27584179e-01 7.87582552e+01] [ 5.76490030e-01 4.10852981e-02 8.16070612e-01 5.61445221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.56710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.43, Y:78.77, Z:56.16 [[ 5.99411191e-01 -6.85527309e-01 -4.13229396e-01 1.15430270e+02] [ 5.59093869e-01 7.28015342e-01 -3.96746403e-01 7.87678005e+01] [ 5.72817834e-01 6.78021259e-03 8.19654658e-01 5.61613830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.45, Y:78.78, Z:56.18 [[ 5.95579868e-01 -6.97426552e-01 -3.98598577e-01 1.15447481e+02] [ 5.64447056e-01 7.16397585e-01 -4.10090260e-01 7.87830112e+01] [ 5.71562894e-01 1.92537096e-02 8.20332343e-01 5.61756425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.62710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.46, Y:78.80, Z:56.19 [[ 5.93142440e-01 -6.99969036e-01 -3.97775558e-01 1.15463900e+02] [ 5.67888616e-01 7.13969816e-01 -4.09572487e-01 7.87966616e+01] [ 5.70687801e-01 1.70426133e-02 8.20990246e-01 5.61917837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.65710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.48, Y:78.81, Z:56.21 [[ 5.91479011e-01 -7.01150007e-01 -3.98172384e-01 1.15479736e+02] [ 5.68844695e-01 7.12831015e-01 -4.10228786e-01 7.88130689e+01] [ 5.71461541e-01 1.61434683e-02 8.20470046e-01 5.62072589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.68710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.49, Y:78.83, Z:56.22 [[ 5.87307728e-01 -7.11849396e-01 -3.85149413e-01 1.15493219e+02] [ 5.65626605e-01 7.01361757e-01 -4.33772094e-01 7.88327453e+01] [ 5.78909472e-01 3.69069477e-02 8.14556137e-01 5.62225531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.71710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:115.51, Y:78.85, Z:56.23 [[ 5.87779407e-01 -7.09740558e-01 -3.88308779e-01 1.15508407e+02] [ 5.72541736e-01 7.04032158e-01 -4.20160304e-01 7.88498260e+01] [ 5.71586676e-01 2.46385917e-02 8.20171696e-01 5.62325892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.74710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:115.53, Y:78.86, Z:56.26 [[ 5.82469685e-01 -6.98155170e-01 -4.16303285e-01 1.15525148e+02] [ 5.79975570e-01 7.15791364e-01 -3.88935806e-01 7.88597440e+01] [ 5.69523840e-01 -1.49024186e-02 8.21839713e-01 5.62595739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.77710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.54, Y:78.88, Z:56.27 [[ 5.76076214e-01 -7.14808807e-01 -3.96465087e-01 1.15538636e+02] [ 5.85664853e-01 6.99309060e-01 -4.09833525e-01 7.88803996e+01] [ 5.70204240e-01 3.89967857e-03 8.21493711e-01 5.62717804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.80710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.55, Y:78.90, Z:56.29 [[ 5.73319149e-01 -7.17038124e-01 -3.96435976e-01 1.15553439e+02] [ 5.88228107e-01 6.97031388e-01 -4.10042606e-01 7.88987153e+01] [ 5.70344499e-01 1.89049437e-03 8.21403420e-01 5.62875195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.83710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:115.57, Y:78.92, Z:56.30 [[ 5.71800116e-01 -7.18689489e-01 -3.95638783e-01 1.15566733e+02] [ 5.90571854e-01 6.95330953e-01 -4.09560436e-01 7.89181202e+01] [ 5.69446672e-01 5.33575709e-04 8.22028103e-01 5.63033357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.86710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:115.58, Y:78.94, Z:56.32 [[ 5.70985723e-01 -7.19421493e-01 -3.95484538e-01 1.15582218e+02] [ 5.91330104e-01 6.94573759e-01 -4.09751147e-01 7.89351490e+01] [ 5.69476964e-01 1.00142292e-04 8.22007286e-01 5.63198680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.89710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.60, Y:78.95, Z:56.33 [[ 5.68712517e-01 -7.20278336e-01 -3.97196667e-01 1.15596690e+02] [ 5.90872528e-01 6.93685037e-01 -4.11911064e-01 7.89527590e+01] [ 5.72220000e-01 -4.33621322e-04 8.20100045e-01 5.63341995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.92710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.61, Y:78.97, Z:56.35 [[ 5.67478822e-01 -7.20680948e-01 -3.98229529e-01 1.15611253e+02] [ 5.90371843e-01 6.93266667e-01 -4.13330879e-01 7.89711411e+01] [ 5.73958948e-01 -5.46980665e-04 8.18883891e-01 5.63485567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.95710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:115.62, Y:78.99, Z:56.36 [[ 5.66569387e-01 -7.21224962e-01 -3.98539438e-01 1.15624380e+02] [ 5.90569102e-01 6.92700443e-01 -4.13997864e-01 7.89913735e+01] [ 5.74654039e-01 -8.06562139e-04 8.18396044e-01 5.63642705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.98710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:115.64, Y:79.01, Z:56.38 [[ 5.65028664e-01 -7.30469656e-01 -3.83610076e-01 1.15637124e+02] [ 5.86086988e-01 6.82596269e-01 -4.36536798e-01 7.90101421e+01] [ 5.80727691e-01 2.18269299e-02 8.13805219e-01 5.63798547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.01710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.66, Y:79.02, Z:56.40 [[ 5.69237892e-01 -7.10902818e-01 -4.13019862e-01 1.15655520e+02] [ 5.89147374e-01 7.03092965e-01 -3.98203031e-01 7.90232476e+01] [ 5.73475016e-01 -1.66573134e-02 8.19053686e-01 5.64008135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.04710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:115.66, Y:79.05, Z:56.42 [[ 5.71069920e-01 -7.33076400e-01 -3.69429477e-01 1.15660552e+02] [ 5.81159138e-01 6.78874460e-01 -4.48757757e-01 7.90507193e+01] [ 5.79769958e-01 4.15747403e-02 8.13718832e-01 5.64168976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.07710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:115.68, Y:79.06, Z:56.44 [[ 5.77842791e-01 -6.96152934e-01 -4.25991551e-01 1.15680981e+02] [ 5.85869309e-01 7.17200515e-01 -3.77333506e-01 7.90594560e+01] [ 5.68203187e-01 -3.15359297e-02 8.22283785e-01 5.64368134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.10710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:115.69, Y:79.08, Z:56.45 [[ 5.81816171e-01 -7.13329575e-01 -3.90705593e-01 1.15691840e+02] [ 5.85831880e-01 7.00783641e-01 -4.07066699e-01 7.90828191e+01] [ 5.64172803e-01 7.95019601e-03 8.25618461e-01 5.64486344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.13710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:115.71, Y:79.10, Z:56.46 [[ 5.81749667e-01 -7.13192727e-01 -3.91054291e-01 1.15705981e+02] [ 5.85190749e-01 7.00918011e-01 -4.07756948e-01 7.91027105e+01] [ 5.64906286e-01 8.37111563e-03 8.25112606e-01 5.64634474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.16710568099998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:115.72, Y:79.12, Z:56.48 [[ 5.81988702e-01 -7.12841714e-01 -3.91338526e-01 1.15719918e+02] [ 5.84312879e-01 7.01266829e-01 -4.08415590e-01 7.91216374e+01] [ 5.65568396e-01 9.02911801e-03 8.24651965e-01 5.64778980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.19710568099998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:115.74, Y:79.14, Z:56.49 [[ 5.81749187e-01 -7.13126341e-01 -3.91176054e-01 1.15736049e+02] [ 5.84551285e-01 7.00977460e-01 -4.08571164e-01 7.91388605e+01] [ 5.65568456e-01 9.02347785e-03 8.24651986e-01 5.64939090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.22710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.75, Y:79.16, Z:56.51 [[ 5.84469969e-01 -7.10539461e-01 -3.91827168e-01 1.15749993e+02] [ 5.80727461e-01 7.03557617e-01 -4.09587957e-01 7.91597028e+01] [ 5.66701395e-01 1.18470644e-02 8.23838076e-01 5.65078894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.25710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.77, Y:79.18, Z:56.52 [[ 5.85910201e-01 -7.08816140e-01 -3.92796279e-01 1.15765158e+02] [ 5.77687684e-01 7.05256842e-01 -4.10961953e-01 7.91776362e+01] [ 5.68318728e-01 1.38732278e-02 8.22691532e-01 5.65225830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.28710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:115.78, Y:79.20, Z:56.54 [[ 5.88580931e-01 -7.04981732e-01 -3.95693372e-01 1.15780298e+02] [ 5.70635681e-01 7.08994645e-01 -4.14368813e-01 7.91973023e+01] [ 5.72666926e-01 1.80928250e-02 8.19588459e-01 5.65367129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:115.80, Y:79.21, Z:56.55 [[ 5.89961719e-01 -7.03516922e-01 -3.96243752e-01 1.15796212e+02] [ 5.68189417e-01 7.10400331e-01 -4.15321750e-01 7.92146848e+01] [ 5.73677572e-01 1.98824273e-02 8.18839870e-01 5.65520155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.34710568099996 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:115.81, Y:79.23, Z:56.57 [[ 5.94664098e-01 -7.00816169e-01 -3.93994046e-01 1.15812141e+02] [ 5.66387762e-01 7.12982136e-01 -4.13353816e-01 7.92304242e+01] [ 5.70595754e-01 2.26532682e-02 8.20918580e-01 5.65677929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.83, Y:79.25, Z:56.59 [[ 5.97394073e-01 -6.99282204e-01 -3.92587214e-01 1.15828294e+02] [ 5.65380146e-01 7.14432538e-01 -4.12227412e-01 7.92462988e+01] [ 5.68740373e-01 2.43011961e-02 8.22158039e-01 5.65850165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.40710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.84, Y:79.26, Z:56.60 [[ 5.97909753e-01 -7.04528881e-01 -3.82286520e-01 1.15841823e+02] [ 5.61712198e-01 7.08507892e-01 -4.27195475e-01 7.92620545e+01] [ 5.71824566e-01 4.06893399e-02 8.19366245e-01 5.65960114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.43710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:115.87, Y:79.27, Z:56.62 [[ 5.95937819e-01 -6.98835392e-01 -3.95584644e-01 1.15865882e+02] [ 5.66559713e-01 7.15003433e-01 -4.09609793e-01 7.92740210e+01] [ 5.69094199e-01 1.99796446e-02 8.22029566e-01 5.66163911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.46710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:115.89, Y:79.28, Z:56.63 [[ 5.93286124e-01 -7.03571932e-01 -3.91149732e-01 1.15886742e+02] [ 5.70925216e-01 7.10315513e-01 -4.11699246e-01 7.92845485e+01] [ 5.67499756e-01 2.09382049e-02 8.23107295e-01 5.66335584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.49710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:115.90, Y:79.30, Z:56.65 [[ 5.90677706e-01 -7.06077899e-01 -3.90581423e-01 1.15904255e+02] [ 5.74099553e-01 7.07884167e-01 -4.11472611e-01 7.92986764e+01] [ 5.67018122e-01 1.88150776e-02 8.23490402e-01 5.66485906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.52710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:115.92, Y:79.31, Z:56.66 [[ 5.84257990e-01 -7.11628067e-01 -3.90164190e-01 1.15922759e+02] [ 5.80899515e-01 7.02423759e-01 -4.11286538e-01 7.93121323e+01] [ 5.66743641e-01 1.36512572e-02 8.23781093e-01 5.66643430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.55710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.94, Y:79.33, Z:56.68 [[ 5.81506432e-01 -7.13972479e-01 -3.89991754e-01 1.15940457e+02] [ 5.83623139e-01 7.00076967e-01 -4.11431977e-01 7.93267349e+01] [ 5.66775353e-01 1.16421295e-02 8.23790119e-01 5.66798692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.58710568099997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:115.96, Y:79.34, Z:56.70 [[ 5.77896277e-01 -7.16914580e-01 -3.89960740e-01 1.15960801e+02] [ 5.86935337e-01 6.97101892e-01 -4.11771614e-01 7.93371476e+01] [ 5.67047443e-01 9.07954489e-03 8.23635089e-01 5.66970372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.61710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.98, Y:79.35, Z:56.72 [[ 5.77920650e-01 -7.16742918e-01 -3.90240069e-01 1.15978304e+02] [ 5.86288856e-01 6.97272197e-01 -4.12403759e-01 7.93500539e+01] [ 5.67691024e-01 9.54324496e-03 8.23186387e-01 5.67150637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.99, Y:79.37, Z:56.73 [[ 5.79940438e-01 -7.15161760e-01 -3.90144518e-01 1.15993167e+02] [ 5.84194633e-01 6.98865872e-01 -4.12677990e-01 7.93680611e+01] [ 5.67790207e-01 1.14083205e-02 8.23094242e-01 5.67310100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.67710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:116.01, Y:79.39, Z:56.74 [[ 5.86416524e-01 -7.09994885e-01 -3.89901173e-01 1.16005879e+02] [ 5.77902202e-01 7.04007675e-01 -4.12798059e-01 7.93901416e+01] [ 5.67577929e-01 1.67468567e-02 8.23149341e-01 5.67438740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.70710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.02, Y:79.41, Z:56.76 [[ 5.89090059e-01 -7.07613245e-01 -3.90200459e-01 1.16021099e+02] [ 5.74551409e-01 7.06333603e-01 -4.13501537e-01 7.94072213e+01] [ 5.68210860e-01 1.93994215e-02 8.22654290e-01 5.67586538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.04, Y:79.42, Z:56.78 [[ 5.92380475e-01 -7.04741698e-01 -3.90415821e-01 1.16038675e+02] [ 5.70706692e-01 7.09107793e-01 -4.14077299e-01 7.94208362e+01] [ 5.68664440e-01 2.24783855e-02 8.22262414e-01 5.67760310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.76710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.06, Y:79.44, Z:56.79 [[ 5.92483478e-01 -7.04835647e-01 -3.90089783e-01 1.16055253e+02] [ 5.70815074e-01 7.09008069e-01 -4.14098670e-01 7.94367823e+01] [ 5.68448308e-01 2.26774918e-02 8.22406379e-01 5.67918361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.79710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.07, Y:79.45, Z:56.81 [[ 5.92461162e-01 -7.05079656e-01 -3.89682499e-01 1.16070811e+02] [ 5.71163774e-01 7.08763804e-01 -4.14036006e-01 7.94527571e+01] [ 5.68121215e-01 2.27277265e-02 8.22630984e-01 5.68063171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.82710568099998 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:116.09, Y:79.47, Z:56.82 [[ 5.92976067e-01 -7.05106039e-01 -3.88850689e-01 1.16088243e+02] [ 5.71659494e-01 7.08733695e-01 -4.13402919e-01 7.94681183e+01] [ 5.67084480e-01 2.28478489e-02 8.23342680e-01 5.68214837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.85710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.10, Y:79.48, Z:56.83 [[ 5.93742165e-01 -7.09497538e-01 -3.79583304e-01 1.16102330e+02] [ 5.68178882e-01 7.03703595e-01 -4.26584117e-01 7.94831837e+01] [ 5.69774516e-01 3.76097600e-02 8.20940014e-01 5.68346150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.88710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:116.12, Y:79.50, Z:56.85 [[ 5.93626016e-01 -7.02781546e-01 -3.92053889e-01 1.16124992e+02] [ 5.71503047e-01 7.11151990e-01 -4.09447328e-01 7.94970120e+01] [ 5.66561930e-01 1.89985940e-02 8.23800117e-01 5.68533022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.91710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:116.14, Y:79.51, Z:56.87 [[ 5.94049004e-01 -7.04615425e-01 -3.88101641e-01 1.16141222e+02] [ 5.71219191e-01 7.09190597e-01 -4.13227942e-01 7.95124479e+01] [ 5.66404816e-01 2.37865426e-02 8.23783821e-01 5.68680371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.94710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:116.16, Y:79.53, Z:56.88 [[ 5.95766255e-01 -7.03293722e-01 -3.87866615e-01 1.16158470e+02] [ 5.69594364e-01 7.10448717e-01 -4.13309668e-01 7.95282039e+01] [ 5.66237433e-01 2.53093149e-02 8.23853511e-01 5.68842922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.97710568099998 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:116.18, Y:79.55, Z:56.89 [[ 6.02364533e-01 -7.15549366e-01 -3.53759911e-01 1.16180344e+02] [ 5.71894205e-01 6.96051039e-01 -4.34108246e-01 7.95549794e+01] [ 5.56860834e-01 5.91781677e-02 8.28494995e-01 5.68857848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.00710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:116.19, Y:79.55, Z:56.92 [[ 5.96959024e-01 -6.85980890e-01 -4.16016997e-01 1.16194970e+02] [ 5.67585500e-01 7.27593830e-01 -3.85297182e-01 7.95526404e+01] [ 5.66997904e-01 -6.11858521e-03 8.23696509e-01 5.69204874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03710568099996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:116.21, Y:79.57, Z:56.93 [[ 5.97664264e-01 -7.03769550e-01 -3.84064900e-01 1.16211050e+02] [ 5.65184375e-01 7.09594611e-01 -4.20763723e-01 7.95727282e+01] [ 5.68651080e-01 3.44079605e-02 8.21858894e-01 5.69283195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.06710568099996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:116.23, Y:79.59, Z:56.94 [[ 5.96075630e-01 -7.02410975e-01 -3.88989286e-01 1.16228223e+02] [ 5.67366033e-01 7.11272719e-01 -4.14954098e-01 7.95915195e+01] [ 5.68145780e-01 2.66447172e-02 8.22496463e-01 5.69437459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:116.24, Y:79.61, Z:56.96 [[ 5.95844682e-01 -7.07293042e-01 -3.80401982e-01 1.16242418e+02] [ 5.63346120e-01 7.05687145e-01 -4.29705484e-01 7.96104660e+01] [ 5.72372487e-01 4.17397464e-02 8.18930723e-01 5.69553256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.12710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.26, Y:79.63, Z:56.96 [[ 5.99140699e-01 -7.12010356e-01 -3.66157994e-01 1.16262709e+02] [ 5.65099309e-01 7.00038062e-01 -4.36588459e-01 7.96297567e+01] [ 5.67180037e-01 5.46622848e-02 8.21777854e-01 5.69629878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.15710568099996 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:116.28, Y:79.64, Z:56.99 [[ 5.96212463e-01 -7.01544291e-01 -3.90341270e-01 1.16282345e+02] [ 5.66957423e-01 7.12169132e-01 -4.13973922e-01 7.96423744e+01] [ 5.68410045e-01 2.55095316e-02 8.22349856e-01 5.69862912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.18710568099996 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:116.30, Y:79.65, Z:57.01 [[ 5.86838560e-01 -6.98360371e-01 -4.09772249e-01 1.16295500e+02] [ 5.65215906e-01 7.15687794e-01 -4.10270596e-01 7.96503452e+01] [ 5.79785722e-01 9.15281270e-03 8.14717584e-01 5.70075311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.21710568099996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:116.32, Y:79.68, Z:57.01 [[ 5.81278938e-01 -7.20150002e-01 -3.78812316e-01 1.16317836e+02] [ 5.77473146e-01 6.93077677e-01 -4.31472015e-01 7.96751400e+01] [ 5.73270932e-01 3.20516551e-02 8.18738743e-01 5.70132296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.24710568099997 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:116.34, Y:79.69, Z:57.04 [[ 5.74918622e-01 -7.19156744e-01 -3.90233461e-01 1.16335700e+02] [ 5.81900533e-01 6.94662486e-01 -4.22889822e-01 7.96873563e+01] [ 5.75204614e-01 1.60501747e-02 8.17852092e-01 5.70353680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.27710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:116.35, Y:79.70, Z:57.05 [[ 5.68529833e-01 -7.20044086e-01 -3.97882324e-01 1.16353529e+02] [ 5.94061075e-01 6.93910142e-01 -4.06915413e-01 7.96970762e+01] [ 5.69091616e-01 -5.02284930e-03 8.22258781e-01 5.70545760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.30710568099997 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:116.37, Y:79.71, Z:57.08 [[ 5.62562027e-01 -7.19415612e-01 -4.07388197e-01 1.16366295e+02] [ 5.96451922e-01 6.94383675e-01 -4.02587154e-01 7.97076187e+01] [ 5.72511197e-01 -1.65072280e-02 8.19730712e-01 5.70769786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.33710568099997 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:116.38, Y:79.73, Z:57.08 [[ 5.59779519e-01 -7.44457100e-01 -3.63910038e-01 1.16384197e+02] [ 5.98376684e-01 6.66960918e-01 -4.43969006e-01 7.97346932e+01] [ 5.73229652e-01 3.07694746e-02 8.18816833e-01 5.70817040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.36710568099997 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:116.40, Y:79.74, Z:57.10 [[ 5.62070586e-01 -7.25161193e-01 -3.97766139e-01 1.16402275e+02] [ 6.01368841e-01 6.88485683e-01 -4.05392380e-01 7.97436185e+01] [ 5.67831113e-01 -1.13450300e-02 8.23066897e-01 5.71031571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.39710568099997 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:116.42, Y:79.77, Z:57.12 [[ 5.61448239e-01 -7.34833997e-01 -3.80519213e-01 1.16415355e+02] [ 6.04401482e-01 6.78230828e-01 -4.17973436e-01 7.97685553e+01] [ 5.65220952e-01 4.68407326e-03 8.24926260e-01 5.71179472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.42710568099997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:116.43, Y:79.79, Z:57.14 [[ 5.60112965e-01 -7.31127528e-01 -3.89520223e-01 1.16430511e+02] [ 6.05975699e-01 6.82206128e-01 -4.09131093e-01 7.97855344e+01] [ 5.64860088e-01 -6.88015935e-03 8.25158012e-01 5.71368892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.45710568099997 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:116.44, Y:79.79, Z:57.16 [[ 5.50563996e-01 -7.26066443e-01 -4.11954860e-01 1.16439403e+02] [ 6.08657031e-01 6.86876013e-01 -3.97162387e-01 7.97949117e+01] [ 5.71328193e-01 -3.20759114e-02 8.20094648e-01 5.71618211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.48710568099997 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:116.45, Y:79.82, Z:57.18 [[ 5.36081122e-01 -7.53387015e-01 -3.80821527e-01 1.16451894e+02] [ 6.14036359e-01 6.57577353e-01 -4.36521906e-01 7.98241476e+01] [ 5.79289548e-01 1.72889151e-04 8.15121825e-01 5.71755084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.51710568099998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:116.46, Y:79.83, Z:57.19 [[ 5.37098711e-01 -7.36049792e-01 -4.12014173e-01 1.16464956e+02] [ 6.16864792e-01 6.75885602e-01 -4.03306932e-01 7.98343812e+01] [ 5.75328431e-01 -3.75414036e-02 8.17060487e-01 5.71921048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.54710568099998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:116.47, Y:79.87, Z:57.20 [[ 5.32085254e-01 -7.53541101e-01 -3.86084307e-01 1.16472231e+02] [ 6.20241074e-01 6.57296950e-01 -4.28090795e-01 7.98669277e+01] [ 5.76356047e-01 -1.16845457e-02 8.17115157e-01 5.72049677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.57710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:116.48, Y:79.88, Z:57.22 [[ 5.35250284e-01 -7.43561818e-01 -4.00777939e-01 1.16481597e+02] [ 6.21077676e-01 6.68015474e-01 -4.09899801e-01 7.98836871e+01] [ 5.72511706e-01 -2.95152461e-02 8.19365118e-01 5.72227327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.49, Y:79.91, Z:57.24 [[ 5.34350278e-01 -7.50179430e-01 -3.89487617e-01 1.16492846e+02] [ 6.21463173e-01 6.61007000e-01 -4.20539262e-01 7.99057906e+01] [ 5.72933945e-01 -1.73369392e-02 8.19418163e-01 5.72376470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.50, Y:79.93, Z:57.25 [[ 5.31702554e-01 -7.51600170e-01 -3.90371077e-01 1.16499520e+02] [ 6.22311477e-01 6.59356089e-01 -4.21874356e-01 7.99313441e+01] [ 5.74474385e-01 -1.86207291e-02 8.18310729e-01 5.72520062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.51, Y:79.95, Z:57.27 [[ 5.30445346e-01 -7.52080545e-01 -3.91155454e-01 1.16511205e+02] [ 6.22137604e-01 6.58798041e-01 -4.23001115e-01 7.99532731e+01] [ 5.75823356e-01 -1.89735440e-02 8.17353943e-01 5.72664362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.52, Y:79.98, Z:57.28 [[ 5.29448839e-01 -7.51864960e-01 -3.92916031e-01 1.16516791e+02] [ 6.20307851e-01 6.59055719e-01 -4.25280765e-01 7.99800899e+01] [ 5.78707263e-01 -1.85644914e-02 8.15324023e-01 5.72795306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.72710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.52, Y:80.01, Z:57.29 [[ 5.32837577e-01 -7.49905679e-01 -3.92078549e-01 1.16523515e+02] [ 6.18215368e-01 6.61349849e-01 -4.24765978e-01 8.00072565e+01] [ 5.77835509e-01 -1.60577094e-02 8.15995267e-01 5.72941613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.75710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:116.53, Y:80.03, Z:57.32 [[ 5.28110261e-01 -7.58503185e-01 -3.81801613e-01 1.16533818e+02] [ 6.17663892e-01 6.51660881e-01 -4.40260619e-01 8.00347351e+01] [ 5.82744257e-01 -3.31891950e-03 8.12648827e-01 5.73152624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.54, Y:80.06, Z:57.33 [[ 5.30536022e-01 -7.48056929e-01 -3.98675758e-01 1.16539054e+02] [ 6.13144148e-01 6.63418966e-01 -4.28870062e-01 8.00595832e+01] [ 5.85308280e-01 -1.69146913e-02 8.10634387e-01 5.73338281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81710568099996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:116.55, Y:80.09, Z:57.34 [[ 5.40850510e-01 -7.56794029e-01 -3.67074274e-01 1.16551046e+02] [ 6.17071505e-01 6.53568740e-01 -4.38258667e-01 8.00924048e+01] [ 5.71579814e-01 1.05213486e-02 8.20479017e-01 5.73351285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.84710568099996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:116.56, Y:80.12, Z:57.35 [[ 5.45365843e-01 -7.46781811e-01 -3.80648164e-01 1.16556027e+02] [ 6.10686527e-01 6.65066242e-01 -4.29824220e-01 8.01200548e+01] [ 5.74141153e-01 1.95474227e-03 8.18754002e-01 5.73509828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87710568099996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:116.57, Y:80.14, Z:57.37 [[ 5.49497723e-01 -7.36156193e-01 -3.95128222e-01 1.16569364e+02] [ 6.06823098e-01 6.76727304e-01 -4.16900327e-01 8.01398819e+01] [ 5.74297815e-01 -1.06871514e-02 8.18576695e-01 5.73662957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.90710568099996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:116.57, Y:80.17, Z:57.38 [[ 5.56084246e-01 -7.31790366e-01 -3.94021791e-01 1.16574180e+02] [ 6.01069606e-01 6.81513562e-01 -4.17438131e-01 8.01677289e+01] [ 5.74008397e-01 -4.70375471e-03 8.18835902e-01 5.73804892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.93710568099996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:116.58, Y:80.19, Z:57.40 [[ 5.58295274e-01 -7.38268151e-01 -3.78505645e-01 1.16580645e+02] [ 5.96092959e-01 6.74273773e-01 -4.35922085e-01 8.01912020e+01] [ 5.77043821e-01 1.77486900e-02 8.16520308e-01 5.73985974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.96710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.59, Y:80.20, Z:57.43 [[ 5.63202252e-01 -6.95897718e-01 -4.45566594e-01 1.16589865e+02] [ 5.85612438e-01 7.16567356e-01 -3.78931783e-01 8.01981767e+01] [ 5.82976239e-01 -4.75141055e-02 8.11098708e-01 5.74278541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.99710568099997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:116.59, Y:80.24, Z:57.43 [[ 5.74541290e-01 -7.49766496e-01 -3.28256771e-01 1.16587147e+02] [ 5.98524683e-01 6.58431787e-01 -4.56328594e-01 8.02435759e+01] [ 5.58274583e-01 6.57098393e-02 8.27050003e-01 5.74325369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.02710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:116.61, Y:80.24, Z:57.47 [[ 5.65752975e-01 -6.99777177e-01 -4.36159918e-01 1.16608961e+02] [ 5.85625677e-01 7.13367434e-01 -3.84901898e-01 8.02393733e+01] [ 5.80487845e-01 -3.76670534e-02 8.13397231e-01 5.74654289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.05710568099997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:116.62, Y:80.28, Z:57.46 [[ 5.72249218e-01 -7.51583696e-01 -3.28104831e-01 1.16616703e+02] [ 5.98961856e-01 6.56326087e-01 -4.58781825e-01 8.02821867e+01] [ 5.60156700e-01 6.60152615e-02 8.25752055e-01 5.74638468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.08710568099997 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:116.64, Y:80.29, Z:57.48 [[ 5.71114045e-01 -7.30786537e-01 -3.73871347e-01 1.16638907e+02] [ 5.94046512e-01 6.82274034e-01 -4.26158286e-01 8.02936227e+01] [ 5.66513450e-01 2.12880132e-02 8.23777477e-01 5.74822292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.11710568099997 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:116.66, Y:80.31, Z:57.50 [[ 5.70536751e-01 -7.28571380e-01 -3.79040314e-01 1.16655377e+02] [ 5.93367600e-01 6.84771692e-01 -4.23087013e-01 8.03102922e+01] [ 5.67805166e-01 1.64764485e-02 8.22998068e-01 5.75003518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.14710568099997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:116.66, Y:80.33, Z:57.52 [[ 5.68055989e-01 -7.31114038e-01 -3.77868571e-01 1.16664271e+02] [ 5.84755302e-01 6.81644207e-01 -4.39798149e-01 8.03307859e+01] [ 5.79114523e-01 2.88693219e-02 8.14734884e-01 5.75186037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.17710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:116.68, Y:80.35, Z:57.53 [[ 5.73413809e-01 -7.23246976e-01 -3.84851159e-01 1.16681334e+02] [ 5.83071663e-01 6.90261481e-01 -4.28446640e-01 8.03517362e+01] [ 5.75520668e-01 2.12814143e-02 8.17510283e-01 5.75321949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.20710568099997 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:116.69, Y:80.37, Z:57.55 [[ 5.72577949e-01 -7.33721569e-01 -3.65796597e-01 1.16691604e+02] [ 5.78321636e-01 6.77718367e-01 -4.54138635e-01 8.03719360e+01] [ 5.81118385e-01 4.84816816e-02 8.12373651e-01 5.75526108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.23710568099997 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:116.72, Y:80.38, Z:57.57 [[ 5.71133330e-01 -7.03158961e-01 -4.23525909e-01 1.16716534e+02] [ 5.73214653e-01 7.10960914e-01 -4.07381321e-01 8.03768457e+01] [ 5.87564193e-01 -1.01022070e-02 8.09114494e-01 5.75685946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.26710568099998 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:116.73, Y:80.40, Z:57.58 [[ 5.75117540e-01 -7.15876590e-01 -3.95929948e-01 1.16728749e+02] [ 5.79277402e-01 6.98112061e-01 -4.20805469e-01 8.03968999e+01] [ 5.77648256e-01 1.26593341e-02 8.16187622e-01 5.75843820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.29710568099998 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:116.74, Y:80.41, Z:57.60 [[ 5.75385603e-01 -7.21734524e-01 -3.84747559e-01 1.16743607e+02] [ 5.81381945e-01 6.91796554e-01 -4.28266929e-01 8.04131561e+01] [ 5.75262064e-01 2.27333413e-02 8.17653199e-01 5.76041790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.32710568099998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:116.76, Y:80.43, Z:57.62 [[ 5.77798102e-01 -7.21304724e-01 -3.81927805e-01 1.16760040e+02] [ 5.78992711e-01 6.92053961e-01 -4.31078596e-01 8.04305022e+01] [ 5.75253678e-01 2.79429791e-02 8.17497643e-01 5.76196435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.78, Y:80.43, Z:57.64 [[ 5.74076322e-01 -6.92497601e-01 -4.36902105e-01 1.16779063e+02] [ 5.70751819e-01 7.21027024e-01 -3.92889796e-01 8.04344905e+01] [ 5.87093466e-01 -2.38139423e-02 8.09168807e-01 5.76449335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.38710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:116.79, Y:80.47, Z:57.65 [[ 5.83092262e-01 -7.36775982e-01 -3.42293100e-01 1.16787427e+02] [ 5.71611783e-01 6.71468474e-01 -4.71582505e-01 8.04692109e+01] [ 5.77289689e-01 7.93173402e-02 8.12677904e-01 5.76545043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.41710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:116.81, Y:80.47, Z:57.68 [[ 5.70970935e-01 -6.94285541e-01 -4.38132149e-01 1.16808538e+02] [ 5.54641759e-01 7.19685303e-01 -4.17642889e-01 8.04659211e+01] [ 6.05280687e-01 -4.54443485e-03 7.95999144e-01 5.76840194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.82, Y:80.49, Z:57.70 [[ 5.74473371e-01 -7.12021736e-01 -4.03739264e-01 1.16817485e+02] [ 5.49865659e-01 7.01083648e-01 -4.54014841e-01 8.04867443e+01] [ 6.06323431e-01 3.88170798e-02 7.94270188e-01 5.77004369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.47710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.83, Y:80.50, Z:57.72 [[ 5.76371985e-01 -7.07869562e-01 -4.08308730e-01 1.16834564e+02] [ 5.50328570e-01 7.05590798e-01 -4.46407987e-01 8.05017418e+01] [ 6.04097508e-01 3.25930982e-02 7.96243612e-01 5.77157509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.50710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.86, Y:80.51, Z:57.73 [[ 5.76238688e-01 -7.07375307e-01 -4.09352109e-01 1.16857204e+02] [ 5.53579894e-01 7.06297098e-01 -4.41241102e-01 8.05140090e+01] [ 6.01247267e-01 2.76510965e-02 7.98584461e-01 5.77334785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.87, Y:80.52, Z:57.75 [[ 5.74355463e-01 -7.12671523e-01 -4.02759361e-01 1.16873641e+02] [ 5.54612843e-01 7.00651974e-01 -4.48877942e-01 8.05234343e+01] [ 6.02096667e-01 3.44399842e-02 7.97680068e-01 5.77476066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.56710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.89, Y:80.54, Z:57.77 [[ 5.69556931e-01 -7.26586426e-01 -3.84287741e-01 1.16886650e+02] [ 5.57442803e-01 6.85034135e-01 -4.69026391e-01 8.05441949e+01] [ 6.04038429e-01 5.29187962e-02 7.95196313e-01 5.77683170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:116.91, Y:80.56, Z:57.79 [[ 5.66454880e-01 -7.16575099e-01 -4.06999995e-01 1.16909763e+02] [ 5.61917992e-01 6.97112772e-01 -4.45288618e-01 8.05552676e+01] [ 6.02807630e-01 2.35352908e-02 7.97539373e-01 5.77859655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.62710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.93, Y:80.57, Z:57.80 [[ 5.64412016e-01 -7.14614928e-01 -4.13236714e-01 1.16930599e+02] [ 5.65494134e-01 6.99396794e-01 -4.37104689e-01 8.05664791e+01] [ 6.01377969e-01 1.30242011e-02 7.98858504e-01 5.78026848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.65710568099996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:116.94, Y:80.60, Z:57.80 [[ 5.69220730e-01 -7.48023688e-01 -3.41245252e-01 1.16942771e+02] [ 5.75828281e-01 6.58957011e-01 -4.83939509e-01 8.06000705e+01] [ 5.86864168e-01 7.89697337e-02 8.05825185e-01 5.78032164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.68710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.97, Y:80.59, Z:57.84 [[ 5.59924044e-01 -6.97078532e-01 -4.47846609e-01 1.16970006e+02] [ 5.68672640e-01 7.16432664e-01 -4.04148075e-01 8.05889788e+01] [ 6.02574886e-01 -2.83858887e-02 7.97557363e-01 5.78400496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.71710568099996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:116.98, Y:80.63, Z:57.84 [[ 5.68586293e-01 -7.48854504e-01 -3.40479897e-01 1.16978571e+02] [ 5.80955391e-01 6.58573000e-01 -4.78301618e-01 8.06284871e+01] [ 5.82409188e-01 7.41521121e-02 8.09506641e-01 5.78367632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.74710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.01, Y:80.62, Z:57.87 [[ 5.54308598e-01 -7.02142712e-01 -4.46920117e-01 1.17005772e+02] [ 5.70344954e-01 7.11509313e-01 -4.10440166e-01 8.06202447e+01] [ 6.06175397e-01 -2.73881202e-02 7.94859283e-01 5.78705151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.77710568099997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:117.01, Y:80.66, Z:57.87 [[ 5.59911448e-01 -7.51120093e-01 -3.49739584e-01 1.17014389e+02] [ 5.82780028e-01 6.57065419e-01 -4.78155283e-01 8.06580647e+01] [ 5.88953827e-01 6.39033723e-02 8.05636239e-01 5.78687428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.80710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:117.04, Y:80.66, Z:57.89 [[ 5.48560108e-01 -7.40707183e-01 -3.87859095e-01 1.17037153e+02] [ 5.86332919e-01 6.71495229e-01 -4.53109111e-01 8.06638146e+01] [ 5.96066704e-01 2.11430278e-02 8.02656500e-01 5.78917303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.83710568099997 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:117.06, Y:80.68, Z:57.91 [[ 5.46409134e-01 -7.38385970e-01 -3.95250828e-01 1.17055217e+02] [ 5.92743870e-01 6.74348650e-01 -4.40350546e-01 8.06760977e+01] [ 5.91685528e-01 6.32905484e-03 8.06144019e-01 5.79102718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.86710568099997 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:117.08, Y:80.68, Z:57.93 [[ 5.37000968e-01 -7.26961328e-01 -4.27968676e-01 1.17075073e+02] [ 5.96949092e-01 6.85931330e-01 -4.16112956e-01 8.06805493e+01] [ 5.96055150e-01 -3.20224522e-02 8.02304693e-01 5.79304032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.89710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:117.08, Y:80.71, Z:57.95 [[ 5.24981244e-01 -7.66376996e-01 -3.70217495e-01 1.17083130e+02] [ 6.01175632e-01 6.41807415e-01 -4.76099887e-01 8.07078010e+01] [ 6.02480335e-01 2.73777741e-02 7.97664029e-01 5.79485162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.92710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:117.10, Y:80.72, Z:57.97 [[ 5.20711505e-01 -7.54302750e-01 -3.99858587e-01 1.17102234e+02] [ 6.02356790e-01 6.56511794e-01 -4.54046872e-01 8.07196049e+01] [ 6.05000683e-01 -4.43010488e-03 7.96212627e-01 5.79690120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.95710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:117.12, Y:80.74, Z:57.99 [[ 5.15028464e-01 -7.58393173e-01 -3.99481510e-01 1.17115267e+02] [ 6.06238519e-01 6.51754589e-01 -4.55731076e-01 8.07365959e+01] [ 6.05987244e-01 -7.46660286e-03 7.95439319e-01 5.79850605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.98710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:117.13, Y:80.75, Z:58.00 [[ 5.12449625e-01 -7.58336142e-01 -4.02891645e-01 1.17130229e+02] [ 6.08198686e-01 6.51737465e-01 -4.53136442e-01 8.07532416e+01] [ 6.06209320e-01 -1.28285697e-02 7.95201665e-01 5.80042693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.01710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:117.14, Y:80.77, Z:58.02 [[ 5.12990811e-01 -7.57231403e-01 -4.04278407e-01 1.17142720e+02] [ 6.13729114e-01 6.52829858e-01 -4.44015485e-01 8.07733115e+01] [ 6.00147483e-01 -2.03415653e-02 7.99630677e-01 5.80201506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.04710568099998 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:117.15, Y:80.79, Z:58.04 [[ 5.07494609e-01 -7.66378197e-01 -3.93844742e-01 1.17152588e+02] [ 6.11401832e-01 6.42359050e-01 -4.62128391e-01 8.07938996e+01] [ 6.07154858e-01 -6.26972948e-03 7.94558789e-01 5.80379485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.07710568099998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:117.17, Y:80.81, Z:58.06 [[ 5.04383187e-01 -7.65239518e-01 -4.00007601e-01 1.17166421e+02] [ 6.14369956e-01 6.43558850e-01 -4.56488296e-01 8.08140607e+01] [ 6.06751315e-01 -1.55076310e-02 7.94740432e-01 5.80562109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.10710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:117.17, Y:80.83, Z:58.07 [[ 5.03332327e-01 -7.67759315e-01 -3.96487330e-01 1.17174310e+02] [ 6.16787579e-01 6.40578432e-01 -4.57419234e-01 8.08338123e+01] [ 6.05169110e-01 -1.43145722e-02 7.95968242e-01 5.80724303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.13710568099998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:117.19, Y:80.85, Z:58.09 [[ 5.02283953e-01 -7.63380766e-01 -4.06153463e-01 1.17188006e+02] [ 6.18994871e-01 6.45400499e-01 -4.47552841e-01 8.08518265e+01] [ 6.03784879e-01 -2.66083004e-02 7.96703093e-01 5.80914002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.16710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:117.19, Y:80.87, Z:58.11 [[ 5.00298662e-01 -7.65965710e-01 -4.03729836e-01 1.17194320e+02] [ 6.21539497e-01 6.42331717e-01 -4.48440206e-01 8.08734895e+01] [ 6.02818300e-01 -2.65800043e-02 7.97435641e-01 5.81070267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.19710568099998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:117.20, Y:80.90, Z:58.12 [[ 4.97196906e-01 -7.76800475e-01 -3.86492250e-01 1.17204669e+02] [ 6.22416916e-01 6.29676231e-01 -4.64870978e-01 8.08982529e+01] [ 6.04476980e-01 -9.42690199e-03 7.96566830e-01 5.81239527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.22710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:117.21, Y:80.92, Z:58.14 [[ 4.91783916e-01 -7.72404473e-01 -4.01920278e-01 1.17213558e+02] [ 6.24950001e-01 6.34533695e-01 -4.54757612e-01 8.09189339e+01] [ 6.06288773e-01 -2.75375992e-02 7.94767642e-01 5.81418831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.22, Y:80.93, Z:58.17 [[ 4.83563714e-01 -7.59168464e-01 -4.35694133e-01 1.17219639e+02] [ 6.28737572e-01 6.47564559e-01 -4.30522017e-01 8.09341771e+01] [ 6.08978818e-01 -6.57524463e-02 7.90456460e-01 5.81704668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.22, Y:80.97, Z:58.18 [[ 4.83667278e-01 -7.90568517e-01 -3.75589381e-01 1.17221776e+02] [ 6.29280115e-01 6.12354131e-01 -4.78569698e-01 8.09663089e+01] [ 6.08335846e-01 -4.88242595e-03 7.93664703e-01 5.81819517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.23, Y:80.98, Z:58.21 [[ 4.82250029e-01 -7.60921232e-01 -4.34089609e-01 1.17231256e+02] [ 6.29401399e-01 6.45614893e-01 -4.32475767e-01 8.09822191e+01] [ 6.09334710e-01 -6.46551556e-02 7.90272689e-01 5.82050709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.34710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.24, Y:81.01, Z:58.22 [[ 4.82033833e-01 -7.75446196e-01 -4.07831560e-01 1.17236855e+02] [ 6.28799939e-01 6.30330036e-01 -4.55296258e-01 8.10061500e+01] [ 6.10126233e-01 -3.69762595e-02 7.91440924e-01 5.82231348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.24, Y:81.03, Z:58.24 [[ 4.83546364e-01 -7.74285437e-01 -4.08246219e-01 1.17240650e+02] [ 6.26611562e-01 6.31855740e-01 -4.56197625e-01 8.10306317e+01] [ 6.11179895e-01 -3.52190976e-02 7.90707754e-01 5.82399267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.24, Y:81.06, Z:58.26 [[ 4.85345836e-01 -7.72393591e-01 -4.09692032e-01 1.17242282e+02] [ 6.22733351e-01 6.34297503e-01 -4.58115543e-01 8.10593733e+01] [ 6.13712142e-01 -3.27844211e-02 7.88848901e-01 5.82558318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.43710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.25, Y:81.08, Z:58.27 [[ 4.88011135e-01 -7.70834347e-01 -4.09462503e-01 1.17250042e+02] [ 6.20544100e-01 6.36308192e-01 -4.58297834e-01 8.10822976e+01] [ 6.13816057e-01 -3.04350943e-02 7.88862189e-01 5.82730920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.46710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.25, Y:81.11, Z:58.29 [[ 4.96369378e-01 -7.65807331e-01 -4.08847859e-01 1.17251451e+02] [ 6.14181177e-01 6.42631489e-01 -4.58046123e-01 8.11083260e+01] [ 6.13513588e-01 -2.37465899e-02 7.89327041e-01 5.82901597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.49710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.26, Y:81.13, Z:58.31 [[ 4.99930141e-01 -7.63631062e-01 -4.08579803e-01 1.17260824e+02] [ 6.11284692e-01 6.45320285e-01 -4.58140541e-01 8.11295392e+01] [ 6.13515183e-01 -2.07203145e-02 7.89411039e-01 5.83070261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.52710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:117.27, Y:81.16, Z:58.32 [[ 5.04754542e-01 -7.60549403e-01 -4.08396202e-01 1.17265738e+02] [ 6.07143583e-01 6.49067846e-01 -4.58353140e-01 8.11552672e+01] [ 6.13677050e-01 -1.65993042e-02 7.89382633e-01 5.83242111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.55710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:117.28, Y:81.18, Z:58.34 [[ 5.06791690e-01 -7.59348559e-01 -4.08107767e-01 1.17275187e+02] [ 6.05504281e-01 6.50516572e-01 -4.58467834e-01 8.11756448e+01] [ 6.13617755e-01 -1.47633119e-02 7.89465196e-01 5.83405818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.58710568099997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:117.28, Y:81.20, Z:58.36 [[ 5.13730381e-01 -7.58485348e-01 -4.00975152e-01 1.17276601e+02] [ 5.96364424e-01 6.51688021e-01 -4.68670669e-01 8.11966072e+01] [ 6.16790539e-01 1.64304572e-03 7.87125613e-01 5.83567497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.61710568099997 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:117.29, Y:81.22, Z:58.37 [[ 5.15609117e-01 -7.53209816e-01 -4.08438749e-01 1.17291176e+02] [ 5.96993712e-01 6.57743015e-01 -4.59317573e-01 8.12214042e+01] [ 6.14610239e-01 -7.00703650e-03 7.88799820e-01 5.83738391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.64710568099997 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:117.30, Y:81.25, Z:58.39 [[ 5.21597832e-01 -7.48646841e-01 -4.09223178e-01 1.17299199e+02] [ 5.90863641e-01 6.62965998e-01 -4.59734971e-01 8.12452307e+01] [ 6.15480186e-01 -1.99833224e-03 7.88149825e-01 5.83878064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.67710568099997 meters Centerline goodness : 0.998302 Centerline is valid? [True, True] Translation: X:117.31, Y:81.26, Z:58.40 [[ 5.30237275e-01 -7.43234576e-01 -4.07983820e-01 1.17305557e+02] [ 5.82746307e-01 6.68995555e-01 -4.61358526e-01 8.12630210e+01] [ 6.15836970e-01 6.87842329e-03 7.87843584e-01 5.84002725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.70710568099997 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:117.31, Y:81.29, Z:58.42 [[ 5.30963667e-01 -7.52565984e-01 -3.89515113e-01 1.17314758e+02] [ 5.80966428e-01 6.57915391e-01 -4.79192391e-01 8.12863236e+01] [ 6.16891881e-01 2.81385457e-02 7.86544741e-01 5.84247797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.73710568099997 meters Centerline goodness : 0.998095 Centerline is valid? [True, True] Translation: X:117.33, Y:81.31, Z:58.44 [[ 5.34768897e-01 -7.39286256e-01 -4.09240833e-01 1.17329867e+02] [ 5.78059341e-01 6.73317848e-01 -4.60966891e-01 8.13061295e+01] [ 6.16335643e-01 9.94526990e-03 7.87420768e-01 5.84383053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.76710568099998 meters Centerline goodness : 0.997832 Centerline is valid? [True, True] Translation: X:117.35, Y:81.32, Z:58.45 [[ 5.35568418e-01 -7.35911898e-01 -4.14246481e-01 1.17345621e+02] [ 5.79714949e-01 6.77072152e-01 -4.53325358e-01 8.13248529e+01] [ 6.14082281e-01 2.64186744e-03 7.89237590e-01 5.84544979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.79710568099998 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:117.36, Y:81.34, Z:58.47 [[ 5.34393967e-01 -7.40729462e-01 -4.07115404e-01 1.17356157e+02] [ 5.81773116e-01 6.71753286e-01 -4.58571220e-01 8.13422882e+01] [ 6.13158324e-01 8.20889608e-03 7.89917391e-01 5.84734545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.82710568099998 meters Centerline goodness : 0.998106 Centerline is valid? [True, True] Translation: X:117.37, Y:81.36, Z:58.49 [[ 5.33329482e-01 -7.41698536e-01 -4.06746783e-01 1.17370034e+02] [ 5.82969291e-01 6.70691825e-01 -4.58605801e-01 8.13589880e+01] [ 6.12948994e-01 7.46711033e-03 7.90087193e-01 5.84912796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.85710568099998 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:117.38, Y:81.37, Z:58.51 [[ 5.30379279e-01 -7.44258037e-01 -4.05928313e-01 1.17384007e+02] [ 5.86566439e-01 6.67874367e-01 -4.58130596e-01 8.13745573e+01] [ 6.12076493e-01 4.87905058e-03 7.90783511e-01 5.85081773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.88710568099998 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:117.40, Y:81.39, Z:58.52 [[ 5.25522382e-01 -7.47167599e-01 -4.06899011e-01 1.17397667e+02] [ 5.89187092e-01 6.64633431e-01 -4.59479024e-01 8.13912261e+01] [ 6.13746524e-01 1.72686621e-03 7.89501249e-01 5.85249217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.91710568099998 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:117.41, Y:81.41, Z:58.54 [[ 5.22918058e-01 -7.48813233e-01 -4.07228985e-01 1.17412065e+02] [ 5.90783691e-01 6.62781066e-01 -4.60104216e-01 8.14074880e+01] [ 6.14435786e-01 1.25604993e-05 7.88966834e-01 5.85417365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.94710568099998 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:117.43, Y:81.42, Z:58.56 [[ 5.18772479e-01 -7.51605593e-01 -4.07386975e-01 1.17429469e+02] [ 5.93838988e-01 6.59606385e-01 -4.60732757e-01 8.14226350e+01] [ 6.15004367e-01 -2.90679494e-03 7.88518344e-01 5.85585155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.97710568099998 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:117.45, Y:81.44, Z:58.58 [[ 5.16094530e-01 -7.53058888e-01 -4.08103843e-01 1.17446038e+02] [ 5.94710274e-01 6.57939249e-01 -4.61990946e-01 8.14382159e+01] [ 6.16413925e-01 -4.27254774e-03 7.87410705e-01 5.85756174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.00710568099996 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:117.46, Y:81.46, Z:58.59 [[ 5.15827214e-01 -7.53362206e-01 -4.07881934e-01 1.17460800e+02] [ 5.94942086e-01 6.57592016e-01 -4.62186819e-01 8.14553268e+01] [ 6.16413985e-01 -4.25758926e-03 7.87410740e-01 5.85928541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03710568099996 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:117.48, Y:81.47, Z:58.61 [[ 5.13168459e-01 -7.54946030e-01 -4.08307022e-01 1.17476962e+02] [ 5.96262807e-01 6.55761121e-01 -4.63085323e-01 8.14711159e+01] [ 6.17356297e-01 -5.81750918e-03 7.86662163e-01 5.86078558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.06710568099996 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:117.49, Y:81.48, Z:58.63 [[ 5.06733097e-01 -7.59157394e-01 -4.08535947e-01 1.17494133e+02] [ 6.01256996e-01 6.50818920e-01 -4.63599782e-01 8.14845120e+01] [ 6.17828126e-01 -1.07137431e-02 7.86240181e-01 5.86254499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09710568099996 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:117.51, Y:81.50, Z:58.64 [[ 4.98300130e-01 -7.64571290e-01 -4.08812577e-01 1.17510043e+02] [ 6.07646319e-01 6.44314266e-01 -4.64354474e-01 8.14979847e+01] [ 6.18435875e-01 -1.70255626e-02 7.85650812e-01 5.86446606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.12710568099996 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:117.52, Y:81.51, Z:58.66 [[ 4.94512191e-01 -7.67089386e-01 -4.08694956e-01 1.17524137e+02] [ 6.10658540e-01 6.41234914e-01 -4.64665397e-01 8.15122759e+01] [ 6.18509370e-01 -1.97903618e-02 7.85528167e-01 5.86624965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.15710568099996 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:117.54, Y:81.52, Z:58.68 [[ 4.89056164e-01 -7.75859076e-01 -3.98580937e-01 1.17535712e+02] [ 6.15292692e-01 6.30750821e-01 -4.72830102e-01 8.15227170e+01] [ 6.18254778e-01 -1.40034618e-02 7.85852996e-01 5.86821800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.18710568099996 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:117.55, Y:81.54, Z:58.70 [[ 4.89028162e-01 -7.89286314e-01 -3.71320039e-01 1.17548212e+02] [ 6.18935353e-01 6.13948014e-01 -4.89884542e-01 8.15412502e+01] [ 6.14630365e-01 9.74423784e-03 7.88755073e-01 5.87040916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.21710568099996 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:117.57, Y:81.56, Z:58.72 [[ 4.90404390e-01 -7.66443694e-01 -4.14810315e-01 1.17573770e+02] [ 6.23206243e-01 6.41133156e-01 -4.47841774e-01 8.15588740e+01] [ 6.09194150e-01 -3.88888063e-02 7.92067010e-01 5.87158091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.24710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:117.58, Y:81.57, Z:58.74 [[ 4.87511709e-01 -7.68757329e-01 -4.13937801e-01 1.17580989e+02] [ 6.20243819e-01 6.38599794e-01 -4.55508406e-01 8.15724298e+01] [ 6.14516020e-01 -3.46766813e-02 7.88141858e-01 5.87361191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.27710568099997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:117.59, Y:81.59, Z:58.76 [[ 4.87416272e-01 -7.83501238e-01 -3.85423388e-01 1.17592146e+02] [ 6.18105495e-01 6.21380104e-01 -4.81489734e-01 8.15925438e+01] [ 6.16742227e-01 -3.54638305e-03 7.87157194e-01 5.87573947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.30710568099997 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:117.61, Y:81.61, Z:58.77 [[ 4.87425483e-01 -7.70360482e-01 -4.11048811e-01 1.17608440e+02] [ 6.18852993e-01 6.36889533e-01 -4.59774615e-01 8.16093241e+01] [ 6.15984880e-01 -3.02729233e-02 7.87176078e-01 5.87706866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.33710568099997 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:117.62, Y:81.63, Z:58.79 [[ 4.85559498e-01 -7.60546159e-01 -4.31046998e-01 1.17623044e+02] [ 6.20399003e-01 6.47173567e-01 -4.43025339e-01 8.16272700e+01] [ 6.15903444e-01 -5.23059663e-02 7.86083351e-01 5.87903344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.36710568099997 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:117.63, Y:81.65, Z:58.81 [[ 4.89464055e-01 -7.71322947e-01 -4.06799522e-01 1.17627308e+02] [ 6.17080163e-01 6.35983269e-01 -4.63397620e-01 8.16470928e+01] [ 6.16146908e-01 -2.42114375e-02 7.87259039e-01 5.88110871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.39710568099997 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:117.64, Y:81.67, Z:58.83 [[ 4.97263786e-01 -7.66614474e-01 -4.06240046e-01 1.17635216e+02] [ 6.11264056e-01 6.41853057e-01 -4.63012859e-01 8.16678880e+01] [ 6.15698775e-01 -1.80804107e-02 7.87774154e-01 5.88289149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.42710568099997 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:117.65, Y:81.69, Z:58.85 [[ 5.01685473e-01 -7.64198445e-01 -4.05354688e-01 1.17645242e+02] [ 6.08723435e-01 6.44810340e-01 -4.62250370e-01 8.16866152e+01] [ 6.14627908e-01 -1.48446024e-02 7.88677483e-01 5.88456810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.45710568099997 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:117.65, Y:81.71, Z:58.86 [[ 5.09295513e-01 -7.59448314e-01 -4.04791723e-01 1.17654010e+02] [ 6.02899705e-01 6.50508050e-01 -4.61899581e-01 8.17090109e+01] [ 6.14109132e-01 -8.80542556e-03 7.89171995e-01 5.88627024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.48710568099997 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:117.67, Y:81.73, Z:58.88 [[ 5.12431748e-01 -7.57012600e-01 -4.05395643e-01 1.17665426e+02] [ 5.98917671e-01 6.53376897e-01 -4.63029431e-01 8.17279273e+01] [ 6.15395260e-01 -5.52763361e-03 7.88199289e-01 5.88779723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.51710568099998 meters Centerline goodness : 0.997825 Centerline is valid? [True, True] Translation: X:117.68, Y:81.75, Z:58.89 [[ 5.18743313e-01 -7.51500564e-01 -4.07617808e-01 1.17677369e+02] [ 5.89717467e-01 6.59731241e-01 -4.65819706e-01 8.17508907e+01] [ 6.18981974e-01 1.26151619e-03 7.85404179e-01 5.88910276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.54710568099998 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:117.69, Y:81.77, Z:58.91 [[ 5.23087816e-01 -7.48244635e-01 -4.08055270e-01 1.17691200e+02] [ 5.84841521e-01 6.63400065e-01 -4.66755557e-01 8.17690263e+01] [ 6.19951233e-01 5.50648033e-03 7.84621021e-01 5.89063411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.57710568099998 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:117.71, Y:81.79, Z:58.92 [[ 5.30506853e-01 -7.42178411e-01 -4.09553030e-01 1.17705359e+02] [ 5.75543085e-01 6.70076824e-01 -4.68772021e-01 8.17876014e+01] [ 6.22344467e-01 1.29713551e-02 7.82636000e-01 5.89216732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.60710568099998 meters Centerline goodness : 0.997350 Centerline is valid? [True, True] Translation: X:117.72, Y:81.81, Z:58.94 [[ 5.33016525e-01 -7.40349173e-01 -4.09605282e-01 1.17720231e+02] [ 5.72833193e-01 6.72043882e-01 -4.69275136e-01 8.18050168e+01] [ 6.22700183e-01 1.54959012e-02 7.82307075e-01 5.89381012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.63710568099998 meters Centerline goodness : 0.997414 Centerline is valid? [True, True] Translation: X:117.74, Y:81.82, Z:58.96 [[ 5.34028146e-01 -7.39452419e-01 -4.09907379e-01 1.17735889e+02] [ 5.71063706e-01 6.72995509e-01 -4.70067323e-01 8.18204665e+01] [ 6.23458245e-01 1.69459537e-02 7.81672983e-01 5.89554227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.66710568099998 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:117.75, Y:81.84, Z:58.97 [[ 5.33713683e-01 -7.39618105e-01 -4.10018003e-01 1.17751416e+02] [ 5.70811664e-01 6.72808387e-01 -4.70640966e-01 8.18364653e+01] [ 6.23958131e-01 1.71444650e-02 7.81269683e-01 5.89729790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.69710568099998 meters Centerline goodness : 0.997623 Centerline is valid? [True, True] Translation: X:117.77, Y:81.85, Z:58.99 [[ 5.32892735e-01 -7.39935262e-01 -4.10513266e-01 1.17771634e+02] [ 5.70386547e-01 6.72458395e-01 -4.71655482e-01 8.18501771e+01] [ 6.25047615e-01 1.71905355e-02 7.80397312e-01 5.89887331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.72710568099998 meters Centerline goodness : 0.997755 Centerline is valid? [True, True] Translation: X:117.79, Y:81.86, Z:59.01 [[ 5.32097235e-01 -7.41239836e-01 -4.09189490e-01 1.17793443e+02] [ 5.72929333e-01 6.71050597e-01 -4.70577386e-01 8.18599450e+01] [ 6.23397556e-01 1.59562644e-02 7.81742212e-01 5.90068837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75710568099996 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:117.81, Y:81.87, Z:59.03 [[ 5.31430972e-01 -7.42201683e-01 -4.08310890e-01 1.17808605e+02] [ 5.74613355e-01 6.70005128e-01 -4.70013426e-01 8.18725163e+01] [ 6.22415146e-01 1.51588009e-02 7.82540476e-01 5.90264024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.78710568099996 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:117.82, Y:81.88, Z:59.05 [[ 5.31051151e-01 -7.42713145e-01 -4.07874809e-01 1.17824223e+02] [ 5.75347870e-01 6.69444410e-01 -4.69913832e-01 8.18848412e+01] [ 6.22060691e-01 1.48783786e-02 7.82827650e-01 5.90468341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81710568099996 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:117.84, Y:81.90, Z:59.06 [[ 5.31552661e-01 -7.43096200e-01 -4.06521594e-01 1.17843707e+02] [ 5.76744924e-01 6.69022401e-01 -4.68800938e-01 8.18954543e+01] [ 6.20336248e-01 1.47331202e-02 7.84197599e-01 5.90637515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.84710568099996 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:117.86, Y:81.91, Z:59.08 [[ 5.30943692e-01 -7.43749719e-01 -4.06122089e-01 1.17861301e+02] [ 5.77621806e-01 6.68305397e-01 -4.68744009e-01 8.19080653e+01] [ 6.20041809e-01 1.42916998e-02 7.84438591e-01 5.90825182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87710568099996 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:117.88, Y:81.92, Z:59.10 [[ 5.29627281e-01 -7.45154538e-01 -4.05264923e-01 1.17878376e+02] [ 5.79846195e-01 6.66765599e-01 -4.68190160e-01 8.19222340e+01] [ 6.19090732e-01 1.29749581e-02 7.85212275e-01 5.90994000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.90710568099996 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:117.90, Y:81.93, Z:59.12 [[ 5.23709812e-01 -7.49570232e-01 -4.04811685e-01 1.17895664e+02] [ 5.85492555e-01 6.61874819e-01 -4.68102757e-01 8.19345585e+01] [ 6.18810553e-01 8.13577905e-03 7.85498127e-01 5.91179003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.93710568099996 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:117.91, Y:81.95, Z:59.13 [[ 5.17219281e-01 -7.53625095e-01 -4.05627209e-01 1.17914330e+02] [ 5.89520037e-01 6.57294042e-01 -4.69500446e-01 8.19470464e+01] [ 6.20443665e-01 3.70931601e-03 7.84242245e-01 5.91338865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.96710568099996 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:117.93, Y:81.96, Z:59.15 [[ 5.14767493e-01 -7.55152282e-01 -4.05905728e-01 1.17931003e+02] [ 5.90882258e-01 6.55545661e-01 -4.70231904e-01 8.19610582e+01] [ 6.21186434e-01 2.21760540e-03 7.83659681e-01 5.91511015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.99710568099997 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:117.95, Y:81.97, Z:59.17 [[ 5.13953497e-01 -7.55625047e-01 -4.06057374e-01 1.17947811e+02] [ 5.91008801e-01 6.55001360e-01 -4.70830985e-01 8.19745168e+01] [ 6.21739817e-01 2.00174919e-03 7.83221292e-01 5.91699622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.02710568099997 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:117.96, Y:81.99, Z:59.19 [[ 5.13706066e-01 -7.61855432e-01 -3.94566064e-01 1.17959357e+02] [ 5.84892962e-01 6.47431448e-01 -4.88602848e-01 8.19901519e+01] [ 6.27699212e-01 2.02193326e-02 7.78193342e-01 5.91911452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.05710568099997 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:117.98, Y:82.01, Z:59.20 [[ 5.20873172e-01 -7.41865919e-01 -4.22286747e-01 1.17984294e+02] [ 5.78964269e-01 6.70542099e-01 -4.63868159e-01 8.20052821e+01] [ 6.27289020e-01 -2.87245848e-03 7.78781250e-01 5.92007861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.08710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:118.00, Y:82.02, Z:59.22 [[ 5.28516769e-01 -7.43803321e-01 -4.09178012e-01 1.17998344e+02] [ 5.72177389e-01 6.68176781e-01 -4.75555280e-01 8.20188017e+01] [ 6.27122843e-01 1.72165339e-02 7.78730075e-01 5.92206029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.11710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:118.01, Y:82.03, Z:59.24 [[ 5.31933711e-01 -7.42177533e-01 -4.07699689e-01 1.18012894e+02] [ 5.71192180e-01 6.69922150e-01 -4.74282413e-01 8.20341393e+01] [ 6.25128803e-01 1.94119296e-02 7.80280178e-01 5.92386313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.14710568099997 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:118.03, Y:82.05, Z:59.26 [[ 5.37248495e-01 -7.39701312e-01 -4.05223425e-01 1.18027894e+02] [ 5.70109923e-01 6.72559877e-01 -4.71845194e-01 8.20492034e+01] [ 6.21561526e-01 2.24762248e-02 7.83042840e-01 5.92572020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.17710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:118.04, Y:82.06, Z:59.27 [[ 5.38334680e-01 -7.39178235e-01 -4.04736098e-01 1.18044061e+02] [ 5.69571331e-01 6.73102615e-01 -4.71721707e-01 8.20648694e+01] [ 6.21115345e-01 2.34180766e-02 7.83369212e-01 5.92746176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.20710568099997 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:118.06, Y:82.08, Z:59.30 [[ 5.34569991e-01 -7.51305430e-01 -3.87007849e-01 1.18055249e+02] [ 5.66216589e-01 6.58349995e-01 -4.95957718e-01 8.20798415e+01] [ 6.27402342e-01 4.59938482e-02 7.77335749e-01 5.92969050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.23710568099997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:118.08, Y:82.09, Z:59.31 [[ 5.33986186e-01 -7.29311823e-01 -4.27741766e-01 1.18083480e+02] [ 5.72118152e-01 6.84174018e-01 -4.52312650e-01 8.20930564e+01] [ 6.22526766e-01 -3.19012173e-03 7.82592007e-01 5.93050167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.26710568099998 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:118.09, Y:82.11, Z:59.32 [[ 5.32611614e-01 -7.43363974e-01 -4.04641658e-01 1.18093455e+02] [ 5.74127651e-01 6.68605972e-01 -4.72592314e-01 8.21091164e+01] [ 6.21853929e-01 1.93921908e-02 7.82893118e-01 5.93242194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.10, Y:82.12, Z:59.35 [[ 5.25454792e-01 -7.57221408e-01 -3.87960049e-01 1.18104365e+02] [ 5.73957441e-01 6.52074467e-01 -4.95350123e-01 8.21216932e+01] [ 6.28068561e-01 3.76115388e-02 7.77248516e-01 5.93476320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.32710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:118.12, Y:82.14, Z:59.36 [[ 5.22007688e-01 -7.49056775e-01 -4.07948430e-01 1.18123160e+02] [ 5.76510983e-01 6.62345393e-01 -4.78470132e-01 8.21363803e+01] [ 6.28604057e-01 1.45783372e-02 7.77588845e-01 5.93638890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.35710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.14, Y:82.15, Z:59.38 [[ 5.17757168e-01 -7.53060881e-01 -4.05988699e-01 1.18139213e+02] [ 5.80175593e-01 6.57819940e-01 -4.80280343e-01 8.21481315e+01] [ 6.28747800e-01 1.31238560e-02 7.77498532e-01 5.93808894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.15, Y:82.16, Z:59.40 [[ 5.14020509e-01 -7.59402031e-01 -3.98862723e-01 1.18152295e+02] [ 5.78010693e-01 6.50218467e-01 -4.93071581e-01 8.21613449e+01] [ 6.33787468e-01 2.29019857e-02 7.73168122e-01 5.94012336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.17, Y:82.18, Z:59.41 [[ 5.10029641e-01 -7.54051671e-01 -4.13854858e-01 1.18174745e+02] [ 5.81789048e-01 6.56803554e-01 -4.79719288e-01 8.21780130e+01] [ 6.33554472e-01 3.89483242e-03 7.73688284e-01 5.94142021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:82.19, Z:59.43 [[ 5.13494614e-01 -7.45788265e-01 -4.24409172e-01 1.18194530e+02] [ 5.87613416e-01 6.66046968e-01 -4.59447396e-01 8.21944693e+01] [ 6.25326918e-01 -1.34647603e-02 7.80246721e-01 5.94266196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.47710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:118.21, Y:82.21, Z:59.45 [[ 5.14453240e-01 -7.55420030e-01 -4.05805917e-01 1.18205564e+02] [ 5.86605904e-01 6.55205107e-01 -4.76024980e-01 8.22114678e+01] [ 6.25484914e-01 6.84444599e-03 7.80206239e-01 5.94459230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.50710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.22, Y:82.23, Z:59.46 [[ 5.15521032e-01 -7.54625408e-01 -4.05929255e-01 1.18221164e+02] [ 5.85101160e-01 6.56104518e-01 -4.76637698e-01 8.22278431e+01] [ 6.26014935e-01 8.20707987e-03 7.79767879e-01 5.94629923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.23, Y:82.24, Z:59.48 [[ 5.17733671e-01 -7.62517653e-01 -3.87967362e-01 1.18232677e+02] [ 5.75268726e-01 6.45929462e-01 -5.01837646e-01 8.22394168e+01] [ 6.33259614e-01 3.66327565e-02 7.73071991e-01 5.94824646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.56710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.25, Y:82.25, Z:59.50 [[ 5.18990539e-01 -7.49869636e-01 -4.10297879e-01 1.18252661e+02] [ 5.71062113e-01 6.61338065e-01 -4.86333247e-01 8.22549463e+01] [ 6.36032140e-01 1.80967805e-02 7.71450338e-01 5.94989548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.27, Y:82.27, Z:59.52 [[ 5.19740172e-01 -7.49768357e-01 -4.09533350e-01 1.18268055e+02] [ 5.70916584e-01 6.61428051e-01 -4.86381730e-01 8.22717640e+01] [ 6.35550476e-01 1.89827431e-02 7.71825918e-01 5.95167620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.62710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.29, Y:82.29, Z:59.53 [[ 5.21704852e-01 -7.43637761e-01 -4.18123101e-01 1.18288293e+02] [ 5.76809987e-01 6.68572552e-01 -4.69362314e-01 8.22868327e+01] [ 6.28581169e-01 3.69101648e-03 7.77735231e-01 5.95326832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.30, Y:82.30, Z:59.55 [[ 5.22822919e-01 -7.52944362e-01 -3.99663588e-01 1.18299033e+02] [ 5.75824674e-01 6.57653447e-01 -4.85713793e-01 8.22997297e+01] [ 6.28555598e-01 2.38061480e-02 7.77400236e-01 5.95522864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.68710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:82.31, Z:59.57 [[ 5.18057605e-01 -7.60224625e-01 -3.92013823e-01 1.18312606e+02] [ 5.79898720e-01 6.49067457e-01 -4.92370705e-01 8.23147790e+01] [ 6.28755749e-01 2.77480740e-02 7.77107619e-01 5.95740828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.33, Y:82.33, Z:59.59 [[ 5.15739717e-01 -7.51106339e-01 -4.12130820e-01 1.18332598e+02] [ 5.87431553e-01 6.60180869e-01 -4.68065584e-01 8.23319491e+01] [ 6.23647910e-01 -6.98635515e-04 7.81705057e-01 5.95888797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.74710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.35, Y:82.35, Z:59.60 [[ 5.14979634e-01 -7.73316043e-01 -3.69835469e-01 1.18348296e+02] [ 5.96571974e-01 6.33143180e-01 -4.93185152e-01 8.23533637e+01] [ 6.15546795e-01 3.33468332e-02 7.87394521e-01 5.96012034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.77710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.37, Y:82.36, Z:59.62 [[ 5.11381471e-01 -7.44139879e-01 -4.29819533e-01 1.18370384e+02] [ 5.91473264e-01 6.67627447e-01 -4.52142644e-01 8.23605888e+01] [ 6.23416690e-01 -2.30093916e-02 7.81551149e-01 5.96226389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.80710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.38, Y:82.38, Z:59.64 [[ 5.12903186e-01 -7.57357087e-01 -4.04154133e-01 1.18379960e+02] [ 5.89148337e-01 6.52973289e-01 -4.75951805e-01 8.23796159e+01] [ 6.24367327e-01 6.01046199e-03 7.81107749e-01 5.96408954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.83710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.40, Y:82.40, Z:59.66 [[ 5.17086354e-01 -7.54141474e-01 -4.04836188e-01 1.18396053e+02] [ 5.84035566e-01 6.56630819e-01 -4.77219473e-01 8.23951480e+01] [ 6.25718915e-01 1.03249451e-02 7.79980279e-01 5.96570717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.86710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:82.41, Z:59.68 [[ 5.17759957e-01 -7.59309662e-01 -3.94174409e-01 1.18408421e+02] [ 5.79155992e-01 6.50196875e-01 -4.91754370e-01 8.24104358e+01] [ 6.29684813e-01 2.63222510e-02 7.76404646e-01 5.96762769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.89710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.43, Y:82.42, Z:59.69 [[ 5.21425722e-01 -7.44825187e-01 -4.16354005e-01 1.18429263e+02] [ 5.79305072e-01 6.67253272e-01 -4.68165253e-01 8.24249119e+01] [ 6.26514844e-01 2.91741855e-03 7.79404028e-01 5.96921020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.92710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.44, Y:82.44, Z:59.71 [[ 5.21435619e-01 -7.51202470e-01 -4.04721811e-01 1.18441585e+02] [ 5.79599722e-01 6.59907581e-01 -4.78106837e-01 8.24429572e+01] [ 6.26234028e-01 1.47252856e-02 7.79496060e-01 5.97105058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.95710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.46, Y:82.45, Z:59.73 [[ 5.24049818e-01 -7.49387389e-01 -4.04710181e-01 1.18461761e+02] [ 5.76962109e-01 6.61906476e-01 -4.78533742e-01 8.24545576e+01] [ 6.26487441e-01 1.72730811e-02 7.79240096e-01 5.97274705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.98710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.48, Y:82.47, Z:59.74 [[ 5.24677749e-01 -7.48570983e-01 -4.05406887e-01 1.18480132e+02] [ 5.74868734e-01 6.62790944e-01 -4.79827160e-01 8.24680274e+01] [ 6.27884702e-01 1.86988910e-02 7.78081713e-01 5.97434098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.01710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.50, Y:82.48, Z:59.76 [[ 5.24843853e-01 -7.47684510e-01 -4.06825273e-01 1.18502068e+02] [ 5.71997040e-01 6.63745668e-01 -4.81934721e-01 8.24805442e+01] [ 6.30363638e-01 2.02376238e-02 7.76036160e-01 5.97589323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.52, Y:82.49, Z:59.78 [[ 5.25580561e-01 -7.47143557e-01 -4.06868013e-01 1.18518606e+02] [ 5.70878335e-01 6.64321204e-01 -4.82467891e-01 8.24945718e+01] [ 6.30763824e-01 2.13036112e-02 7.75682380e-01 5.97756963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.07710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.54, Y:82.51, Z:59.79 [[ 5.29470670e-01 -7.44792003e-01 -4.06135053e-01 1.18537831e+02] [ 5.68292050e-01 6.66849751e-01 -4.82032733e-01 8.25063911e+01] [ 6.29845184e-01 2.44188721e-02 7.76336759e-01 5.97931824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.10710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.56, Y:82.52, Z:59.81 [[ 5.35018738e-01 -7.46892889e-01 -3.94849290e-01 1.18555893e+02] [ 5.60400301e-01 6.63490848e-01 -4.95713020e-01 8.25167620e+01] [ 6.32223420e-01 4.39420936e-02 7.73539036e-01 5.98105062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.58, Y:82.53, Z:59.83 [[ 5.36362220e-01 -7.34729406e-01 -4.15317072e-01 1.18578081e+02] [ 5.61085607e-01 6.78014368e-01 -4.74846774e-01 8.25318184e+01] [ 6.30474830e-01 2.16614381e-02 7.75907386e-01 5.98267237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.59, Y:82.55, Z:59.84 [[ 5.37021850e-01 -7.46817124e-01 -3.92264855e-01 1.18590292e+02] [ 5.56065273e-01 6.63071735e-01 -5.01126018e-01 8.25463098e+01] [ 6.34349229e-01 5.09907575e-02 7.71363078e-01 5.98435033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.19710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:118.62, Y:82.57, Z:59.85 [[ 5.37998722e-01 -7.53362506e-01 -3.78156463e-01 1.18617310e+02] [ 5.64819545e-01 6.55188785e-01 -5.01703635e-01 8.25672730e+01] [ 6.25728581e-01 5.63257531e-02 7.78004597e-01 5.98526982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.22710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:118.64, Y:82.57, Z:59.87 [[ 5.33084905e-01 -7.46079744e-01 -3.98980576e-01 1.18640538e+02] [ 5.66189998e-01 6.65001659e-01 -4.87033551e-01 8.25730035e+01] [ 6.28688612e-01 3.37314223e-02 7.76925235e-01 5.98713201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:82.59, Z:59.89 [[ 5.30236102e-01 -7.44982293e-01 -4.04785201e-01 1.18657824e+02] [ 5.67619606e-01 6.66559283e-01 -4.83225315e-01 8.25850309e+01] [ 6.29807636e-01 2.64594916e-02 7.76300352e-01 5.98909171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:82.59, Z:59.91 [[ 5.26967346e-01 -7.40580999e-01 -4.16947480e-01 1.18680304e+02] [ 5.74465625e-01 6.71932682e-01 -4.67435254e-01 8.25947226e+01] [ 6.26334305e-01 6.80112019e-03 7.79524908e-01 5.99099962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.70, Y:82.60, Z:59.94 [[ 5.18337986e-01 -7.34061359e-01 -4.38725031e-01 1.18697281e+02] [ 5.75656458e-01 6.78887281e-01 -4.55775935e-01 8.25968282e+01] [ 6.32412346e-01 -1.63089165e-02 7.74460228e-01 5.99369833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.71, Y:82.62, Z:59.95 [[ 5.16315141e-01 -7.59080371e-01 -3.96504308e-01 1.18709075e+02] [ 5.76009063e-01 6.50426090e-01 -4.95135800e-01 8.26152827e+01] [ 6.33744613e-01 2.72560352e-02 7.73062012e-01 5.99530927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:118.73, Y:82.63, Z:59.97 [[ 5.11502520e-01 -7.53960641e-01 -4.12199617e-01 1.18730883e+02] [ 5.83601674e-01 6.56909653e-01 -4.77366519e-01 8.26265713e+01] [ 6.30693474e-01 3.61379095e-03 7.76023635e-01 5.99706950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.75, Y:82.64, Z:59.99 [[ 5.09522692e-01 -7.59255372e-01 -4.04867765e-01 1.18746338e+02] [ 5.85439025e-01 6.50725602e-01 -4.83546625e-01 8.26413006e+01] [ 6.30593193e-01 9.35258868e-03 7.76057185e-01 5.99875004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.43710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.76, Y:82.65, Z:60.01 [[ 5.02420815e-01 -7.70841160e-01 -3.91634052e-01 1.18764029e+02] [ 5.85503038e-01 6.36616996e-01 -5.01901378e-01 8.26547656e+01] [ 6.36207134e-01 2.28627722e-02 7.71179471e-01 6.00060050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.46710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:118.79, Y:82.67, Z:60.02 [[ 4.97491785e-01 -7.58403058e-01 -4.21101800e-01 1.18785365e+02] [ 5.93045897e-01 6.51625778e-01 -4.72948632e-01 8.26666977e+01] [ 6.33086477e-01 -1.44446355e-02 7.73946293e-01 6.00231976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.49710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:82.69, Z:60.04 [[ 4.92454371e-01 -7.75924686e-01 -3.94245577e-01 1.18794710e+02] [ 5.92974599e-01 6.30696770e-01 -5.00602346e-01 8.26860643e+01] [ 6.37079130e-01 1.27462006e-02 7.70693010e-01 6.00396516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.52710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.81, Y:82.70, Z:60.06 [[ 4.85121167e-01 -7.73044776e-01 -4.08728794e-01 1.18810217e+02] [ 5.98415210e-01 6.34311126e-01 -4.89437057e-01 8.26998169e+01] [ 6.37617982e-01 -7.15325125e-03 7.70319505e-01 6.00585754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.55710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.82, Y:82.72, Z:60.08 [[ 4.77113485e-01 -7.76956926e-01 -4.10731856e-01 1.18824788e+02] [ 6.04655854e-01 6.29364206e-01 -4.88151610e-01 8.27152218e+01] [ 6.37772703e-01 -1.54477059e-02 7.70069703e-01 6.00768210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.58710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.84, Y:82.73, Z:60.09 [[ 4.74550632e-01 -7.75112096e-01 -4.17136592e-01 1.18839720e+02] [ 6.10151374e-01 6.31233811e-01 -4.78810169e-01 8.27322896e+01] [ 6.34442274e-01 -2.72967967e-02 7.72488114e-01 6.00944938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.61710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:118.85, Y:82.75, Z:60.11 [[ 4.70017666e-01 -7.83555298e-01 -4.06355127e-01 1.18846930e+02] [ 6.13585708e-01 6.20997025e-01 -4.87724588e-01 8.27542737e+01] [ 6.34504509e-01 -2.00945258e-02 7.72657905e-01 6.01110451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.86, Y:82.77, Z:60.13 [[ 4.69281751e-01 -7.84182710e-01 -4.05995217e-01 1.18856872e+02] [ 6.14391570e-01 6.20189507e-01 -4.87737608e-01 8.27729309e+01] [ 6.34269372e-01 -2.05536807e-02 7.72838864e-01 6.01281841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.87, Y:82.79, Z:60.14 [[ 4.70627237e-01 -7.84145228e-01 -4.04507435e-01 1.18866187e+02] [ 6.15461908e-01 6.20252093e-01 -4.86306468e-01 8.27943763e+01] [ 6.32231479e-01 -2.00898482e-02 7.74519047e-01 6.01449651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.70710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:118.88, Y:82.82, Z:60.15 [[ 4.74801860e-01 -8.03545350e-01 -3.58995911e-01 1.18878939e+02] [ 6.17811190e-01 5.94822104e-01 -5.14291744e-01 8.28244736e+01] [ 6.26795443e-01 2.23949854e-02 7.78861950e-01 6.01506004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.73710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.89, Y:82.83, Z:60.18 [[ 4.69797725e-01 -7.64384718e-01 -4.41594950e-01 1.18891190e+02] [ 6.14837316e-01 6.42279943e-01 -4.57658769e-01 8.28292545e+01] [ 6.33454949e-01 -5.65020050e-02 7.71713905e-01 6.01822382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.89, Y:82.86, Z:60.20 [[ 4.70347306e-01 -7.85387600e-01 -4.02417358e-01 1.18891082e+02] [ 6.10961120e-01 6.18853827e-01 -4.93706848e-01 8.28571949e+01] [ 6.36788758e-01 -1.36476735e-02 7.70917517e-01 6.01991296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.79710568099998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:118.90, Y:82.89, Z:60.21 [[ 4.75824703e-01 -8.03810928e-01 -3.57041796e-01 1.18901371e+02] [ 6.15044059e-01 5.94272284e-01 -5.18228962e-01 8.28892306e+01] [ 6.28738147e-01 2.69897066e-02 7.77148569e-01 6.02074457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.82710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:118.92, Y:82.90, Z:60.23 [[ 4.77406029e-01 -7.83119871e-01 -3.98505649e-01 1.18916996e+02] [ 6.15089078e-01 6.21721560e-01 -4.84899710e-01 8.29039809e+01] [ 6.27494152e-01 -1.36224271e-02 7.78502100e-01 6.02278063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.85710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:118.93, Y:82.91, Z:60.26 [[ 4.72501781e-01 -7.56461295e-01 -4.52226023e-01 1.18928142e+02] [ 6.12556773e-01 6.50795409e-01 -4.48597297e-01 8.29086500e+01] [ 6.33653112e-01 -6.50510919e-02 7.70877480e-01 6.02560742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.93, Y:82.94, Z:60.27 [[ 4.69903772e-01 -7.84207156e-01 -4.05227813e-01 1.18930417e+02] [ 6.13320379e-01 6.20216408e-01 -4.89049814e-01 8.29358258e+01] [ 6.34845302e-01 -1.87281234e-02 7.72412260e-01 6.02726265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.91710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.94, Y:82.95, Z:60.29 [[ 4.68734973e-01 -7.84681202e-01 -4.05663576e-01 1.18941993e+02] [ 6.13130084e-01 6.19607757e-01 -4.90058902e-01 8.29545473e+01] [ 6.35892307e-01 -1.90167961e-02 7.71543476e-01 6.02889781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.95, Y:82.97, Z:60.30 [[ 4.69329653e-01 -7.79191361e-01 -4.15440128e-01 1.18953120e+02] [ 6.12577685e-01 6.26155880e-01 -4.82366452e-01 8.29740601e+01] [ 6.35986051e-01 -2.81004721e-02 7.71188762e-01 6.03038174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:83.00, Z:60.32 [[ 4.71254478e-01 -7.88636294e-01 -3.94932923e-01 1.18956991e+02] [ 6.09516004e-01 6.14840667e-01 -5.00460983e-01 8.29982784e+01] [ 6.37502516e-01 -4.87345725e-03 7.70432860e-01 6.03243847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.00710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:118.97, Y:83.02, Z:60.34 [[ 4.73907557e-01 -7.81883848e-01 -4.05054658e-01 1.18967044e+02] [ 6.09123022e-01 6.23259825e-01 -4.90424647e-01 8.30172407e+01] [ 6.35909405e-01 -1.43121714e-02 7.71630994e-01 6.03421293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.97, Y:83.04, Z:60.36 [[ 4.83545323e-01 -7.80939099e-01 -3.95370767e-01 1.18970210e+02] [ 5.97429047e-01 6.24567838e-01 -5.02984640e-01 8.30402034e+01] [ 6.39736238e-01 7.00988951e-03 7.68562560e-01 6.03618070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.06710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.98, Y:83.06, Z:60.38 [[ 4.90566044e-01 -7.65251910e-01 -4.16814671e-01 1.18984525e+02] [ 5.94280611e-01 6.43634717e-01 -4.82249838e-01 8.30588323e+01] [ 6.37319003e-01 -1.11294823e-02 7.70519710e-01 6.03765980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:83.08, Z:60.40 [[ 5.01173624e-01 -7.69397716e-01 -3.96045646e-01 1.18988484e+02] [ 5.84607994e-01 6.38477001e-01 -5.00580276e-01 8.30819846e+01] [ 6.38011357e-01 1.93461805e-02 7.69783887e-01 6.03975016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.12710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.00, Y:83.10, Z:60.41 [[ 5.10947222e-01 -7.53564699e-01 -4.13609939e-01 1.18999739e+02] [ 5.81043755e-01 6.57355777e-01 -4.79866166e-01 8.31011609e+01] [ 6.33499085e-01 4.86081241e-03 7.73728170e-01 6.04136629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.15710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.01, Y:83.12, Z:60.43 [[ 5.11881422e-01 -7.66527199e-01 -3.87831746e-01 1.19005740e+02] [ 5.75656519e-01 6.41173680e-01 -5.07460229e-01 8.31191442e+01] [ 6.37649576e-01 3.65015905e-02 7.69461274e-01 6.04346028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.18710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:119.03, Y:83.14, Z:60.45 [[ 5.14577951e-01 -7.49064668e-01 -4.17266888e-01 1.19025974e+02] [ 5.77286978e-01 6.62479861e-01 -4.77347022e-01 8.31361341e+01] [ 6.33994698e-01 4.74951117e-03 7.73322808e-01 6.04472865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.21710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.04, Y:83.15, Z:60.47 [[ 5.14903359e-01 -7.56764382e-01 -4.02718514e-01 1.19038449e+02] [ 5.76985777e-01 6.53382291e-01 -4.90080601e-01 8.31538747e+01] [ 6.34004688e-01 1.99812933e-02 7.73071021e-01 6.04650251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.24710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.05, Y:83.17, Z:60.48 [[ 5.12629896e-01 -7.57934559e-01 -4.03417643e-01 1.19053607e+02] [ 5.77355695e-01 6.52053918e-01 -4.91412341e-01 8.31708086e+01] [ 6.35508451e-01 1.89971839e-02 7.71860166e-01 6.04810633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.27710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.07, Y:83.19, Z:60.50 [[ 5.13124850e-01 -7.58446729e-01 -4.01822657e-01 1.19068721e+02] [ 5.77237978e-01 6.51405581e-01 -4.92409470e-01 8.31874425e+01] [ 6.35215873e-01 2.07202375e-02 7.72056648e-01 6.04984562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.30710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:119.08, Y:83.20, Z:60.51 [[ 5.12695381e-01 -7.57721228e-01 -4.03735045e-01 1.19083966e+02] [ 5.78328483e-01 6.52339063e-01 -4.89887654e-01 8.32027869e+01] [ 6.34570416e-01 1.76716616e-02 7.72662992e-01 6.05144399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.33710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:83.22, Z:60.53 [[ 5.07686641e-01 -7.71502983e-01 -3.83454590e-01 1.19096439e+02] [ 5.75532634e-01 6.34904447e-01 -5.15420731e-01 8.32169009e+01] [ 6.41105656e-01 4.09815894e-02 7.66357650e-01 6.05348968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.36710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:83.23, Z:60.55 [[ 5.07030465e-01 -7.51696327e-01 -4.21749617e-01 1.19120029e+02] [ 5.81464984e-01 6.59499109e-01 -4.76402558e-01 8.32304136e+01] [ 6.36253550e-01 -3.68202384e-03 7.71471233e-01 6.05481264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.39710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:119.13, Y:83.25, Z:60.57 [[ 5.03896911e-01 -7.64259320e-01 -4.02486764e-01 1.19133036e+02] [ 5.84605342e-01 6.44781197e-01 -4.92436598e-01 8.32474231e+01] [ 6.35865157e-01 1.28413683e-02 7.71693334e-01 6.05660824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.42710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:83.26, Z:60.58 [[ 5.02520568e-01 -7.65507039e-01 -4.01835853e-01 1.19146308e+02] [ 5.86465191e-01 6.43322145e-01 -4.92133312e-01 8.32643117e+01] [ 6.35241417e-01 1.16443710e-02 7.72225842e-01 6.05833348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.45710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:83.28, Z:60.60 [[ 5.01080855e-01 -7.66888383e-01 -4.00998983e-01 1.19161361e+02] [ 5.88682546e-01 6.41698271e-01 -4.91605725e-01 8.32809682e+01] [ 6.34327074e-01 1.02731149e-02 7.72996524e-01 6.05999433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.48710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.18, Y:83.30, Z:60.62 [[ 4.97708717e-01 -7.68526791e-01 -4.02060448e-01 1.19177173e+02] [ 5.89278333e-01 6.39759108e-01 -4.93415981e-01 8.32958092e+01] [ 6.36425234e-01 8.65192443e-03 7.71289871e-01 6.06160587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.51710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:119.19, Y:83.31, Z:60.63 [[ 4.94723324e-01 -7.70427487e-01 -4.02107350e-01 1.19191978e+02] [ 5.91298623e-01 6.37493538e-01 -4.93931096e-01 8.33122732e+01] [ 6.36878930e-01 6.59371134e-03 7.70935634e-01 6.06330215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.21, Y:83.33, Z:60.65 [[ 4.89069683e-01 -7.74455316e-01 -4.01285197e-01 1.19208445e+02] [ 5.96929568e-01 6.32626122e-01 -4.93415931e-01 8.33268639e+01] [ 6.35992089e-01 1.77577365e-03 7.71693534e-01 6.06507730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:83.35, Z:60.66 [[ 4.87213255e-01 -7.99928849e-01 -3.50338523e-01 1.19223512e+02] [ 6.07585615e-01 5.98661907e-01 -5.21961341e-01 8.33521902e+01] [ 6.27266263e-01 4.14458375e-02 7.77701278e-01 6.06601743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.25, Y:83.35, Z:60.69 [[ 4.80083009e-01 -7.58367438e-01 -4.40907171e-01 1.19246295e+02] [ 6.05672961e-01 6.50145261e-01 -4.58771625e-01 8.33525448e+01] [ 6.34571170e-01 -4.67970895e-02 7.71446345e-01 6.06872319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.25, Y:83.39, Z:60.70 [[ 4.78339925e-01 -8.05696045e-01 -3.49349109e-01 1.19250997e+02] [ 6.14321015e-01 5.91275292e-01 -5.22497100e-01 8.33852668e+01] [ 6.27535343e-01 3.53187242e-02 7.77786591e-01 6.06966531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.27, Y:83.39, Z:60.72 [[ 4.72113699e-01 -7.62962334e-01 -4.41584796e-01 1.19273117e+02] [ 6.10574860e-01 6.44329984e-01 -4.60474986e-01 8.33861486e+01] [ 6.35851394e-01 -5.22240258e-02 7.70042632e-01 6.07243343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:83.41, Z:60.74 [[ 4.69476637e-01 -7.86984547e-01 -4.00308642e-01 1.19280298e+02] [ 6.12910572e-01 6.16824734e-01 -4.93829808e-01 8.34067842e+01] [ 6.35556699e-01 -1.35118409e-02 7.71935951e-01 6.07435833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.72710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:119.29, Y:83.43, Z:60.75 [[ 4.69436836e-01 -8.07755205e-01 -3.56595830e-01 1.19290928e+02] [ 6.19765379e-01 5.89092102e-01 -5.18518438e-01 8.34348851e+01] [ 6.28903754e-01 2.24059047e-02 7.77160243e-01 6.07513670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.31, Y:83.45, Z:60.77 [[ 4.62630409e-01 -7.95761304e-01 -3.90815879e-01 1.19307053e+02] [ 6.24094451e-01 6.05414730e-01 -4.93942426e-01 8.34502221e+01] [ 6.29665959e-01 -1.53932349e-02 7.76713479e-01 6.07697606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:83.46, Z:60.80 [[ 4.56015415e-01 -7.77559673e-01 -4.32955998e-01 1.19320016e+02] [ 6.22883536e-01 6.26318048e-01 -4.68766257e-01 8.34586597e+01] [ 6.35661893e-01 -5.59165231e-02 7.69939803e-01 6.07974070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:83.48, Z:60.82 [[ 4.55493173e-01 -7.94902532e-01 -4.00819079e-01 1.19328830e+02] [ 6.22042300e-01 6.06276342e-01 -4.95471870e-01 8.34789636e+01] [ 6.36858969e-01 -2.36423674e-02 7.70617734e-01 6.08163257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.84710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:83.50, Z:60.83 [[ 4.49312160e-01 -7.98585964e-01 -4.00473520e-01 1.19337370e+02] [ 6.27049703e-01 6.01203080e-01 -4.95341827e-01 8.35006830e+01] [ 6.36338945e-01 -2.85536958e-02 7.70880947e-01 6.08339322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.35, Y:83.52, Z:60.85 [[ 4.44560873e-01 -8.01077911e-01 -4.00798965e-01 1.19347034e+02] [ 6.29660934e-01 5.97717139e-01 -4.96247247e-01 8.35206424e+01] [ 6.37097118e-01 -3.17553410e-02 7.70129119e-01 6.08501193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.90710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.35, Y:83.54, Z:60.87 [[ 4.41348328e-01 -8.02877394e-01 -4.00748729e-01 1.19354935e+02] [ 6.31758591e-01 5.95174600e-01 -4.96636968e-01 8.35425258e+01] [ 6.37254059e-01 -3.39865566e-02 7.69904006e-01 6.08673062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.93710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.36, Y:83.56, Z:60.88 [[ 4.40713111e-01 -8.03522636e-01 -4.00154129e-01 1.19364373e+02] [ 6.32791918e-01 5.94276752e-01 -4.96396546e-01 8.35617314e+01] [ 6.36668157e-01 -3.44458327e-02 7.70368186e-01 6.08843424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.96710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.37, Y:83.58, Z:60.90 [[ 4.40814871e-01 -8.03815988e-01 -3.99452260e-01 1.19370314e+02] [ 6.33497383e-01 5.93881340e-01 -4.95969778e-01 8.35849675e+01] [ 6.35895680e-01 -3.44211076e-02 7.71007050e-01 6.09014473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.99710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.38, Y:83.60, Z:60.92 [[ 4.38478684e-01 -8.11848135e-01 -3.85537352e-01 1.19375713e+02] [ 6.28166138e-01 5.83633907e-01 -5.14566580e-01 8.36047364e+01] [ 6.42762589e-01 -1.65550329e-02 7.65886535e-01 6.09213582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.02710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:83.63, Z:60.93 [[ 4.40451003e-01 -7.96478787e-01 -4.14275821e-01 1.19390417e+02] [ 6.32443635e-01 6.02779605e-01 -4.86489256e-01 8.36276504e+01] [ 6.37195388e-01 -4.77314253e-02 7.69222821e-01 6.09336135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.05710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:83.65, Z:60.95 [[ 4.39561561e-01 -8.04120983e-01 -4.00218788e-01 1.19398105e+02] [ 6.32194921e-01 5.93488463e-01 -4.98097406e-01 8.36484218e+01] [ 6.38055809e-01 -3.40718115e-02 7.69235917e-01 6.09521812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.08710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:83.67, Z:60.97 [[ 4.39679172e-01 -8.04763102e-01 -3.98796409e-01 1.19402313e+02] [ 6.34051060e-01 5.92597017e-01 -4.96797775e-01 8.36716888e+01] [ 6.36130081e-01 -3.44256511e-02 7.70813463e-01 6.09715740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.11710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:83.70, Z:60.99 [[ 4.40903966e-01 -8.04373934e-01 -3.98228913e-01 1.19405562e+02] [ 6.33681468e-01 5.93183191e-01 -4.96569731e-01 8.36960954e+01] [ 6.35650446e-01 -3.34107182e-02 7.71253677e-01 6.09902418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.14710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:83.72, Z:61.01 [[ 4.42482435e-01 -8.03389451e-01 -3.98465412e-01 1.19414131e+02] [ 6.31724988e-01 5.94612166e-01 -4.97352905e-01 8.37166453e+01] [ 6.36500459e-01 -3.16506337e-02 7.70626630e-01 6.10066643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.17710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:119.42, Y:83.74, Z:61.02 [[ 4.48146251e-01 -8.00432191e-01 -3.98086982e-01 1.19417632e+02] [ 6.27769396e-01 5.98813372e-01 -4.97320954e-01 8.37420083e+01] [ 6.36451509e-01 -2.70343035e-02 7.70842801e-01 6.10235668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.20710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:119.42, Y:83.77, Z:61.04 [[ 4.55272281e-01 -7.97123080e-01 -3.96638305e-01 1.19421221e+02] [ 6.24409609e-01 6.03421061e-01 -4.95979499e-01 8.37671827e+01] [ 6.34696613e-01 -2.18590511e-02 7.72452194e-01 6.10415970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.23710568099997 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:119.43, Y:83.79, Z:61.06 [[ 4.59101560e-01 -7.95012672e-01 -3.96460098e-01 1.19429283e+02] [ 6.21408031e-01 6.06309274e-01 -4.96226887e-01 8.37878918e+01] [ 6.34884097e-01 -1.85449505e-02 7.72384792e-01 6.10580798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.26710568099998 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:119.43, Y:83.81, Z:61.08 [[ 4.66862897e-01 -7.90200387e-01 -3.97016855e-01 1.19433497e+02] [ 6.14164275e-01 6.12737991e-01 -4.97347361e-01 8.38127693e+01] [ 6.36271388e-01 -1.16405386e-02 7.71377482e-01 6.10750342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.29710568099998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:119.44, Y:83.83, Z:61.09 [[ 4.73415541e-01 -7.82626454e-01 -4.04194952e-01 1.19444950e+02] [ 6.11794726e-01 6.22283416e-01 -4.88334479e-01 8.38317765e+01] [ 6.33707297e-01 -1.60992084e-02 7.73405377e-01 6.10882485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.32710568099998 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:119.45, Y:83.86, Z:61.11 [[ 4.77714637e-01 -7.90561886e-01 -3.83145704e-01 1.19447450e+02] [ 6.05753789e-01 6.12289822e-01 -5.08097945e-01 8.38570662e+01] [ 6.36279084e-01 1.06338634e-02 7.71385668e-01 6.11106179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.35710568099998 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:119.46, Y:83.88, Z:61.12 [[ 4.79986375e-01 -7.82418120e-01 -3.96780753e-01 1.19461427e+02] [ 6.03566880e-01 6.22753264e-01 -4.97880903e-01 8.38763427e+01] [ 6.36647549e-01 -5.07671155e-04 7.71154745e-01 6.11248954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.38710568099998 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:119.47, Y:83.90, Z:61.14 [[ 4.83643035e-01 -7.80064469e-01 -3.96974608e-01 1.19472429e+02] [ 5.99904266e-01 6.25691915e-01 -4.98622602e-01 8.38973805e+01] [ 6.37341578e-01 3.00858735e-03 7.70575539e-01 6.11403301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.41710568099998 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:119.48, Y:83.92, Z:61.16 [[ 4.85931431e-01 -7.78629804e-01 -3.96996565e-01 1.19483912e+02] [ 5.97610704e-01 6.27461144e-01 -4.99153243e-01 8.39176112e+01] [ 6.37755510e-01 5.30485334e-03 7.70220597e-01 6.11567009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.44710568099998 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:119.49, Y:83.93, Z:61.17 [[ 4.86468752e-01 -7.80077386e-01 -3.93481163e-01 1.19494736e+02] [ 5.95950158e-01 6.25596226e-01 -5.03460794e-01 8.39345359e+01] [ 6.38898711e-01 1.04227830e-02 7.69220256e-01 6.11747447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.47710568099998 meters Centerline goodness : 0.998025 Centerline is valid? [True, True] Translation: X:119.51, Y:83.95, Z:61.19 [[ 4.88566782e-01 -7.73035353e-01 -4.04621851e-01 1.19511552e+02] [ 5.97311131e-01 6.34359990e-01 -4.90720710e-01 8.39535270e+01] [ 6.36020371e-01 -1.93529751e-03 7.71669840e-01 6.11893662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.50710568099996 meters Centerline goodness : 0.997980 Centerline is valid? [True, True] Translation: X:119.52, Y:83.97, Z:61.21 [[ 4.86450930e-01 -7.82627842e-01 -3.88405912e-01 1.19521565e+02] [ 5.96815968e-01 6.22319249e-01 -5.06487367e-01 8.39720071e+01] [ 6.38103591e-01 1.45744005e-02 7.69812571e-01 6.12102881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53710568099996 meters Centerline goodness : 0.998032 Centerline is valid? [True, True] Translation: X:119.54, Y:83.99, Z:61.22 [[ 4.83338452e-01 -7.80203864e-01 -3.97071621e-01 1.19538992e+02] [ 5.98423810e-01 6.25510167e-01 -5.00625583e-01 8.39883023e+01] [ 6.38962350e-01 4.35448182e-03 7.69225685e-01 6.12244572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.56710568099996 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:119.56, Y:84.00, Z:61.24 [[ 4.80659445e-01 -7.82017712e-01 -3.96755335e-01 1.19555545e+02] [ 6.00723973e-01 6.23251889e-01 -5.00687319e-01 8.40032790e+01] [ 6.38824864e-01 2.31964725e-03 7.69348694e-01 6.12420535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59710568099996 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:119.57, Y:84.02, Z:61.26 [[ 4.79227975e-01 -7.83064649e-01 -3.96421876e-01 1.19569673e+02] [ 6.02017532e-01 6.21938897e-01 -5.00766313e-01 8.40190026e+01] [ 6.38682581e-01 1.32830708e-03 7.69469165e-01 6.12594159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.62710568099996 meters Centerline goodness : 0.998442 Centerline is valid? [True, True] Translation: X:119.58, Y:84.03, Z:61.28 [[ 4.75405017e-01 -7.85644971e-01 -3.95919246e-01 1.19584123e+02] [ 6.04262842e-01 6.18677371e-01 -5.02100316e-01 8.40337731e+01] [ 6.39418867e-01 -5.38279556e-04 7.68858390e-01 6.12777082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.65710568099996 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:119.60, Y:84.05, Z:61.30 [[ 4.72546658e-01 -7.87687942e-01 -3.95281370e-01 1.19599044e+02] [ 6.07178684e-01 6.16067670e-01 -5.01791462e-01 8.40498574e+01] [ 6.38775157e-01 -2.88654333e-03 7.69388047e-01 6.12958614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.68710568099996 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:119.62, Y:84.06, Z:61.31 [[ 4.67341354e-01 -7.90813283e-01 -3.95229567e-01 1.19617907e+02] [ 6.12345057e-01 6.12003614e-01 -5.00484873e-01 8.40620337e+01] [ 6.37672009e-01 -8.11959372e-03 7.70265202e-01 6.13128435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.71710568099996 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:119.63, Y:84.08, Z:61.33 [[ 4.61337826e-01 -7.94969542e-01 -3.93942682e-01 1.19633345e+02] [ 6.18752868e-01 6.06501181e-01 -4.99300716e-01 8.40750980e+01] [ 6.35855564e-01 -1.34068572e-02 7.71691621e-01 6.13320673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.74710568099997 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:119.65, Y:84.09, Z:61.35 [[ 4.58149159e-01 -7.97255532e-01 -3.93043211e-01 1.19647286e+02] [ 6.22267424e-01 6.03426727e-01 -4.98657636e-01 8.40911038e+01] [ 6.34730337e-01 -1.61184103e-02 7.72565593e-01 6.13502540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.77710568099997 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:119.66, Y:84.11, Z:61.37 [[ 4.52730876e-01 -8.00722868e-01 -3.92272408e-01 1.19662136e+02] [ 6.27214771e-01 5.98684105e-01 -4.98175646e-01 8.41052833e+01] [ 6.33747887e-01 -2.04995522e-02 7.73267990e-01 6.13680847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.80710568099997 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:119.68, Y:84.12, Z:61.39 [[ 4.49459700e-01 -8.02584660e-01 -3.92229323e-01 1.19676532e+02] [ 6.29447168e-01 5.96100416e-01 -4.98458180e-01 8.41212462e+01] [ 6.33862951e-01 -2.28507729e-02 7.73107755e-01 6.13853804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.83710568099997 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:119.69, Y:84.14, Z:61.40 [[ 4.42267892e-01 -8.06429829e-01 -3.92517571e-01 1.19690921e+02] [ 6.33865860e-01 5.90668025e-01 -4.99324900e-01 8.41363726e+01] [ 6.34518072e-01 -2.79681169e-02 7.72401839e-01 6.14020534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.86710568099997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:119.70, Y:84.15, Z:61.42 [[ 4.37966101e-01 -8.08458902e-01 -3.93166503e-01 1.19703805e+02] [ 6.35654259e-01 5.87750410e-01 -5.00492876e-01 8.41533504e+01] [ 6.35711694e-01 -3.07190489e-02 7.71315099e-01 6.14208779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.89710568099997 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:119.72, Y:84.17, Z:61.44 [[ 4.34228563e-01 -8.10348962e-01 -3.93421040e-01 1.19716176e+02] [ 6.37539613e-01 5.85009634e-01 -5.01305267e-01 8.41710261e+01] [ 6.36387301e-01 -3.31404319e-02 7.70657456e-01 6.14387149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.92710568099997 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:119.73, Y:84.19, Z:61.46 [[ 4.35642139e-01 -8.09937894e-01 -3.92704132e-01 1.19727903e+02] [ 6.37297053e-01 5.85638489e-01 -5.00879253e-01 8.41886247e+01] [ 6.35663742e-01 -3.20650766e-02 7.71299837e-01 6.14572967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.95710568099997 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:119.74, Y:84.21, Z:61.48 [[ 4.42459621e-01 -8.06599804e-01 -3.91951834e-01 1.19735446e+02] [ 6.33170413e-01 5.90491916e-01 -5.00414353e-01 8.42090503e+01] [ 6.35078508e-01 -2.67591598e-02 7.71983961e-01 6.14763929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.98710568099997 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:119.74, Y:84.24, Z:61.49 [[ 4.54707193e-01 -8.12201891e-01 -3.65471555e-01 1.19741917e+02] [ 6.27623630e-01 5.83354657e-01 -5.15544298e-01 8.42365008e+01] [ 6.31925587e-01 5.04311687e-03 7.75012657e-01 6.14910166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.01710568099998 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:119.76, Y:84.25, Z:61.51 [[ 4.58462423e-01 -7.85689617e-01 -4.15336048e-01 1.19760021e+02] [ 6.21888955e-01 6.17484249e-01 -4.81629867e-01 8.42513809e+01] [ 6.34875054e-01 -3.74837051e-02 7.71705020e-01 6.15051164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.04710568099998 meters Centerline goodness : 0.998591 Centerline is valid? [True, True] Translation: X:119.76, Y:84.27, Z:61.52 [[ 4.69828130e-01 -7.91255069e-01 -3.91378261e-01 1.19763668e+02] [ 6.12621311e-01 6.11469844e-01 -5.00799121e-01 8.42734877e+01] [ 6.35575848e-01 -4.47714897e-03 7.72025451e-01 6.15243361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.07710568099998 meters Centerline goodness : 0.998110 Centerline is valid? [True, True] Translation: X:119.78, Y:84.29, Z:61.54 [[ 4.74301931e-01 -7.88637482e-01 -3.91265384e-01 1.19775053e+02] [ 6.08937296e-01 6.14858200e-01 -5.01143456e-01 8.42932811e+01] [ 6.35793243e-01 -5.62776472e-04 7.71859207e-01 6.15405754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.10710568099998 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:119.78, Y:84.31, Z:61.56 [[ 4.79615795e-01 -7.84997064e-01 -3.92107509e-01 1.19783995e+02] [ 6.02907505e-01 6.19481529e-01 -5.02737681e-01 8.43137094e+01] [ 6.37550963e-01 4.71637289e-03 7.70393747e-01 6.15575574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.13710568099998 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:119.80, Y:84.33, Z:61.57 [[ 4.82689426e-01 -7.82788607e-01 -3.92750447e-01 1.19796042e+02] [ 5.98943355e-01 6.22235309e-01 -5.04073485e-01 8.43316775e+01] [ 6.38966177e-01 8.07567054e-03 7.69192439e-01 6.15742199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.16710568099998 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:119.81, Y:84.35, Z:61.59 [[ 4.83514027e-01 -7.82342852e-01 -3.92624309e-01 1.19810180e+02] [ 5.98120455e-01 6.22782482e-01 -5.04374763e-01 8.43485540e+01] [ 6.39113532e-01 9.03564242e-03 7.69059328e-01 6.15914329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.19710568099998 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:119.82, Y:84.36, Z:61.61 [[ 4.86678972e-01 -7.81368396e-01 -3.90649469e-01 1.19824882e+02] [ 5.98575439e-01 6.23979156e-01 -5.02351926e-01 8.43615615e+01] [ 6.36279045e-01 1.06509413e-02 7.71385464e-01 6.16096898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.22710568099998 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:119.84, Y:84.38, Z:61.63 [[ 4.87749478e-01 -7.81281387e-01 -3.89486638e-01 1.19838535e+02] [ 5.99333886e-01 6.24080514e-01 -5.01320661e-01 8.43773128e+01] [ 6.34743522e-01 1.10863505e-02 7.72643355e-01 6.16276355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25710568099996 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:119.85, Y:84.39, Z:61.65 [[ 4.88211965e-01 -7.80910373e-01 -3.89651211e-01 1.19853438e+02] [ 5.98257398e-01 6.24527919e-01 -5.02048767e-01 8.43912456e+01] [ 6.35403150e-01 1.19944955e-02 7.72087410e-01 6.16450367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.28710568099996 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:119.87, Y:84.40, Z:61.66 [[ 4.87567888e-01 -7.81365863e-01 -3.89544533e-01 1.19872937e+02] [ 5.98574133e-01 6.23962215e-01 -5.02374523e-01 8.44042101e+01] [ 6.35599372e-01 1.17704032e-02 7.71929333e-01 6.16622166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31710568099996 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:119.89, Y:84.42, Z:61.68 [[ 4.87059158e-01 -7.82038714e-01 -3.88830073e-01 1.19889565e+02] [ 5.99784152e-01 6.23127885e-01 -5.01966743e-01 8.44172708e+01] [ 6.34848287e-01 1.12733834e-02 7.72554570e-01 6.16799024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.34710568099996 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:119.91, Y:84.43, Z:61.70 [[ 4.84965418e-01 -7.83465769e-01 -3.88574229e-01 1.19909543e+02] [ 6.01506404e-01 6.21358120e-01 -5.02099724e-01 8.44286946e+01] [ 6.34821699e-01 9.77111528e-03 7.72596878e-01 6.16987163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37710568099996 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:119.92, Y:84.44, Z:61.72 [[ 4.83200801e-01 -7.84517657e-01 -3.88650269e-01 1.19924877e+02] [ 6.02354275e-01 6.20043986e-01 -5.02707453e-01 8.44439177e+01] [ 6.35363135e-01 8.80349329e-03 7.72163315e-01 6.17163426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.40710568099996 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:119.94, Y:84.46, Z:61.73 [[ 4.78581981e-01 -7.86959465e-01 -3.89427900e-01 1.19941901e+02] [ 6.04223959e-01 6.16975361e-01 -5.04236860e-01 8.44578902e+01] [ 6.37081388e-01 6.01700759e-03 7.70773054e-01 6.17331422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.43710568099996 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:119.96, Y:84.47, Z:61.75 [[ 4.74161113e-01 -7.90764667e-01 -3.87120756e-01 1.19959262e+02] [ 6.04894622e-01 6.12076038e-01 -5.09377483e-01 8.44681855e+01] [ 6.39745054e-01 7.35973097e-03 7.68551950e-01 6.17484739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.46710568099996 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:119.97, Y:84.48, Z:61.77 [[ 4.68888103e-01 -7.98880975e-01 -3.76740143e-01 1.19973473e+02] [ 6.06530713e-01 6.01292140e-01 -5.20161760e-01 8.44827669e+01] [ 6.42078221e-01 1.53931939e-02 7.66484578e-01 6.17693028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.49710568099997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:120.00, Y:84.50, Z:61.79 [[ 4.59719059e-01 -7.96308890e-01 -3.93129162e-01 1.19999110e+02] [ 6.16485022e-01 6.04797466e-01 -5.04149028e-01 8.44957537e+01] [ 6.39221874e-01 -1.05913231e-02 7.68949426e-01 6.17858296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.52710568099997 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:120.01, Y:84.51, Z:61.81 [[ 4.55196518e-01 -8.00340967e-01 -3.90192859e-01 1.20013396e+02] [ 6.19298670e-01 5.99447394e-01 -5.07081828e-01 8.45089827e+01] [ 6.39738453e-01 -1.08240360e-02 7.68516462e-01 6.18051309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.55710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.03, Y:84.52, Z:61.82 [[ 4.53150983e-01 -8.07648514e-01 -3.77303677e-01 1.20028918e+02] [ 6.23765332e-01 5.89657274e-01 -5.13050786e-01 8.45208428e+01] [ 6.36844563e-01 -2.85948567e-03 7.70986917e-01 6.18207777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.58710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:120.04, Y:84.54, Z:61.84 [[ 4.49754042e-01 -8.10541158e-01 -3.75159077e-01 1.20042759e+02] [ 6.21243441e-01 5.85680683e-01 -5.20609955e-01 8.45359281e+01] [ 6.41699220e-01 1.08131583e-03 7.66955632e-01 6.18420605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.61710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.06, Y:84.55, Z:61.86 [[ 4.49138653e-01 -8.06021636e-01 -3.85491364e-01 1.20064882e+02] [ 6.21402437e-01 5.91818488e-01 -5.13429536e-01 8.45515440e+01] [ 6.41976231e-01 -8.94422289e-03 7.66672368e-01 6.18604838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.64710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:120.08, Y:84.56, Z:61.88 [[ 4.48738329e-01 -7.93259276e-01 -4.11550279e-01 1.20081932e+02] [ 6.19374115e-01 6.08040574e-01 -4.96651151e-01 8.45628453e+01] [ 6.44212401e-01 -3.20371826e-02 7.64175374e-01 6.18795511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.09, Y:84.58, Z:61.90 [[ 4.55624010e-01 -7.99114953e-01 -3.92201546e-01 1.20091141e+02] [ 6.15721690e-01 6.01105376e-01 -5.09469457e-01 8.45776113e+01] [ 6.42879120e-01 -9.36048181e-03 7.65910451e-01 6.19019403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.70710568099997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:120.10, Y:84.59, Z:61.92 [[ 4.66372160e-01 -7.93759948e-01 -3.90438412e-01 1.20102426e+02] [ 6.10158672e-01 6.08229432e-01 -5.07704001e-01 8.45946014e+01] [ 6.40471235e-01 -1.45037149e-03 7.67980790e-01 6.19216903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.73710568099997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:120.12, Y:84.61, Z:61.94 [[ 4.66083446e-01 -7.94055400e-01 -3.90182321e-01 1.20115611e+02] [ 6.10379256e-01 6.07843699e-01 -5.07900780e-01 8.46121989e+01] [ 6.40471222e-01 -1.43504927e-03 7.67980830e-01 6.19397414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.76710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:120.13, Y:84.63, Z:61.96 [[ 4.73809569e-01 -7.96600811e-01 -3.75408632e-01 1.20126278e+02] [ 6.09102008e-01 6.04327295e-01 -5.13598349e-01 8.46313071e+01] [ 6.36002545e-01 1.46856610e-02 7.71547208e-01 6.19563426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.79710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.14, Y:84.65, Z:61.98 [[ 4.78710371e-01 -7.82731281e-01 -3.97703562e-01 1.20138965e+02] [ 6.02411436e-01 6.22359726e-01 -4.99768779e-01 8.46483712e+01] [ 6.38699336e-01 -3.36676300e-04 7.69456330e-01 6.19761621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.82710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.15, Y:84.67, Z:61.99 [[ 4.82161487e-01 -7.85056450e-01 -3.88853021e-01 1.20150431e+02] [ 5.99223389e-01 6.19315539e-01 -5.07325924e-01 8.46653574e+01] [ 6.39102207e-01 1.16031966e-02 7.69034287e-01 6.19934928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.85710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.16, Y:84.68, Z:62.01 [[ 4.83723993e-01 -7.89424034e-01 -3.77916383e-01 1.20164174e+02] [ 5.99422499e-01 6.13447176e-01 -5.14174320e-01 8.46848096e+01] [ 6.37733304e-01 2.21868722e-02 7.69937644e-01 6.20094745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.88710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:120.18, Y:84.70, Z:62.03 [[ 4.83172779e-01 -7.84680392e-01 -3.88356471e-01 1.20180329e+02] [ 5.97504708e-01 6.19746803e-01 -5.08824157e-01 8.47019185e+01] [ 6.39947021e-01 1.38051621e-02 7.68295014e-01 6.20268947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.91710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.19, Y:84.72, Z:62.04 [[ 4.81946305e-01 -7.78925586e-01 -4.01251406e-01 1.20194381e+02] [ 5.96266968e-01 6.27112159e-01 -5.01194615e-01 8.47160371e+01] [ 6.42022945e-01 2.29593312e-03 7.66681985e-01 6.20447925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.94710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.21, Y:84.73, Z:62.06 [[ 4.82239960e-01 -7.92077600e-01 -3.74242832e-01 1.20205356e+02] [ 5.93368295e-01 6.09611419e-01 -5.25631034e-01 8.47345804e+01] [ 6.44483272e-01 3.14164575e-02 7.63972721e-01 6.20649881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.22, Y:84.75, Z:62.08 [[ 4.80710560e-01 -7.78796466e-01 -4.02980672e-01 1.20223725e+02] [ 5.92785257e-01 6.27264362e-01 -5.05118856e-01 8.47481979e+01] [ 6.46160194e-01 3.93496691e-03 7.63191666e-01 6.20815424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.00710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.24, Y:84.76, Z:62.10 [[ 4.78762607e-01 -7.83109378e-01 -3.96895538e-01 1.20239023e+02] [ 5.96027091e-01 6.21848467e-01 -5.07992313e-01 8.47641559e+01] [ 6.44622427e-01 6.64723095e-03 7.64472198e-01 6.20992989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.26, Y:84.78, Z:62.12 [[ 4.74024340e-01 -7.88111349e-01 -3.92659430e-01 1.20255772e+02] [ 6.00059888e-01 6.15497384e-01 -5.10970744e-01 8.47779965e+01] [ 6.44382694e-01 6.59339656e-03 7.64674748e-01 6.21176344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.06710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.27, Y:84.79, Z:62.14 [[ 4.69560710e-01 -7.93471471e-01 -3.87189571e-01 1.20270985e+02] [ 6.03343558e-01 6.08549387e-01 -5.15406824e-01 8.47940860e+01] [ 6.44584587e-01 8.40646060e-03 7.64486783e-01 6.21365258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:84.81, Z:62.16 [[ 4.60754312e-01 -8.02196475e-01 -3.79718685e-01 1.20285651e+02] [ 6.05359759e-01 5.96924445e-01 -5.26517587e-01 8.48070553e+01] [ 6.49033917e-01 1.27288371e-02 7.60652977e-01 6.21574092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.12710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:120.30, Y:84.82, Z:62.17 [[ 4.58112968e-01 -7.92605814e-01 -4.02378593e-01 1.20304332e+02] [ 6.10765385e-01 6.09567959e-01 -5.05363778e-01 8.48237360e+01] [ 6.45831366e-01 -1.42452160e-02 7.63347182e-01 6.21735218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.15710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.32, Y:84.84, Z:62.19 [[ 4.54452332e-01 -8.00286891e-01 -3.91170002e-01 1.20316926e+02] [ 6.13569093e-01 5.99582134e-01 -5.13842615e-01 8.48397240e+01] [ 6.45760053e-01 -6.49284902e-03 7.63512801e-01 6.21930091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.18710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.33, Y:84.86, Z:62.21 [[ 4.52190033e-01 -8.04614476e-01 -3.84863247e-01 1.20329375e+02] [ 6.11792693e-01 5.93796940e-01 -5.22603956e-01 8.48554667e+01] [ 6.49025326e-01 8.59778237e-04 7.60766315e-01 6.22129475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.21710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.34, Y:84.87, Z:62.23 [[ 4.48415030e-01 -8.05237112e-01 -3.87965403e-01 1.20343847e+02] [ 6.11109870e-01 5.92949711e-01 -5.24361867e-01 8.48711817e+01] [ 6.52279609e-01 -1.95774494e-03 7.57975909e-01 6.22295941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.24710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.36, Y:84.89, Z:62.25 [[ 4.45400365e-01 -8.05729138e-01 -3.90408851e-01 1.20355840e+02] [ 6.12802840e-01 5.92251504e-01 -5.23173810e-01 8.48869531e+01] [ 6.52756612e-01 -6.22184665e-03 7.57542140e-01 6.22472704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.27710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.37, Y:84.91, Z:62.27 [[ 4.45641130e-01 -8.01933473e-01 -3.97877731e-01 1.20370800e+02] [ 6.17225812e-01 5.97163142e-01 -5.12277737e-01 8.49053328e+01] [ 6.48410580e-01 -1.72883755e-02 7.61094496e-01 6.22654262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.30710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.38, Y:84.93, Z:62.29 [[ 4.43717374e-01 -8.20326266e-01 -3.60804254e-01 1.20378325e+02] [ 6.20092615e-01 5.71708034e-01 -5.37247683e-01 8.49292233e+01] [ 6.46993076e-01 1.46540783e-02 7.62355047e-01 6.22851010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.33710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:84.95, Z:62.30 [[ 4.40661460e-01 -8.06362576e-01 -3.94457695e-01 1.20393762e+02] [ 6.25492624e-01 5.91002327e-01 -5.09387110e-01 8.49467935e+01] [ 6.43876118e-01 -2.22631109e-02 7.64805791e-01 6.23014716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.36710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.40, Y:84.96, Z:62.32 [[ 4.36703284e-01 -7.96935428e-01 -4.17353765e-01 1.20403331e+02] [ 6.25568613e-01 6.02416365e-01 -4.95740288e-01 8.49592134e+01] [ 6.46493736e-01 -4.45920038e-02 7.61614996e-01 6.23239227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.39710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.41, Y:84.98, Z:62.34 [[ 4.34623551e-01 -8.11639380e-01 -3.90312549e-01 1.20407023e+02] [ 6.27368234e-01 5.83785567e-01 -5.15367355e-01 8.49811672e+01] [ 6.46151273e-01 -2.08789045e-02 7.62923721e-01 6.23446921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.42710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:120.42, Y:85.01, Z:62.36 [[ 4.34983674e-01 -8.25727453e-01 -3.59114712e-01 1.20417981e+02] [ 6.30726359e-01 5.64044186e-01 -5.32952547e-01 8.50071569e+01] [ 6.42630115e-01 5.32254177e-03 7.66158082e-01 6.23591159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.45710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.43, Y:85.03, Z:62.38 [[ 4.34855717e-01 -8.10919111e-01 -3.91549104e-01 1.20431223e+02] [ 6.32080784e-01 5.84567456e-01 -5.08679439e-01 8.50263077e+01] [ 6.41384742e-01 -2.62885022e-02 7.66768888e-01 6.23756919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.48710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:85.04, Z:62.40 [[ 4.34648815e-01 -7.98179712e-01 -4.17120553e-01 1.20440597e+02] [ 6.29647920e-01 6.00472821e-01 -4.92925845e-01 8.50388456e+01] [ 6.43912964e-01 -4.83894538e-02 7.63566995e-01 6.23979985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.51710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:85.06, Z:62.42 [[ 4.38515457e-01 -8.10420412e-01 -3.88488029e-01 1.20441564e+02] [ 6.26403666e-01 5.85580323e-01 -5.14503773e-01 8.50604552e+01] [ 6.44455306e-01 -1.77324685e-02 7.64436340e-01 6.24198392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.54710568099998 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:120.45, Y:85.08, Z:62.44 [[ 4.40943101e-01 -8.09327503e-01 -3.88018266e-01 1.20451106e+02] [ 6.25007449e-01 5.87148128e-01 -5.14414973e-01 8.50799918e+01] [ 6.44154384e-01 -1.56865726e-02 7.64734634e-01 6.24369244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.57710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:120.45, Y:85.10, Z:62.46 [[ 4.46142968e-01 -8.11952062e-01 -3.76417721e-01 1.20454022e+02] [ 6.12349404e-01 5.83677163e-01 -5.33244013e-01 8.51048286e+01] [ 6.52675003e-01 7.40389956e-03 7.57601823e-01 6.24570444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.60710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:120.47, Y:85.13, Z:62.47 [[ 4.47725216e-01 -8.02969275e-01 -3.93424038e-01 1.20466517e+02] [ 6.09646379e-01 5.95991593e-01 -5.22613924e-01 8.51251739e+01] [ 6.54120343e-01 -5.86210835e-03 7.56367776e-01 6.24732447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.63710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:120.48, Y:85.15, Z:62.49 [[ 4.54702156e-01 -7.89329573e-01 -4.12558812e-01 1.20480299e+02] [ 6.09901978e-01 6.13518432e-01 -5.01612113e-01 8.51450805e+01] [ 6.49049710e-01 -2.35363261e-02 7.60381822e-01 6.24852341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.66710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:120.48, Y:85.17, Z:62.51 [[ 4.63699470e-01 -7.95149386e-01 -3.90794391e-01 1.20483771e+02] [ 6.02556265e-01 6.06391994e-01 -5.18859035e-01 8.51664842e+01] [ 6.49545032e-01 5.11905087e-03 7.60305890e-01 6.25053930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.69710568099998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:120.49, Y:85.19, Z:62.52 [[ 4.70454419e-01 -7.91218251e-01 -3.90699782e-01 1.20494986e+02] [ 5.97089557e-01 6.11434833e-01 -5.19260538e-01 8.51860730e+01] [ 6.49735870e-01 1.10056550e-02 7.60080374e-01 6.25205834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.72710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:120.50, Y:85.20, Z:62.55 [[ 4.69224855e-01 -8.03038790e-01 -3.67364583e-01 1.20500040e+02] [ 5.92415001e-01 5.94754736e-01 -5.43425497e-01 8.52030228e+01] [ 6.54883580e-01 3.73564603e-02 7.54805930e-01 6.25468154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75710568099996 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:120.52, Y:85.22, Z:62.55 [[ 4.75395780e-01 -7.74394167e-01 -4.17507517e-01 1.20522921e+02] [ 5.96461529e-01 6.32545412e-01 -4.94084958e-01 8.52219531e+01] [ 6.46708974e-01 -1.41412680e-02 7.62605748e-01 6.25532658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.78710568099996 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:120.53, Y:85.24, Z:62.58 [[ 4.74231144e-01 -7.91083423e-01 -3.86383022e-01 1.20530881e+02] [ 5.95898975e-01 6.11482304e-01 -5.20570651e-01 8.52401131e+01] [ 6.48081193e-01 1.66255687e-02 7.61389754e-01 6.25755183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81710568099996 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:120.55, Y:85.25, Z:62.59 [[ 4.71661865e-01 -7.89100564e-01 -3.93516690e-01 1.20547948e+02] [ 5.97641297e-01 6.14213480e-01 -5.15331623e-01 8.52545785e+01] [ 6.48351730e-01 7.88044983e-03 7.61300160e-01 6.25907320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.84710568099996 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:120.56, Y:85.27, Z:62.61 [[ 4.69514507e-01 -7.93297708e-01 -3.87601437e-01 1.20560202e+02] [ 6.01502985e-01 6.08755986e-01 -5.17310651e-01 8.52688342e+01] [ 6.46336048e-01 9.74143391e-03 7.62990706e-01 6.26105642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87710568099996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:120.57, Y:85.28, Z:62.63 [[ 4.68542344e-01 -7.94128205e-01 -3.87076821e-01 1.20573113e+02] [ 6.02878955e-01 6.07685679e-01 -5.16967196e-01 8.52846269e+01] [ 6.45759272e-01 8.86055246e-03 7.63489655e-01 6.26300183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.90710568099996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:120.59, Y:85.30, Z:62.65 [[ 4.67669044e-01 -7.94885202e-01 -3.86578815e-01 1.20588882e+02] [ 6.04001664e-01 6.06704419e-01 -5.16809189e-01 8.52994590e+01] [ 6.45343052e-01 8.20141231e-03 7.63848860e-01 6.26477510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.93710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.60, Y:85.32, Z:62.67 [[ 4.66992256e-01 -7.95316833e-01 -3.86509208e-01 1.20604345e+02] [ 6.04189060e-01 6.06140817e-01 -5.17251283e-01 8.53154307e+01] [ 6.45657659e-01 8.02770845e-03 7.63584798e-01 6.26653344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.96710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.62, Y:85.33, Z:62.68 [[ 4.63997555e-01 -7.96868691e-01 -3.86919317e-01 1.20622259e+02] [ 6.05281111e-01 6.04119557e-01 -5.18338053e-01 8.53299528e+01] [ 6.46792893e-01 6.31263511e-03 7.62639564e-01 6.26810125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.99710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.63, Y:85.35, Z:62.70 [[ 4.60479351e-01 -8.05218856e-01 -3.73605889e-01 1.20633665e+02] [ 6.02693283e-01 5.92609056e-01 -5.34392472e-01 8.53461090e+01] [ 6.51705128e-01 2.09069385e-02 7.58184229e-01 6.27031082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.02710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.65, Y:85.36, Z:62.72 [[ 4.56411971e-01 -8.01637804e-01 -3.86089296e-01 1.20651913e+02] [ 6.02556735e-01 5.97746608e-01 -5.28795210e-01 8.53600494e+01] [ 6.54685797e-01 8.70775868e-03 7.55850965e-01 6.27208824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.05710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.68, Y:85.37, Z:62.73 [[ 4.56782309e-01 -7.90677702e-01 -4.07650210e-01 1.20675519e+02] [ 6.08911475e-01 6.11976993e-01 -5.04688990e-01 8.53748450e+01] [ 6.48518881e-01 -1.76898885e-02 7.60992989e-01 6.27331348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.08710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.69, Y:85.39, Z:62.75 [[ 4.54928813e-01 -8.01679089e-01 -3.87750453e-01 1.20687813e+02] [ 6.09273451e-01 5.97754146e-01 -5.21033437e-01 8.53891006e+01] [ 6.49481052e-01 7.87066623e-04 7.60377369e-01 6.27521810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.11710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.70, Y:85.41, Z:62.77 [[ 4.53847857e-01 -8.02396216e-01 -3.87533786e-01 1.20701204e+02] [ 6.10058679e-01 5.96791667e-01 -5.21217914e-01 8.54056463e+01] [ 6.49500216e-01 1.35283598e-04 7.60361395e-01 6.27703324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.14710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:120.71, Y:85.42, Z:62.79 [[ 4.53699875e-01 -8.02773633e-01 -3.86924951e-01 1.20714747e+02] [ 6.10810112e-01 5.96283904e-01 -5.20918912e-01 8.54221296e+01] [ 6.48897088e-01 3.17309903e-06 7.60876185e-01 6.27887190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.73, Y:85.44, Z:62.81 [[ 4.57855163e-01 -8.01670965e-01 -3.84307576e-01 1.20728340e+02] [ 6.11927482e-01 5.97762356e-01 -5.17904356e-01 8.54358420e+01] [ 6.44913487e-01 1.95681608e-03 7.64253077e-01 6.28077535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.20710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.74, Y:85.45, Z:62.83 [[ 4.62700434e-01 -7.99860785e-01 -3.82270890e-01 1.20741583e+02] [ 6.11506222e-01 6.00166260e-01 -5.15616719e-01 8.54515622e+01] [ 6.41847684e-01 4.81505192e-03 7.66817036e-01 6.28273326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.23710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.75, Y:85.47, Z:62.85 [[ 4.64109798e-01 -7.99314719e-01 -3.81704173e-01 1.20754497e+02] [ 6.11018620e-01 6.00883113e-01 -5.15359807e-01 8.54683602e+01] [ 6.41294271e-01 5.95517911e-03 7.67271917e-01 6.28459464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.26710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.77, Y:85.48, Z:62.86 [[ 4.66914288e-01 -7.97688481e-01 -3.81685912e-01 1.20768744e+02] [ 6.08509493e-01 6.03008450e-01 -5.15845913e-01 8.54842761e+01] [ 6.41644173e-01 8.59632604e-03 7.66954274e-01 6.28632988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.78, Y:85.50, Z:62.88 [[ 4.67394894e-01 -7.97062426e-01 -3.82404893e-01 1.20783208e+02] [ 6.06486702e-01 6.03816568e-01 -5.17280806e-01 8.55014308e+01] [ 6.43207504e-01 9.85092522e-03 7.65628543e-01 6.28806867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.32710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:120.80, Y:85.52, Z:62.89 [[ 4.73110920e-01 -8.12010747e-01 -3.41766885e-01 1.20796196e+02] [ 6.05223501e-01 5.81463778e-01 -5.43695125e-01 8.55237512e+01] [ 6.40211349e-01 5.03827501e-02 7.66544850e-01 6.28912829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.82, Y:85.53, Z:62.91 [[ 4.70251665e-01 -7.79628452e-01 -4.13573269e-01 1.20821543e+02] [ 5.99952354e-01 6.26087906e-01 -4.98067372e-01 8.55316117e+01] [ 6.47240716e-01 -1.39072454e-02 7.62158805e-01 6.29121677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.83, Y:85.55, Z:62.93 [[ 4.72045964e-01 -7.93725773e-01 -3.83630036e-01 1.20831564e+02] [ 5.99673136e-01 6.08077801e-01 -5.20224488e-01 8.55480408e+01] [ 6.46192493e-01 1.55172427e-02 7.63016695e-01 6.29327817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.85, Y:85.56, Z:62.95 [[ 4.74740240e-01 -7.92483792e-01 -3.82872230e-01 1.20850547e+02] [ 5.98500403e-01 6.09639094e-01 -5.19747479e-01 8.55612430e+01] [ 6.45305333e-01 1.75958592e-02 7.63722079e-01 6.29505228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.87, Y:85.58, Z:62.97 [[ 4.76303417e-01 -7.91739897e-01 -3.82469594e-01 1.20866507e+02] [ 5.97553048e-01 6.10562347e-01 -5.19753764e-01 8.55756515e+01] [ 6.45031325e-01 1.90146222e-02 7.63919521e-01 6.29668792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.89, Y:85.59, Z:62.98 [[ 4.77795189e-01 -7.90820322e-01 -3.82511406e-01 1.20885217e+02] [ 5.95905571e-01 6.11699590e-01 -5.20307757e-01 8.55877520e+01] [ 6.45452018e-01 2.06598651e-02 7.63521357e-01 6.29841684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.50710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:85.60, Z:63.00 [[ 4.77676162e-01 -7.91372561e-01 -3.81516649e-01 1.20903821e+02] [ 5.97476793e-01 6.11002955e-01 -5.19323475e-01 8.56010803e+01] [ 6.44086148e-01 2.01211005e-02 7.64688286e-01 6.30024464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:85.62, Z:63.02 [[ 4.76410046e-01 -7.92522149e-01 -3.80712636e-01 1.20919354e+02] [ 5.99431637e-01 6.09548935e-01 -5.18779152e-01 8.56166093e+01] [ 6.43206950e-01 1.89404013e-02 7.65458085e-01 6.30197829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.56710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:120.94, Y:85.63, Z:63.04 [[ 4.70160431e-01 -7.96217907e-01 -3.80770553e-01 1.20938713e+02] [ 6.03641543e-01 6.04839589e-01 -5.19409240e-01 8.56288865e+01] [ 6.43868043e-01 1.43567486e-02 7.65001848e-01 6.30367332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:120.95, Y:85.64, Z:63.05 [[ 4.66464651e-01 -7.98556842e-01 -3.80417796e-01 1.20954577e+02] [ 6.06650260e-01 6.01809304e-01 -5.19423741e-01 8.56438885e+01] [ 6.43728351e-01 1.15122591e-02 7.65167483e-01 6.30543714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.62710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:120.97, Y:85.66, Z:63.07 [[ 4.66180761e-01 -7.98846109e-01 -3.80158378e-01 1.20967314e+02] [ 6.06868785e-01 6.01424981e-01 -5.19613578e-01 8.56617683e+01] [ 6.43728030e-01 1.15276002e-02 7.65167523e-01 6.30725046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.65710568099996 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:120.98, Y:85.69, Z:63.08 [[ 4.62479983e-01 -8.26500325e-01 -3.20950897e-01 1.20980451e+02] [ 6.17719058e-01 5.60036502e-01 -5.52070902e-01 8.56860375e+01] [ 6.36030998e-01 5.70642561e-02 7.69550675e-01 6.30786762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.68710568099996 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:121.00, Y:85.70, Z:63.10 [[ 4.57342172e-01 -8.07549557e-01 -3.72426973e-01 1.21003182e+02] [ 6.19617058e-01 5.89768097e-01 -5.17926919e-01 8.56986574e+01] [ 6.37897201e-01 6.10771666e-03 7.70097303e-01 6.30971435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.71710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:121.02, Y:85.71, Z:63.12 [[ 4.49048700e-01 -8.13525319e-01 -3.69502126e-01 1.21019833e+02] [ 6.23113963e-01 5.81511067e-01 -5.23042894e-01 8.57122442e+01] [ 6.40378212e-01 4.62979787e-03 7.68045774e-01 6.31162486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.74710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:121.04, Y:85.73, Z:63.13 [[ 4.47289029e-01 -8.17384627e-01 -3.63063212e-01 1.21036490e+02] [ 6.27833526e-01 5.76059158e-01 -5.23431858e-01 8.57271956e+01] [ 6.36991043e-01 6.18207080e-03 7.70846414e-01 6.31320706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.77710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:121.05, Y:85.74, Z:63.15 [[ 4.47236030e-01 -8.09462828e-01 -3.80460069e-01 1.21051465e+02] [ 6.26881902e-01 5.87095334e-01 -5.12189564e-01 8.57388904e+01] [ 6.37964744e-01 -9.43390400e-03 7.70007783e-01 6.31542195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.80710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.06, Y:85.74, Z:63.19 [[ 4.48470716e-01 -7.85800602e-01 -4.25900730e-01 1.21064142e+02] [ 6.19941475e-01 6.16730674e-01 -4.85093645e-01 8.57425736e+01] [ 6.43852922e-01 -4.64832328e-02 7.63736031e-01 6.31853736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.83710568099997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:121.07, Y:85.77, Z:63.19 [[ 4.60788629e-01 -8.33081967e-01 -3.06020057e-01 1.21067346e+02] [ 6.16613176e-01 5.48505233e-01 -5.64739055e-01 8.57744181e+01] [ 6.38327526e-01 7.15293358e-02 7.66434292e-01 6.31926904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.86710568099997 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:121.09, Y:85.79, Z:63.21 [[ 4.66520317e-01 -8.02104958e-01 -3.72808840e-01 1.21092865e+02] [ 6.17984915e-01 5.97126920e-01 -5.11404035e-01 8.57872096e+01] [ 6.32813906e-01 8.19013310e-03 7.74260604e-01 6.32081679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.89710568099997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:121.11, Y:85.80, Z:63.23 [[ 4.73560927e-01 -7.98457727e-01 -3.71759744e-01 1.21108438e+02] [ 6.13600701e-01 6.01889823e-01 -5.11099619e-01 8.58004526e+01] [ 6.31849847e-01 1.39247702e-02 7.74965723e-01 6.32270935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.92710568099997 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:121.12, Y:85.82, Z:63.25 [[ 4.75899445e-01 -7.96525770e-01 -3.72916097e-01 1.21122269e+02] [ 6.10706316e-01 6.04399927e-01 -5.11603874e-01 8.58150706e+01] [ 6.32896132e-01 1.57297838e-02 7.74076909e-01 6.32455482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.95710568099997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:121.14, Y:85.83, Z:63.27 [[ 4.76058077e-01 -8.01889388e-01 -3.61029248e-01 1.21136301e+02] [ 6.06236533e-01 5.96643956e-01 -5.25826260e-01 8.58324277e+01] [ 6.37060416e-01 3.14547190e-02 7.70171816e-01 6.32652469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.98710568099997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:121.16, Y:85.85, Z:63.28 [[ 4.75871843e-01 -7.97233983e-01 -3.71435008e-01 1.21157216e+02] [ 6.04624642e-01 6.03234493e-01 -5.20131896e-01 8.58463840e+01] [ 6.38729232e-01 2.29373651e-02 7.69089622e-01 6.32798897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.01710568099998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:121.17, Y:85.86, Z:63.30 [[ 4.74759446e-01 -7.98014809e-01 -3.71181670e-01 1.21174150e+02] [ 6.02109155e-01 6.02100344e-01 -5.24346966e-01 8.58614167e+01] [ 6.41925256e-01 2.54467933e-02 7.66344848e-01 6.32995940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.04710568099998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:121.20, Y:85.87, Z:63.32 [[ 4.75501292e-01 -7.91038429e-01 -3.84911321e-01 1.21195997e+02] [ 5.99837920e-01 6.11596425e-01 -5.15891736e-01 8.58716151e+01] [ 6.43500576e-01 1.44227811e-02 7.65309736e-01 6.33173185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.07710568099998 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:121.21, Y:85.88, Z:63.34 [[ 4.75177982e-01 -7.99845329e-01 -3.66678790e-01 1.21205644e+02] [ 5.95504591e-01 5.99128724e-01 -5.35181328e-01 8.58844520e+01] [ 6.47750081e-01 3.59474807e-02 7.61004343e-01 6.33351717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.10710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:85.88, Z:63.37 [[ 4.74013815e-01 -7.63660668e-01 -4.38330113e-01 1.21225671e+02] [ 5.84829568e-01 6.45196847e-01 -4.91625269e-01 8.58808805e+01] [ 6.58244088e-01 -2.33112415e-02 7.52443557e-01 6.33670538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.13710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.24, Y:85.90, Z:63.38 [[ 4.76530476e-01 -7.90159753e-01 -3.85442954e-01 1.21235822e+02] [ 5.86494789e-01 6.12324182e-01 -5.30172574e-01 8.59046268e+01] [ 6.54937071e-01 2.65831053e-02 7.55215712e-01 6.33835376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.16710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:121.26, Y:85.93, Z:63.39 [[ 4.83709712e-01 -8.13724176e-01 -3.22300916e-01 1.21255342e+02] [ 5.94777710e-01 5.75765387e-01 -5.61011314e-01 8.59341206e+01] [ 6.42078181e-01 7.96692205e-02 7.62488311e-01 6.33873201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.19710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.28, Y:85.92, Z:63.42 [[ 4.75271679e-01 -7.63099993e-01 -4.37944325e-01 1.21275674e+02] [ 5.85426644e-01 6.45853853e-01 -4.90049431e-01 8.59237032e+01] [ 6.56804747e-01 -2.34776608e-02 7.53695113e-01 6.34247688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.22710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.28, Y:85.94, Z:63.44 [[ 4.70928563e-01 -8.02546770e-01 -3.66258065e-01 1.21284300e+02] [ 5.86862721e-01 5.94988478e-01 -5.49163780e-01 8.59403038e+01] [ 6.58648947e-01 4.36737050e-02 7.51181850e-01 6.34389511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.31, Y:85.95, Z:63.46 [[ 4.58058832e-01 -8.03149245e-01 -3.80963775e-01 1.21305572e+02] [ 5.98711572e-01 5.95527848e-01 -5.35622103e-01 8.59511366e+01] [ 6.57059024e-01 1.72590141e-02 7.53641537e-01 6.34609578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:85.97, Z:63.48 [[ 4.50709824e-01 -8.01341092e-01 -3.93335872e-01 1.21324060e+02] [ 6.07233300e-01 5.98199302e-01 -5.22900866e-01 8.59664250e+01] [ 6.54315195e-01 -3.17008233e-03 7.56215298e-01 6.34796110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.34, Y:85.98, Z:63.49 [[ 4.34310529e-01 -8.20182841e-01 -3.72390215e-01 1.21339727e+02] [ 6.12448520e-01 5.72032368e-01 -5.45605883e-01 8.59819907e+01] [ 6.60515840e-01 8.89254341e-03 7.50759447e-01 6.34949295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.36, Y:85.99, Z:63.51 [[ 4.26005940e-01 -8.18101824e-01 -3.86300847e-01 1.21357306e+02] [ 6.18773310e-01 5.74968223e-01 -5.35286030e-01 8.59934611e+01] [ 6.60029189e-01 -1.09976252e-02 7.51159452e-01 6.35146976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:121.37, Y:86.02, Z:63.52 [[ 4.27692663e-01 -8.36866254e-01 -3.41663371e-01 1.21372758e+02] [ 6.27463854e-01 5.46938635e-01 -5.54208662e-01 8.60244758e+01] [ 6.50667425e-01 2.26495628e-02 7.59024967e-01 6.35212255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.40710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.38, Y:86.02, Z:63.56 [[ 4.24086917e-01 -7.98009122e-01 -4.28172544e-01 1.21384557e+02] [ 6.26315191e-01 5.99937904e-01 -4.97798948e-01 8.60193728e+01] [ 6.54125040e-01 -5.70609474e-02 7.54231053e-01 6.35588415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.43710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:86.04, Z:63.57 [[ 4.24070185e-01 -8.20641308e-01 -3.83030445e-01 1.21391072e+02] [ 6.26394284e-01 5.71246538e-01 -5.30384383e-01 8.60445513e+01] [ 6.54060149e-01 -1.50078785e-02 7.56293650e-01 6.35731286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.46710568099996 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:121.40, Y:86.08, Z:63.58 [[ 4.27533038e-01 -8.38764367e-01 -3.37179236e-01 1.21399977e+02] [ 6.26170419e-01 5.43786753e-01 -5.58754485e-01 8.60761871e+01] [ 6.52016954e-01 2.77543394e-02 7.57696238e-01 6.35776076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.49710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:86.08, Z:63.61 [[ 4.22303938e-01 -8.02705639e-01 -4.21097424e-01 1.21413502e+02] [ 6.24754011e-01 5.94340262e-01 -5.06401105e-01 8.60780192e+01] [ 6.56766176e-01 -4.92271236e-02 7.52485801e-01 6.36126977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.52710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:121.42, Y:86.12, Z:63.61 [[ 4.22888884e-01 -8.42500184e-01 -3.33704108e-01 1.21421613e+02] [ 6.30562264e-01 5.38062211e-01 -5.59357031e-01 8.61165201e+01] [ 6.50811972e-01 2.61246526e-02 7.58789351e-01 6.36149217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.55710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:86.11, Z:63.65 [[ 4.17194144e-01 -8.01437568e-01 -4.28540396e-01 1.21433937e+02] [ 6.28215404e-01 5.95051702e-01 -5.01257297e-01 8.61143298e+01] [ 6.56730121e-01 -6.00940692e-02 7.51727511e-01 6.36505585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.58710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.44, Y:86.14, Z:63.67 [[ 4.10589680e-01 -8.26900794e-01 -3.84254072e-01 1.21436631e+02] [ 6.32007704e-01 5.61848278e-01 -5.33753477e-01 8.61418879e+01] [ 6.57253663e-01 -2.36978645e-02 7.53296777e-01 6.36652201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.61710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.44, Y:86.16, Z:63.68 [[ 4.07433270e-01 -8.29144028e-01 -3.82777105e-01 1.21442636e+02] [ 6.36322972e-01 5.58396363e-01 -5.32246726e-01 8.61623960e+01] [ 6.55050537e-01 -2.67148409e-02 7.55112648e-01 6.36828588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:86.20, Z:63.69 [[ 4.09546609e-01 -8.54960621e-01 -3.18298465e-01 1.21448696e+02] [ 6.43967864e-01 5.18061673e-01 -5.62954255e-01 8.62026174e+01] [ 6.46201955e-01 2.55820237e-02 7.62737566e-01 6.36865683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:86.20, Z:63.72 [[ 4.03387792e-01 -8.14895298e-01 -4.16201806e-01 1.21458731e+02] [ 6.34124670e-01 5.76874453e-01 -5.14880344e-01 8.62009439e+01] [ 6.59669761e-01 -5.62273880e-02 7.49449323e-01 6.37214303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:86.23, Z:63.74 [[ 4.05798804e-01 -8.17682326e-01 -4.08317210e-01 1.21463875e+02] [ 6.36374947e-01 5.73452101e-01 -5.15925977e-01 8.62281101e+01] [ 6.56013915e-01 -5.04806986e-02 7.53058724e-01 6.37352494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.73710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.47, Y:86.27, Z:63.74 [[ 4.09473713e-01 -8.57786606e-01 -3.10698273e-01 1.21467812e+02] [ 6.42019925e-01 5.12888595e-01 -5.69873411e-01 8.62714393e+01] [ 6.48183380e-01 3.38736998e-02 7.60730490e-01 6.37365893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.76710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:121.48, Y:86.29, Z:63.76 [[ 4.09507024e-01 -8.30343625e-01 -3.77933144e-01 1.21479036e+02] [ 6.43253609e-01 5.56558467e-01 -5.25801737e-01 8.62879341e+01] [ 6.46938012e-01 -2.77873541e-02 7.62036135e-01 6.37571212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.79710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:86.29, Z:63.79 [[ 4.01983000e-01 -8.00147693e-01 -4.45166641e-01 1.21485063e+02] [ 6.39703148e-01 5.93263523e-01 -4.88690366e-01 8.62902023e+01] [ 6.55125599e-01 -8.83292822e-02 7.50338849e-01 6.37895780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.82710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:121.48, Y:86.34, Z:63.80 [[ 3.96599799e-01 -8.62300118e-01 -3.14876334e-01 1.21479348e+02] [ 6.48770279e-01 5.05955523e-01 -5.68424255e-01 8.63350923e+01] [ 6.49465722e-01 2.11545383e-02 7.60096547e-01 6.37953743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:86.34, Z:63.83 [[ 3.87439934e-01 -8.11681292e-01 -4.37108428e-01 1.21489479e+02] [ 6.52695693e-01 5.76358996e-01 -4.91730253e-01 8.63399833e+01] [ 6.51059621e-01 -9.47828518e-02 7.53085374e-01 6.38259466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:86.37, Z:63.84 [[ 3.82854907e-01 -8.41512462e-01 -3.81154689e-01 1.21488056e+02] [ 6.52165592e-01 5.38421172e-01 -5.33650337e-01 8.63656593e+01] [ 6.54295163e-01 -4.42653229e-02 7.54942660e-01 6.38432762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:86.39, Z:63.86 [[ 3.79807121e-01 -8.50024990e-01 -3.64971323e-01 1.21487222e+02] [ 6.48021602e-01 5.26033409e-01 -5.50778409e-01 8.63883382e+01] [ 6.60162521e-01 -2.73197393e-02 7.50625791e-01 6.38621012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:86.41, Z:63.88 [[ 3.82001398e-01 -8.36695133e-01 -3.92448961e-01 1.21498955e+02] [ 6.54487955e-01 5.44739998e-01 -5.24312742e-01 8.64111936e+01] [ 6.52472566e-01 -5.65649177e-02 7.55698327e-01 6.38793485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:86.44, Z:63.90 [[ 3.83788570e-01 -8.41666384e-01 -3.79873703e-01 1.21495580e+02] [ 6.52423634e-01 5.38275555e-01 -5.33481798e-01 8.64390919e+01] [ 6.53490425e-01 -4.30943654e-02 7.55707047e-01 6.38976528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.00710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:86.46, Z:63.92 [[ 3.83945014e-01 -8.41534153e-01 -3.80008546e-01 1.21502063e+02] [ 6.51620631e-01 5.38528309e-01 -5.34207650e-01 8.64610138e+01] [ 6.54199342e-01 -4.25150447e-02 7.55126276e-01 6.39151697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:86.49, Z:63.93 [[ 3.83588815e-01 -8.41559974e-01 -3.80310968e-01 1.21503018e+02] [ 6.50832231e-01 5.38510593e-01 -5.35185713e-01 8.64867321e+01] [ 6.55192360e-01 -4.22273824e-02 7.54280995e-01 6.39318872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.06710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.51, Y:86.51, Z:63.95 [[ 3.82566672e-01 -8.42085878e-01 -3.80176428e-01 1.21509351e+02] [ 6.51373560e-01 5.37641741e-01 -5.35400639e-01 8.65079943e+01] [ 6.55252033e-01 -4.28104329e-02 7.54196287e-01 6.39505473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:121.51, Y:86.53, Z:63.97 [[ 3.79404362e-01 -8.43649840e-01 -3.79877976e-01 1.21509776e+02] [ 6.53447070e-01 5.35000285e-01 -5.35519954e-01 8.65330155e+01] [ 6.55026149e-01 -4.50515439e-02 7.54261958e-01 6.39694878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.12710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.51, Y:86.56, Z:63.99 [[ 3.75787536e-01 -8.45904424e-01 -3.78456647e-01 1.21509191e+02] [ 6.57776885e-01 5.31147494e-01 -5.34052346e-01 8.65578520e+01] [ 6.52773542e-01 -4.82498190e-02 7.56014985e-01 6.39876439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.15710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.52, Y:86.58, Z:64.01 [[ 3.73785076e-01 -8.47117358e-01 -3.77725958e-01 1.21515757e+02] [ 6.59827997e-01 5.29068386e-01 -5.33585661e-01 8.65792588e+01] [ 6.51852539e-01 -4.97878055e-02 7.56709616e-01 6.40053736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.18710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.52, Y:86.60, Z:64.02 [[ 3.72081048e-01 -8.48180029e-01 -3.77022985e-01 1.21517220e+02] [ 6.61629353e-01 5.27240529e-01 -5.33164162e-01 8.66031395e+01] [ 6.51000992e-01 -5.10691937e-02 7.57357013e-01 6.40230843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.21710568099996 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:121.52, Y:86.63, Z:64.04 [[ 3.75769398e-01 -8.46962579e-01 -3.76100716e-01 1.21517793e+02] [ 6.60506809e-01 5.29447629e-01 -5.32368259e-01 8.66287140e+01] [ 6.50021626e-01 -4.83693836e-02 7.58374768e-01 6.40413557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.24710568099997 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:121.52, Y:86.65, Z:64.06 [[ 3.79220562e-01 -8.45567032e-01 -3.75776742e-01 1.21523421e+02] [ 6.58442966e-01 5.31925974e-01 -5.32454335e-01 8.66507531e+01] [ 6.50111241e-01 -4.55099201e-02 7.58474931e-01 6.40590239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.27710568099997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:121.52, Y:86.68, Z:64.08 [[ 3.88460273e-01 -8.41285351e-01 -3.75948900e-01 1.21524965e+02] [ 6.51806114e-01 5.39260926e-01 -5.33241449e-01 8.66772841e+01] [ 6.51342771e-01 -3.79026723e-02 7.57836382e-01 6.40757556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.30710568099997 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:121.53, Y:86.70, Z:64.09 [[ 3.95218190e-01 -8.36472357e-01 -3.79626893e-01 1.21534010e+02] [ 6.48779336e-01 5.46751250e-01 -5.29290510e-01 8.66986917e+01] [ 6.50298359e-01 -3.71088463e-02 7.58772020e-01 6.40904773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.33710568099997 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:121.53, Y:86.72, Z:64.11 [[ 4.00691472e-01 -8.39464975e-01 -3.67076150e-01 1.21534378e+02] [ 6.43373586e-01 5.43047347e-01 -5.39601712e-01 8.67247367e+01] [ 6.52316467e-01 -1.99532953e-02 7.57684032e-01 6.41118585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.36710568099997 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:121.54, Y:86.75, Z:64.13 [[ 4.06277272e-01 -8.32940903e-01 -3.75696993e-01 1.21540099e+02] [ 6.39636603e-01 5.52869486e-01 -5.34041522e-01 8.67482783e+01] [ 6.52536431e-01 -2.33406155e-02 7.57397796e-01 6.41274775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.39710568099997 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:121.55, Y:86.77, Z:64.14 [[ 4.11495271e-01 -8.44752075e-01 -3.42148467e-01 1.21546202e+02] [ 6.40323938e-01 5.35102942e-01 -5.51044550e-01 8.67731210e+01] [ 6.48580678e-01 7.66637289e-03 7.61107306e-01 6.41449185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.42710568099997 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:121.56, Y:86.79, Z:64.16 [[ 4.15394734e-01 -8.20820489e-01 -3.92047114e-01 1.21557409e+02] [ 6.28562984e-01 5.70554117e-01 -5.28560852e-01 8.67927873e+01] [ 6.57537672e-01 -2.68649093e-02 7.52942552e-01 6.41568136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.45710568099997 meters Centerline goodness : 0.997920 Centerline is valid? [True, True] Translation: X:121.56, Y:86.82, Z:64.17 [[ 4.24920586e-01 -8.29614915e-01 -3.62189990e-01 1.21561564e+02] [ 6.28582189e-01 5.58330844e-01 -5.41434299e-01 8.68197998e+01] [ 6.51403813e-01 2.40040297e-03 7.58727428e-01 6.41747048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.48710568099997 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:121.58, Y:86.84, Z:64.19 [[ 4.26168589e-01 -8.11776164e-01 -3.99249037e-01 1.21576722e+02] [ 6.25478064e-01 5.83255309e-01 -5.18257113e-01 8.68361331e+01] [ 6.53572892e-01 -2.88566123e-02 7.56313276e-01 6.41914481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.51710568099998 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:121.58, Y:86.86, Z:64.21 [[ 4.29082333e-01 -8.22011482e-01 -3.74413507e-01 1.21579002e+02] [ 6.24926753e-01 5.69450378e-01 -5.34034475e-01 8.68556832e+01] [ 6.52192384e-01 -4.83625927e-03 7.58038063e-01 6.42142099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.54710568099998 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:121.59, Y:86.87, Z:64.23 [[ 4.28892885e-01 -8.22228640e-01 -3.74153655e-01 1.21591150e+02] [ 6.25056137e-01 5.69137545e-01 -5.34216510e-01 8.68734072e+01] [ 6.52193007e-01 -4.74537785e-03 7.58038101e-01 6.42328417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.57710568099998 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:121.60, Y:86.89, Z:64.25 [[ 4.29055275e-01 -8.22272010e-01 -3.73872054e-01 1.21601441e+02] [ 6.25161733e-01 5.69076502e-01 -5.34157976e-01 8.68915462e+01] [ 6.51984953e-01 -4.54720363e-03 7.58218270e-01 6.42494058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.60710568099998 meters Centerline goodness : 0.997859 Centerline is valid? [True, True] Translation: X:121.61, Y:86.91, Z:64.27 [[ 4.27737522e-01 -8.22877491e-01 -3.74049793e-01 1.21613739e+02] [ 6.25426186e-01 5.68195103e-01 -5.34786323e-01 8.69103530e+01] [ 6.52596889e-01 -5.19235898e-03 7.57687495e-01 6.42657108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.63710568099998 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:121.63, Y:86.93, Z:64.28 [[ 4.26257303e-01 -8.23599172e-01 -3.74151193e-01 1.21626961e+02] [ 6.25784672e-01 5.67141767e-01 -5.35484603e-01 8.69281909e+01] [ 6.53221445e-01 -5.88385898e-03 7.57144058e-01 6.42830230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.66710568099998 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:121.64, Y:86.94, Z:64.30 [[ 4.22304089e-01 -8.30459305e-01 -3.63313362e-01 1.21637004e+02] [ 6.24263929e-01 5.57061175e-01 -5.47701922e-01 8.69435843e+01] [ 6.57231925e-01 4.49333431e-03 7.53675000e-01 6.43036700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.69710568099998 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:121.66, Y:86.96, Z:64.32 [[ 4.21317678e-01 -8.21366679e-01 -3.84510328e-01 1.21655101e+02] [ 6.27832297e-01 5.70111715e-01 -5.29904934e-01 8.69626236e+01] [ 6.54460099e-01 -1.81496860e-02 7.55878673e-01 6.43176431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.72710568099995 meters Centerline goodness : 0.997876 Centerline is valid? [True, True] Translation: X:121.67, Y:86.98, Z:64.34 [[ 4.17815565e-01 -8.27585286e-01 -3.74876977e-01 1.21665514e+02] [ 6.29166496e-01 5.61228635e-01 -5.37747096e-01 8.69782720e+01] [ 6.55423278e-01 -1.11809271e-02 7.55178994e-01 6.43380437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75710568099996 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:121.68, Y:86.99, Z:64.36 [[ 4.14237944e-01 -8.29721281e-01 -3.74125007e-01 1.21679759e+02] [ 6.32466166e-01 5.58000363e-01 -5.37235650e-01 8.69929519e+01] [ 6.54517741e-01 -1.40780176e-02 7.55915561e-01 6.43560005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.78710568099996 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:121.69, Y:87.01, Z:64.37 [[ 4.14221619e-01 -8.29225242e-01 -3.75241188e-01 1.21693327e+02] [ 6.34205855e-01 5.58668433e-01 -5.34483410e-01 8.70087987e+01] [ 6.52842541e-01 -1.65855756e-02 7.57312046e-01 6.43733776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81710568099996 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:121.70, Y:87.03, Z:64.40 [[ 4.08406231e-01 -8.36041148e-01 -3.66387158e-01 1.21704737e+02] [ 6.37168754e-01 5.48528136e-01 -5.41417457e-01 8.70267741e+01] [ 6.53620937e-01 -1.23321864e-02 7.56721605e-01 6.43950429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.84710568099996 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:121.72, Y:87.04, Z:64.41 [[ 4.06653779e-01 -8.33705800e-01 -3.73587130e-01 1.21719502e+02] [ 6.37494589e-01 5.51863407e-01 -5.37631313e-01 8.70448527e+01] [ 6.54395410e-01 -1.95299686e-02 7.55900276e-01 6.44111212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87710568099996 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:121.73, Y:87.06, Z:64.43 [[ 4.06927547e-01 -8.33523114e-01 -3.73696655e-01 1.21730598e+02] [ 6.36616015e-01 5.52163733e-01 -5.38363503e-01 8.70619720e+01] [ 6.55080163e-01 -1.88263354e-02 7.55324797e-01 6.44281305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.90710568099996 meters Centerline goodness : 0.997920 Centerline is valid? [True, True] Translation: X:121.74, Y:87.08, Z:64.45 [[ 4.10577994e-01 -8.31763268e-01 -3.73624915e-01 1.21742482e+02] [ 6.33981031e-01 5.54908077e-01 -5.38651166e-01 8.70802209e+01] [ 6.55357737e-01 -1.57127939e-02 7.55155179e-01 6.44460616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.93710568099996 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:121.75, Y:87.10, Z:64.46 [[ 4.12983997e-01 -8.30679735e-01 -3.73383711e-01 1.21754074e+02] [ 6.32327498e-01 5.56585433e-01 -5.38864167e-01 8.70970303e+01] [ 6.55443478e-01 -1.35585101e-02 7.55122516e-01 6.44648313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.96710568099996 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:121.76, Y:87.11, Z:64.48 [[ 4.15681599e-01 -8.31505339e-01 -3.68520935e-01 1.21764284e+02] [ 6.29598717e-01 5.55481825e-01 -5.43180815e-01 8.71133807e+01] [ 6.56364429e-01 -6.23003840e-03 7.54418268e-01 6.44837796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.99710568099997 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:121.78, Y:87.13, Z:64.50 [[ 4.21173401e-01 -8.26756142e-01 -3.72944029e-01 1.21777934e+02] [ 6.29028644e-01 5.62494769e-01 -5.36584196e-01 8.71316782e+01] [ 6.53403345e-01 -8.59748641e-03 7.56961130e-01 6.45036956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.02710568099997 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:121.79, Y:87.15, Z:64.52 [[ 4.26499758e-01 -8.25004920e-01 -3.70762509e-01 1.21789580e+02] [ 6.26903539e-01 5.65113484e-01 -5.36319590e-01 8.71467935e+01] [ 6.51989194e-01 -3.69215422e-03 7.58219269e-01 6.45224467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.05710568099997 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:121.80, Y:87.16, Z:64.54 [[ 4.33065113e-01 -8.21999783e-01 -3.69825588e-01 1.21800803e+02] [ 6.23665876e-01 5.69486442e-01 -5.35468082e-01 8.71644425e+01] [ 6.50765306e-01 1.24494569e-03 7.59277925e-01 6.45415129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.08710568099997 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:121.81, Y:87.18, Z:64.56 [[ 4.36579595e-01 -8.20361473e-01 -3.69330895e-01 1.21812768e+02] [ 6.21666865e-01 5.71830623e-01 -5.35294356e-01 8.71811027e+01] [ 6.50329582e-01 4.09781371e-03 7.59641127e-01 6.45600399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.11710568099997 meters Centerline goodness : 0.997946 Centerline is valid? [True, True] Translation: X:121.83, Y:87.20, Z:64.58 [[ 4.43441753e-01 -8.16840075e-01 -3.68960301e-01 1.21829707e+02] [ 6.17071462e-01 5.76782649e-01 -5.35298596e-01 8.71966798e+01] [ 6.50063245e-01 9.69887495e-03 7.59818208e-01 6.45764892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.14710568099997 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:121.84, Y:87.21, Z:64.60 [[ 4.45358410e-01 -8.15740046e-01 -3.69085442e-01 1.21844121e+02] [ 6.15013904e-01 5.78299686e-01 -5.36029263e-01 8.72119906e+01] [ 6.50702531e-01 1.17324617e-02 7.59242099e-01 6.45951409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.17710568099997 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:121.86, Y:87.23, Z:64.61 [[ 4.45803887e-01 -8.15010575e-01 -3.70157612e-01 1.21861877e+02] [ 6.12227407e-01 5.79293771e-01 -5.38141551e-01 8.72263136e+01] [ 6.53021053e-01 1.32849602e-02 7.57223226e-01 6.46129738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.20710568099997 meters Centerline goodness : 0.998344 Centerline is valid? [True, True] Translation: X:121.88, Y:87.24, Z:64.63 [[ 4.45158517e-01 -8.15108050e-01 -3.70719249e-01 1.21876865e+02] [ 6.11121267e-01 5.79148536e-01 -5.39553306e-01 8.72414092e+01] [ 6.54495754e-01 1.36323323e-02 7.55942768e-01 6.46298102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.23710568099997 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:121.90, Y:87.26, Z:64.65 [[ 4.44987212e-01 -8.14845863e-01 -3.71500471e-01 1.21896300e+02] [ 6.09307905e-01 5.79496776e-01 -5.41227644e-01 8.72557674e+01] [ 6.56300432e-01 1.44812065e-02 7.54360681e-01 6.46466469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.26710568099998 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:121.91, Y:87.27, Z:64.67 [[ 4.43417938e-01 -8.15664807e-01 -3.71579675e-01 1.21914291e+02] [ 6.09772439e-01 5.78362142e-01 -5.41917711e-01 8.72683314e+01] [ 6.56930822e-01 1.37169889e-02 7.53826067e-01 6.46650687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.29710568099998 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:121.93, Y:87.28, Z:64.68 [[ 4.42370851e-01 -8.16341059e-01 -3.71342573e-01 1.21930301e+02] [ 6.10451009e-01 5.77420467e-01 -5.42157883e-01 8.72828760e+01] [ 6.57006542e-01 1.31483955e-02 7.53770206e-01 6.46818302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.32710568099998 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:121.95, Y:87.29, Z:64.70 [[ 4.39963779e-01 -8.20632611e-01 -3.64683413e-01 1.21949317e+02] [ 6.10667712e-01 5.71152485e-01 -5.48515984e-01 8.72932296e+01] [ 6.58419942e-01 1.86267802e-02 7.52420244e-01 6.47003443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.35710568099998 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:121.97, Y:87.31, Z:64.72 [[ 4.34687615e-01 -8.19326097e-01 -3.73833416e-01 1.21969902e+02] [ 6.15832414e-01 5.73308511e-01 -5.40432965e-01 8.73070702e+01] [ 6.57112711e-01 4.70078147e-03 7.53777678e-01 6.47183618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.38710568099998 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:121.98, Y:87.32, Z:64.74 [[ 4.30966488e-01 -8.22749272e-01 -3.70609662e-01 1.21984688e+02] [ 6.18793457e-01 5.68387752e-01 -5.42245351e-01 8.73218860e+01] [ 6.56781960e-01 4.35874003e-03 7.54067940e-01 6.47372891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41710568099998 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:122.01, Y:87.33, Z:64.76 [[ 4.23765372e-01 -8.26830774e-01 -3.69829394e-01 1.22006296e+02] [ 6.24682493e-01 5.62448829e-01 -5.41685423e-01 8.73323572e+01] [ 6.55892287e-01 -1.47842279e-03 7.54853046e-01 6.47551695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.44710568099998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:122.02, Y:87.35, Z:64.77 [[ 4.19120677e-01 -8.29261125e-01 -3.69680735e-01 1.22021848e+02] [ 6.27761164e-01 5.58839270e-01 -5.41862151e-01 8.73466598e+01] [ 6.55937329e-01 -4.96557721e-03 7.54799022e-01 6.47741316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:122.04, Y:87.36, Z:64.79 [[ 4.09221426e-01 -8.33516999e-01 -3.71197033e-01 1.22039865e+02] [ 6.31046702e-01 5.52377131e-01 -5.44664636e-01 8.73592440e+01] [ 6.59027985e-01 -1.13542250e-02 7.52032710e-01 6.47911378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.50710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:122.06, Y:87.37, Z:64.81 [[ 4.01504246e-01 -8.41355280e-01 -3.61822654e-01 1.22055548e+02] [ 6.29147607e-01 5.40472087e-01 -5.58626182e-01 8.73717800e+01] [ 6.65558133e-01 -3.34907311e-03 7.46338499e-01 6.48104612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.07, Y:87.39, Z:64.83 [[ 4.00205250e-01 -8.34014665e-01 -3.79809553e-01 1.22074558e+02] [ 6.34082501e-01 5.51228701e-01 -5.42297244e-01 8.73888053e+01] [ 6.61645781e-01 -2.38003868e-02 7.49438725e-01 6.48260867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.56710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:87.40, Z:64.85 [[ 4.01326275e-01 -8.37177290e-01 -3.71579609e-01 1.22087972e+02] [ 6.34291539e-01 5.46688301e-01 -5.46631636e-01 8.74021602e+01] [ 6.60765817e-01 -1.63121642e-02 7.50414851e-01 6.48458899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:122.10, Y:87.42, Z:64.86 [[ 4.02768992e-01 -8.36343396e-01 -3.71896306e-01 1.22102513e+02] [ 6.32217665e-01 5.48013578e-01 -5.47706073e-01 8.74159916e+01] [ 6.61874582e-01 -1.45203920e-02 7.49473946e-01 6.48647666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.62710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:87.43, Z:64.88 [[ 4.04517496e-01 -8.38189550e-01 -3.65792117e-01 1.22113399e+02] [ 6.29173648e-01 5.45344812e-01 -5.53840732e-01 8.74309672e+01] [ 6.63706348e-01 -6.10849448e-03 7.47968295e-01 6.48836794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.12, Y:87.45, Z:64.91 [[ 4.04549343e-01 -8.42634741e-01 -3.55396288e-01 1.22122302e+02] [ 6.27222214e-01 5.38464750e-01 -5.62714854e-01 8.74477142e+01] [ 6.65531459e-01 4.73347758e-03 7.46354789e-01 6.49060122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.68710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:122.14, Y:87.47, Z:64.92 [[ 4.05195200e-01 -8.29607345e-01 -3.84146462e-01 1.22141009e+02] [ 6.32841606e-01 5.57764715e-01 -5.37038197e-01 8.74674961e+01] [ 6.59794174e-01 -2.54985645e-02 7.51013629e-01 6.49211304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:87.48, Z:64.94 [[ 4.03885356e-01 -8.36656981e-01 -3.69975291e-01 1.22151090e+02] [ 6.33429983e-01 5.47560177e-01 -5.46758000e-01 8.74846315e+01] [ 6.60032633e-01 -1.35258924e-02 7.51115154e-01 6.49413987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.74710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:87.50, Z:64.96 [[ 4.02856112e-01 -8.37519864e-01 -3.69144187e-01 1.22163017e+02] [ 6.35152183e-01 5.46215483e-01 -5.46104707e-01 8.75017669e+01] [ 6.59005810e-01 -1.44611171e-02 7.51998815e-01 6.49594053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.77710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:87.52, Z:64.98 [[ 3.99744611e-01 -8.39558732e-01 -3.67893165e-01 1.22174280e+02] [ 6.39005413e-01 5.42993526e-01 -5.44821175e-01 8.75195820e+01] [ 6.57172982e-01 -1.72963949e-02 7.53541311e-01 6.49780906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.80710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.18, Y:87.54, Z:64.99 [[ 3.98398246e-01 -8.50044452e-01 -3.44533404e-01 1.22184071e+02] [ 6.43671655e-01 5.26710645e-01 -5.55214100e-01 8.75420147e+01] [ 6.53426077e-01 -5.70062988e-04 7.56990117e-01 6.49928911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.83710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.20, Y:87.55, Z:65.01 [[ 3.89595057e-01 -8.36160195e-01 -3.86072299e-01 1.22204088e+02] [ 6.45853725e-01 5.46889935e-01 -5.32714149e-01 8.75537140e+01] [ 6.56573421e-01 -4.18034331e-02 7.53102792e-01 6.50131900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.86710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.21, Y:87.57, Z:65.03 [[ 3.86258967e-01 -8.46011994e-01 -3.67515600e-01 1.22212292e+02] [ 6.46896984e-01 5.32485131e-01 -5.45878996e-01 8.75726890e+01] [ 6.57516770e-01 -2.68940765e-02 7.52959764e-01 6.50329642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.89710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:87.59, Z:65.05 [[ 3.81371682e-01 -8.56206141e-01 -3.48520710e-01 1.22222473e+02] [ 6.51394178e-01 5.16415722e-01 -5.55878069e-01 8.75933590e+01] [ 6.55927790e-01 -1.50282076e-02 7.54674027e-01 6.50474467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.92710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.24, Y:87.61, Z:65.07 [[ 3.78174312e-01 -8.43050876e-01 -3.82425691e-01 1.22239827e+02] [ 6.50691007e-01 5.35914257e-01 -5.37956432e-01 8.76057743e+01] [ 6.58472022e-01 -4.53996542e-02 7.51234629e-01 6.50670247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.95710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.25, Y:87.62, Z:65.09 [[ 3.74323265e-01 -8.55364005e-01 -3.58098469e-01 1.22246186e+02] [ 6.46800285e-01 5.17562712e-01 -5.60159111e-01 8.76233642e+01] [ 6.64478355e-01 -2.19376043e-02 7.46985446e-01 6.50878179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.98710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.26, Y:87.64, Z:65.11 [[ 3.73641011e-01 -8.54209045e-01 -3.61551244e-01 1.22257035e+02] [ 6.45777148e-01 5.19358587e-01 -5.59677168e-01 8.76400466e+01] [ 6.65856043e-01 -2.43631889e-02 7.45682349e-01 6.51073965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.01710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.27, Y:87.66, Z:65.12 [[ 3.76680211e-01 -8.43578588e-01 -3.82736443e-01 1.22270911e+02] [ 6.49497603e-01 5.35108116e-01 -5.40196416e-01 8.76601047e+01] [ 6.60503507e-01 -4.51051020e-02 7.49466909e-01 6.51248525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.28, Y:87.68, Z:65.14 [[ 3.76936520e-01 -8.49363772e-01 -3.69459122e-01 1.22275060e+02] [ 6.47281630e-01 5.26866625e-01 -5.50852113e-01 8.76802657e+01] [ 6.62529509e-01 -3.15078238e-02 7.48372839e-01 6.51437156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.07710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.28, Y:87.71, Z:65.16 [[ 3.78797179e-01 -8.64695698e-01 -3.29869741e-01 1.22280548e+02] [ 6.45711649e-01 5.02272582e-01 -5.75133654e-01 8.77056243e+01] [ 6.63000123e-01 4.85827095e-03 7.48603522e-01 6.51595643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.10710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.30, Y:87.72, Z:65.17 [[ 3.80473868e-01 -8.31291706e-01 -4.05208262e-01 1.22299049e+02] [ 6.44887777e-01 5.52543614e-01 -5.28029649e-01 8.77215963e+01] [ 6.62841905e-01 -6.04123728e-02 7.46318266e-01 6.51748245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.30, Y:87.74, Z:65.20 [[ 3.86545901e-01 -8.44953398e-01 -3.69643101e-01 1.22297593e+02] [ 6.39721769e-01 5.34348934e-01 -5.52473778e-01 8.77429287e+01] [ 6.64332993e-01 -2.29122646e-02 7.47085472e-01 6.51961269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.16710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:122.31, Y:87.76, Z:65.21 [[ 3.89482684e-01 -8.43768649e-01 -3.69266444e-01 1.22305494e+02] [ 6.38214323e-01 5.36313323e-01 -5.52313766e-01 8.77623924e+01] [ 6.64067554e-01 -2.05544850e-02 7.47389990e-01 6.52143758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.19710568099998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:122.31, Y:87.78, Z:65.23 [[ 3.91948810e-01 -8.42690972e-01 -3.69117944e-01 1.22313390e+02] [ 6.36406699e-01 5.38086830e-01 -5.52674475e-01 8.77825662e+01] [ 6.64351295e-01 -1.82890293e-02 7.47196673e-01 6.52331975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.22710568099995 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:122.32, Y:87.81, Z:65.25 [[ 3.95348687e-01 -8.41097161e-01 -3.69127324e-01 1.22317890e+02] [ 6.33690119e-01 5.40671105e-01 -5.53273521e-01 8.78051507e+01] [ 6.64933266e-01 -1.51763780e-02 7.46748572e-01 6.52516498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25710568099996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:122.33, Y:87.82, Z:65.27 [[ 3.95699992e-01 -8.41198889e-01 -3.68518584e-01 1.22327285e+02] [ 6.34101973e-01 5.40521147e-01 -5.52948078e-01 8.78247833e+01] [ 6.64331397e-01 -1.48768110e-02 7.47290088e-01 6.52695878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.28710568099996 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:122.34, Y:87.84, Z:65.29 [[ 3.93678202e-01 -8.42703600e-01 -3.67243946e-01 1.22337737e+02] [ 6.37303684e-01 5.38112871e-01 -5.51614497e-01 8.78437276e+01] [ 6.62466216e-01 -1.68873159e-02 7.48901416e-01 6.52880330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31710568099996 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:122.35, Y:87.86, Z:65.31 [[ 3.92396322e-01 -8.43619112e-01 -3.66513193e-01 1.22347034e+02] [ 6.38988784e-01 5.36641989e-01 -5.51097731e-01 8.78620459e+01] [ 6.61602947e-01 -1.79490969e-02 7.49639493e-01 6.53071084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.34710568099996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:122.35, Y:87.88, Z:65.33 [[ 3.91844339e-01 -8.44480202e-01 -3.65118067e-01 1.22353632e+02] [ 6.41459796e-01 5.35254567e-01 -5.49574270e-01 8.78810176e+01] [ 6.59535703e-01 -1.88609944e-02 7.51436570e-01 6.53251989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37710568099996 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:122.36, Y:87.90, Z:65.34 [[ 3.91979387e-01 -8.44798537e-01 -3.64235628e-01 1.22363981e+02] [ 6.42661339e-01 5.34746538e-01 -5.48664327e-01 8.78996329e+01] [ 6.58284562e-01 -1.90150498e-02 7.52528979e-01 6.53438618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.40710568099996 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:122.38, Y:87.92, Z:65.36 [[ 3.88641422e-01 -8.46415052e-01 -3.64059617e-01 1.22375548e+02] [ 6.44587634e-01 5.32097139e-01 -5.48980343e-01 8.79178898e+01] [ 6.58380306e-01 -2.13118257e-02 7.52383665e-01 6.53608219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.43710568099996 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:122.39, Y:87.94, Z:65.38 [[ 3.88455619e-01 -8.46578069e-01 -3.63878833e-01 1.22387239e+02] [ 6.44698965e-01 5.31838561e-01 -5.49100164e-01 8.79359140e+01] [ 6.58380951e-01 -2.12912633e-02 7.52383682e-01 6.53794873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.46710568099996 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:122.40, Y:87.95, Z:65.40 [[ 3.85421988e-01 -8.47796276e-01 -3.64268260e-01 1.22399492e+02] [ 6.45567947e-01 5.29815879e-01 -5.50033781e-01 8.79539003e+01] [ 6.59311700e-01 -2.31647993e-02 7.51512791e-01 6.53971188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.49710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:122.41, Y:87.97, Z:65.41 [[ 3.78222240e-01 -8.50592192e-01 -3.65295581e-01 1.22411777e+02] [ 6.47610345e-01 5.25094182e-01 -5.52156628e-01 8.79725509e+01] [ 6.61474700e-01 -2.77312806e-02 7.49454600e-01 6.54147153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.52710568099997 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:122.42, Y:88.00, Z:65.43 [[ 3.76255158e-01 -8.65631898e-01 -3.30323287e-01 1.22419074e+02] [ 6.52133752e-01 5.00679436e-01 -5.69246583e-01 8.79974587e+01] [ 6.58144077e-01 -1.23300158e-03 7.52890998e-01 6.54297847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.55710568099997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:122.44, Y:88.01, Z:65.45 [[ 3.74098693e-01 -8.38573785e-01 -3.96035573e-01 1.22438592e+02] [ 6.50549049e-01 5.41639803e-01 -5.32364780e-01 8.80095375e+01] [ 6.60935778e-01 -5.84835964e-02 7.48160121e-01 6.54473631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.58710568099997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:122.44, Y:88.03, Z:65.47 [[ 3.76175792e-01 -8.64271480e-01 -3.33955958e-01 1.22435062e+02] [ 6.49693668e-01 5.03019146e-01 -5.69973576e-01 8.80335490e+01] [ 6.60598147e-01 -2.55880991e-03 7.50735334e-01 6.54688658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.61710568099997 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:122.45, Y:88.05, Z:65.49 [[ 3.78210515e-01 -8.46858310e-01 -3.73882079e-01 1.22450020e+02] [ 6.42367546e-01 5.30907029e-01 -5.52722049e-01 8.80490953e+01] [ 6.66573884e-01 -3.11244227e-02 7.44788915e-01 6.54856192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.64710568099997 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:122.46, Y:88.07, Z:65.50 [[ 3.84169362e-01 -8.53661246e-01 -3.51676525e-01 1.22458658e+02] [ 6.44058174e-01 5.20707987e-01 -5.60403659e-01 8.80738307e+01] [ 6.61515661e-01 -1.12102239e-02 7.49847559e-01 6.55028304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.67710568099997 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:122.47, Y:88.09, Z:65.52 [[ 3.92827709e-01 -8.34960311e-01 -3.85392879e-01 1.22467455e+02] [ 6.32920839e-01 5.49509285e-01 -5.45390463e-01 8.80893489e+01] [ 6.67156356e-01 -2.96786976e-02 7.44326254e-01 6.55217084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.70710568099997 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:122.47, Y:88.11, Z:65.54 [[ 4.00030096e-01 -8.50373410e-01 -3.41820108e-01 1.22469987e+02] [ 6.32771493e-01 5.26064594e-01 -5.68204436e-01 8.81145378e+01] [ 6.63005400e-01 1.10048551e-02 7.48533722e-01 6.55415935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.73710568099997 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:122.49, Y:88.13, Z:65.56 [[ 4.08939369e-01 -8.23592687e-01 -3.93018673e-01 1.22486190e+02] [ 6.22209037e-01 5.66687720e-01 -5.40111972e-01 8.81313813e+01] [ 6.67551127e-01 -2.36667210e-02 7.44187732e-01 6.55576760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.76710568099998 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:122.49, Y:88.15, Z:65.58 [[ 4.15292920e-01 -8.32630556e-01 -3.66412538e-01 1.22489967e+02] [ 6.18088123e-01 5.53804192e-01 -5.57913962e-01 8.81496119e+01] [ 6.67457012e-01 5.22248023e-03 7.44630018e-01 6.55798088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.79710568099998 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:122.50, Y:88.17, Z:65.60 [[ 4.27178741e-01 -8.27394074e-01 -3.64605772e-01 1.22500650e+02] [ 6.13102512e-01 5.61450460e-01 -5.55768558e-01 8.81676249e+01] [ 6.64547690e-01 1.38717982e-02 7.47117086e-01 6.55975714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.82710568099998 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:122.51, Y:88.18, Z:65.61 [[ 4.35022448e-01 -8.21290379e-01 -3.69103757e-01 1.22514653e+02] [ 6.12022184e-01 5.70375365e-01 -5.47814557e-01 8.81835785e+01] [ 6.60442516e-01 1.24119423e-02 7.50774019e-01 6.56145308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.85710568099998 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:122.52, Y:88.20, Z:65.64 [[ 4.33929735e-01 -8.31643404e-01 -3.46517292e-01 1.22521351e+02] [ 6.07686693e-01 5.54122629e-01 -5.68915631e-01 8.81991489e+01] [ 6.65148005e-01 3.62954625e-02 7.45828915e-01 6.56383207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.88710568099998 meters Centerline goodness : 0.998200 Centerline is valid? [True, True] Translation: X:122.54, Y:88.22, Z:65.65 [[ 4.32446382e-01 -8.22657722e-01 -3.69085895e-01 1.22541436e+02] [ 6.08757256e-01 5.68347180e-01 -5.53530565e-01 8.82170685e+01] [ 6.65135122e-01 1.46885732e-02 7.46578540e-01 6.56521039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91710568099998 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:122.56, Y:88.23, Z:65.67 [[ 4.32058254e-01 -8.29178239e-01 -3.54667609e-01 1.22556270e+02] [ 6.09732207e-01 5.58341020e-01 -5.62567277e-01 8.82284770e+01] [ 6.64494019e-01 2.68095712e-02 7.46812524e-01 6.56724574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.94710568099998 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:122.58, Y:88.24, Z:65.69 [[ 4.32965527e-01 -8.22359453e-01 -3.69141953e-01 1.22576080e+02] [ 6.12957946e-01 5.68859121e-01 -5.48344651e-01 8.82442502e+01] [ 6.60926175e-01 1.11458378e-02 7.50368151e-01 6.56880012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97710568099995 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:122.59, Y:88.26, Z:65.71 [[ 4.32412150e-01 -8.27478165e-01 -3.58189362e-01 1.22593464e+02] [ 6.13932271e-01 5.61135931e-01 -5.55169914e-01 8.82573830e+01] [ 6.60383903e-01 2.01582075e-02 7.50657543e-01 6.57100648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.00710568099996 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:122.61, Y:88.27, Z:65.73 [[ 4.33017524e-01 -8.25530303e-01 -3.61933064e-01 1.22608668e+02] [ 6.12044024e-01 5.64054453e-01 -5.54296569e-01 8.82714898e+01] [ 6.61738571e-01 1.85011593e-02 7.49506351e-01 6.57275125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03710568099996 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:122.63, Y:88.28, Z:65.75 [[ 4.35581198e-01 -8.24185860e-01 -3.61920832e-01 1.22627942e+02] [ 6.09932147e-01 5.65934608e-01 -5.54707848e-01 8.82841326e+01] [ 6.62005889e-01 2.08731591e-02 7.49207925e-01 6.57457407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.06710568099996 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:122.65, Y:88.29, Z:65.76 [[ 4.37814236e-01 -8.27382864e-01 -3.51790124e-01 1.22646038e+02] [ 6.05512821e-01 5.60589931e-01 -5.64883309e-01 8.82912718e+01] [ 6.64584771e-01 3.43005233e-02 7.46425184e-01 6.57648320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09710568099996 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:122.67, Y:88.31, Z:65.78 [[ 4.35775334e-01 -8.22500556e-01 -3.65503344e-01 1.22666935e+02] [ 6.09613172e-01 5.68481676e-01 -5.52449423e-01 8.83069804e+01] [ 6.62171910e-01 1.79281792e-02 7.49137465e-01 6.57818702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.12710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:122.69, Y:88.32, Z:65.80 [[ 4.34173952e-01 -8.25318785e-01 -3.61028922e-01 1.22689410e+02] [ 6.11305628e-01 5.64305473e-01 -5.54855623e-01 8.83171913e+01] [ 6.61663365e-01 2.02048467e-02 7.49528756e-01 6.58007785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.15710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.70, Y:88.33, Z:65.82 [[ 4.35328279e-01 -8.29530611e-01 -3.49811741e-01 1.22702119e+02] [ 6.07162513e-01 5.57418471e-01 -5.66249354e-01 8.83271558e+01] [ 6.64712698e-01 3.41117810e-02 7.46319915e-01 6.58194649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.18710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:88.34, Z:65.84 [[ 4.35387739e-01 -8.23197201e-01 -3.64395232e-01 1.22727609e+02] [ 6.10288055e-01 5.67461328e-01 -5.52753228e-01 8.83422743e+01] [ 6.61805112e-01 1.82759208e-02 7.49453124e-01 6.58371169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.21710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:88.36, Z:65.85 [[ 4.36526425e-01 -8.24241048e-01 -3.60654094e-01 1.22743142e+02] [ 6.09967910e-01 5.65803792e-01 -5.54801962e-01 8.83563285e+01] [ 6.61350005e-01 2.21982929e-02 7.49748896e-01 6.58548548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.24710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:88.37, Z:65.87 [[ 4.38959002e-01 -8.23091953e-01 -3.60325731e-01 1.22765510e+02] [ 6.08545794e-01 5.67390798e-01 -5.54742912e-01 8.83676543e+01] [ 6.61049931e-01 2.42346870e-02 7.49950444e-01 6.58726483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.27710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:88.38, Z:65.89 [[ 4.39732985e-01 -8.22711538e-01 -3.60250784e-01 1.22781663e+02] [ 6.07627914e-01 5.67897820e-01 -5.55230028e-01 8.83821920e+01] [ 6.61379785e-01 2.52545250e-02 7.49625899e-01 6.58913624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.30710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:88.39, Z:65.91 [[ 4.42136043e-01 -8.27962128e-01 -3.44955700e-01 1.22797701e+02] [ 6.02449503e-01 5.59051237e-01 -5.69663331e-01 8.83923037e+01] [ 6.64507574e-01 4.40503007e-02 7.45982074e-01 6.59110408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.33710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.82, Y:88.40, Z:65.93 [[ 4.43745170e-01 -8.15976400e-01 -3.70503359e-01 1.22823374e+02] [ 6.05277234e-01 5.77782231e-01 -5.47546495e-01 8.84043960e+01] [ 6.60855275e-01 1.87138643e-02 7.50280013e-01 6.59283874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.36710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.84, Y:88.42, Z:65.95 [[ 4.44741583e-01 -8.20418836e-01 -3.59329734e-01 1.22837005e+02] [ 6.04649257e-01 5.70991069e-01 -5.55309351e-01 8.84201662e+01] [ 6.60760321e-01 2.97007030e-02 7.50009111e-01 6.59472148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.39710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:122.85, Y:88.44, Z:65.96 [[ 4.50147964e-01 -8.36870039e-01 -3.11472871e-01 1.22853551e+02] [ 6.05556282e-01 5.42444754e-01 -5.82284534e-01 8.84398365e+01] [ 6.56253305e-01 7.34998433e-02 7.50952310e-01 6.59572037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.42710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:122.88, Y:88.44, Z:65.98 [[ 4.46118195e-01 -8.08547422e-01 -3.83705126e-01 1.22879026e+02] [ 5.98322914e-01 5.88285040e-01 -5.43994855e-01 8.84426356e+01] [ 6.65573622e-01 1.31064337e-02 7.46217110e-01 6.59846355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.45710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:122.90, Y:88.46, Z:66.00 [[ 4.48129481e-01 -8.21457823e-01 -3.52685431e-01 1.22895074e+02] [ 5.95545552e-01 5.68547374e-01 -5.67520378e-01 8.84577588e+01] [ 6.66712430e-01 4.42823729e-02 7.43998392e-01 6.60031838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.48710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:122.91, Y:88.47, Z:66.02 [[ 4.48576103e-01 -8.19154490e-01 -3.57442864e-01 1.22911282e+02] [ 5.93615964e-01 5.72053810e-01 -5.66016365e-01 8.84724993e+01] [ 6.68131399e-01 4.17176250e-02 7.42872851e-01 6.60216406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.51710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:122.94, Y:88.48, Z:66.04 [[ 4.47991482e-01 -8.08991841e-01 -3.80573032e-01 1.22937923e+02] [ 5.98236926e-01 5.87590757e-01 -5.44839134e-01 8.84841244e+01] [ 6.64391611e-01 1.64104501e-02 7.47204447e-01 6.60394022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.96, Y:88.50, Z:66.06 [[ 4.43257886e-01 -8.20706397e-01 -3.60504448e-01 1.22955208e+02] [ 6.01905565e-01 5.70525630e-01 -5.58757726e-01 8.84977501e+01] [ 6.64253068e-01 3.06841348e-02 7.46877732e-01 6.60572995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:88.51, Z:66.08 [[ 4.39147348e-01 -8.29425519e-01 -3.45257753e-01 1.22966715e+02] [ 6.01389067e-01 5.56885608e-01 -5.72895811e-01 8.85129719e+01] [ 6.67443478e-01 4.39514381e-02 7.43362277e-01 6.60759044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.99, Y:88.52, Z:66.10 [[ 4.31029014e-01 -8.21795261e-01 -3.72648009e-01 1.22990556e+02] [ 6.09812050e-01 5.69690799e-01 -5.50982447e-01 8.85240181e+01] [ 6.65088906e-01 1.02441742e-02 7.46693916e-01 6.60954211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.00, Y:88.55, Z:66.11 [[ 4.26404710e-01 -8.47487167e-01 -3.16140041e-01 1.22999739e+02] [ 6.10389524e-01 5.27528439e-01 -5.90879324e-01 8.85476638e+01] [ 6.67535507e-01 5.89851577e-02 7.42237899e-01 6.61079235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.03, Y:88.54, Z:66.14 [[ 4.16085181e-01 -8.15301285e-01 -4.02687144e-01 1.23030845e+02] [ 6.18851144e-01 5.78357602e-01 -5.31531510e-01 8.85447231e+01] [ 6.66255495e-01 -2.80410151e-02 7.45196160e-01 6.61353098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.69710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.04, Y:88.57, Z:66.15 [[ 4.12006913e-01 -8.46091102e-01 -3.38201346e-01 1.23039372e+02] [ 6.23814492e-01 5.32463479e-01 -5.72134707e-01 8.85737432e+01] [ 6.64157951e-01 2.47485537e-02 7.47182525e-01 6.61480553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.72710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:123.06, Y:88.58, Z:66.17 [[ 4.05334002e-01 -8.28346675e-01 -3.86711951e-01 1.23056719e+02] [ 6.26647807e-01 5.59761386e-01 -5.42198965e-01 8.85762604e+01] [ 6.65595127e-01 -2.25605193e-02 7.45971950e-01 6.61709970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:88.61, Z:66.19 [[ 4.02476962e-01 -8.53597259e-01 -3.30732541e-01 1.23064472e+02] [ 6.29539610e-01 5.20380156e-01 -5.76961326e-01 8.86068227e+01] [ 6.64599258e-01 2.40044065e-02 7.46814311e-01 6.61860669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:88.62, Z:66.21 [[ 4.01097143e-01 -8.48853876e-01 -3.44337303e-01 1.23076893e+02] [ 6.25906877e-01 5.28427503e-01 -5.73589536e-01 8.86158634e+01] [ 6.68851002e-01 1.45420380e-02 7.43254241e-01 6.62077324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.81710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:88.62, Z:66.23 [[ 4.06524764e-01 -8.20563254e-01 -4.01763067e-01 1.23094937e+02] [ 6.30334639e-01 5.70217878e-01 -5.26810985e-01 8.86216875e+01] [ 6.61374220e-01 -3.90834667e-02 7.49037131e-01 6.62319551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.84710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:123.10, Y:88.65, Z:66.25 [[ 4.06067409e-01 -8.47904659e-01 -3.40832728e-01 1.23096715e+02] [ 6.26447743e-01 5.29820981e-01 -5.71710551e-01 8.86471630e+01] [ 6.65336370e-01 1.86391290e-02 7.46310993e-01 6.62476734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.87710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:88.66, Z:66.27 [[ 4.06469334e-01 -8.44380089e-01 -3.49005654e-01 1.23108115e+02] [ 6.25967233e-01 5.35611769e-01 -5.66820127e-01 8.86639964e+01] [ 6.65543165e-01 1.19288963e-02 7.46264026e-01 6.62690205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.90710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:88.68, Z:66.29 [[ 4.09283083e-01 -8.30191058e-01 -3.78510456e-01 1.23123492e+02] [ 6.31879350e-01 5.57166737e-01 -5.38789118e-01 8.86780261e+01] [ 6.58191344e-01 -1.86556693e-02 7.52619506e-01 6.62871388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.93710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.13, Y:88.70, Z:66.31 [[ 4.07450748e-01 -8.51349944e-01 -3.30434805e-01 1.23126308e+02] [ 6.28192800e-01 5.23913148e-01 -5.75229363e-01 8.87015289e+01] [ 6.62840625e-01 2.68008688e-02 7.48280709e-01 6.63062716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.96710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:88.72, Z:66.32 [[ 4.08743243e-01 -8.41785397e-01 -3.52599358e-01 1.23139520e+02] [ 6.30114190e-01 5.39779141e-01 -5.58206580e-01 8.87189617e+01] [ 6.60215926e-01 5.98530886e-03 7.51052000e-01 6.63248115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.99710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:88.74, Z:66.34 [[ 4.11506369e-01 -8.34311611e-01 -3.66860525e-01 1.23149376e+02] [ 6.31661619e-01 5.51243221e-01 -5.45100459e-01 8.87376582e+01] [ 6.57013020e-01 -7.41940277e-03 7.53842719e-01 6.63437395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.02710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:88.76, Z:66.36 [[ 4.12688095e-01 -8.35083055e-01 -3.63764798e-01 1.23156875e+02] [ 6.29181503e-01 5.50119199e-01 -5.49089704e-01 8.87550599e+01] [ 6.58649506e-01 -2.27129866e-03 7.52446456e-01 6.63641362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.05710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:88.78, Z:66.38 [[ 4.16117322e-01 -8.37230283e-01 -3.54812383e-01 1.23163405e+02] [ 6.25113972e-01 5.46759166e-01 -5.57034053e-01 8.87760859e+01] [ 6.60362701e-01 9.99333956e-03 7.50880308e-01 6.63801897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.08710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:88.80, Z:66.40 [[ 4.19698045e-01 -8.34989068e-01 -3.55874708e-01 1.23172364e+02] [ 6.20096863e-01 5.50086212e-01 -5.59361279e-01 8.87967043e+01] [ 6.62822323e-01 1.40860452e-02 7.48644209e-01 6.63964116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.11710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.18, Y:88.82, Z:66.41 [[ 4.21555196e-01 -8.33871307e-01 -3.56300239e-01 1.23182882e+02] [ 6.17450804e-01 5.51716400e-01 -5.60681299e-01 8.88162989e+01] [ 6.64112733e-01 1.63602457e-02 7.47453424e-01 6.64139715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.14710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.19, Y:88.84, Z:66.43 [[ 4.25399834e-01 -8.39016786e-01 -3.39243001e-01 1.23188944e+02] [ 6.06671660e-01 5.42530812e-01 -5.81042009e-01 8.88369328e+01] [ 6.71553779e-01 4.13660600e-02 7.39800223e-01 6.64321897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:88.85, Z:66.45 [[ 4.27531358e-01 -8.29060931e-01 -3.60381618e-01 1.23202016e+02] [ 6.03814415e-01 5.58575293e-01 -5.68684266e-01 8.88530587e+01] [ 6.72774175e-01 2.55267400e-02 7.39407395e-01 6.64524649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.20710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.22, Y:88.87, Z:66.47 [[ 4.33631672e-01 -8.19764731e-01 -3.74098060e-01 1.23216574e+02] [ 6.05022094e-01 5.72539088e-01 -5.53305755e-01 8.88699406e+01] [ 6.67766306e-01 1.35933077e-02 7.44246856e-01 6.64695355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.23710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.23, Y:88.89, Z:66.49 [[ 4.33280474e-01 -8.34796662e-01 -3.39680090e-01 1.23225819e+02] [ 6.00165708e-01 5.48425126e-01 -5.82263690e-01 8.88881765e+01] [ 6.72360881e-01 4.84191455e-02 7.38638228e-01 6.64867753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.26710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.24, Y:88.91, Z:66.50 [[ 4.35415440e-01 -8.32154775e-01 -3.43412034e-01 1.23244486e+02] [ 6.06921181e-01 5.53093042e-01 -5.70731783e-01 8.89090411e+01] [ 6.64875984e-01 4.00813935e-02 7.45877609e-01 6.64993630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.26, Y:88.92, Z:66.53 [[ 4.26418501e-01 -8.28086875e-01 -3.63922230e-01 1.23259501e+02] [ 6.03956108e-01 5.60169097e-01 -5.66963493e-01 8.89151708e+01] [ 6.73353015e-01 2.19706693e-02 7.38994592e-01 6.65256343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.32710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.28, Y:88.93, Z:66.54 [[ 4.25544426e-01 -8.21126302e-01 -3.80346601e-01 1.23276994e+02] [ 6.11052460e-01 5.70745642e-01 -5.48510988e-01 8.89282435e+01] [ 6.67477964e-01 1.00406760e-03 7.44628873e-01 6.65423881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.28, Y:88.95, Z:66.56 [[ 4.25723306e-01 -8.31721210e-01 -3.56369885e-01 1.23284806e+02] [ 6.11698087e-01 5.54753116e-01 -5.63980878e-01 8.89494049e+01] [ 6.66772163e-01 2.21090276e-02 7.44933604e-01 6.65592190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.30, Y:88.96, Z:66.58 [[ 4.19438474e-01 -8.35298198e-01 -3.55455043e-01 1.23302411e+02] [ 6.17158514e-01 5.49539552e-01 -5.63135551e-01 8.89614367e+01] [ 6.65722716e-01 1.68286101e-02 7.46009426e-01 6.65789955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.32, Y:88.98, Z:66.60 [[ 4.16199075e-01 -8.37087800e-01 -3.55052596e-01 1.23316285e+02] [ 6.19532068e-01 5.46878927e-01 -5.63119398e-01 8.89770583e+01] [ 6.65551160e-01 1.44033038e-02 7.46213239e-01 6.65976260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.33, Y:88.99, Z:66.62 [[ 4.10793012e-01 -8.39695707e-01 -3.55190401e-01 1.23331534e+02] [ 6.22215132e-01 5.42952443e-01 -5.63960081e-01 8.89922553e+01] [ 6.66406355e-01 1.06660185e-02 7.45512445e-01 6.66165002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.34, Y:89.01, Z:66.63 [[ 4.08350394e-01 -8.40982395e-01 -3.54962769e-01 1.23344882e+02] [ 6.23683646e-01 5.40987333e-01 -5.64226386e-01 8.90097078e+01] [ 6.66534820e-01 9.01759287e-03 7.45419357e-01 6.66345981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.50710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.36, Y:89.02, Z:66.65 [[ 4.02878051e-01 -8.43629185e-01 -3.54935310e-01 1.23360637e+02] [ 6.26658783e-01 5.36901694e-01 -5.64832135e-01 8.90232145e+01] [ 6.67074243e-01 5.13514023e-03 7.44973546e-01 6.66523434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.38, Y:89.04, Z:66.67 [[ 3.99421825e-01 -8.52734591e-01 -3.36609453e-01 1.23375301e+02] [ 6.31575973e-01 5.22088614e-01 -5.73179962e-01 8.90434869e+01] [ 6.64510343e-01 1.63461436e-02 7.47100266e-01 6.66674711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.56710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.39, Y:89.05, Z:66.69 [[ 3.96850765e-01 -8.39005188e-01 -3.72263033e-01 1.23388484e+02] [ 6.31371044e-01 5.43897676e-01 -5.52762085e-01 8.90514295e+01] [ 6.66243256e-01 -1.56720429e-02 7.45569790e-01 6.66929236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.40, Y:89.07, Z:66.71 [[ 3.97704853e-01 -8.46891879e-01 -3.52994327e-01 1.23399102e+02] [ 6.32150372e-01 5.31764201e-01 -5.63571416e-01 8.90688506e+01] [ 6.64993802e-01 9.89592151e-04 7.46848220e-01 6.67108923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.62710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.41, Y:89.09, Z:66.73 [[ 3.98194722e-01 -8.46793693e-01 -3.52677481e-01 1.23411221e+02] [ 6.32056949e-01 5.31919397e-01 -5.63529741e-01 8.90856379e+01] [ 6.64789423e-01 1.48231563e-03 7.47029334e-01 6.67298827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.65710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.42, Y:89.10, Z:66.75 [[ 4.00455692e-01 -8.45718329e-01 -3.52697813e-01 1.23424299e+02] [ 6.30034815e-01 5.33616588e-01 -5.64189214e-01 8.91016649e+01] [ 6.65350563e-01 3.72088088e-03 7.46521791e-01 6.67490657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.68710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:89.12, Z:66.77 [[ 4.02352112e-01 -8.44904854e-01 -3.52489100e-01 1.23436681e+02] [ 6.28677186e-01 5.34888076e-01 -5.64499551e-01 8.91192454e+01] [ 6.65490627e-01 5.52573113e-03 7.46385753e-01 6.67676669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:89.14, Z:66.79 [[ 4.08880272e-01 -8.41651465e-01 -3.52760166e-01 1.23451394e+02] [ 6.23402686e-01 5.39902027e-01 -5.65574833e-01 8.91359344e+01] [ 6.66472816e-01 1.13407566e-02 7.45443072e-01 6.67858733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.74710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:123.46, Y:89.15, Z:66.80 [[ 4.12311022e-01 -8.39955555e-01 -3.52809136e-01 1.23463585e+02] [ 6.20525359e-01 5.42459806e-01 -5.66291125e-01 8.91527539e+01] [ 6.67044151e-01 1.45610566e-02 7.44875880e-01 6.68031837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.77710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:89.17, Z:66.82 [[ 4.19768142e-01 -8.36104679e-01 -3.53162388e-01 1.23478062e+02] [ 6.14357781e-01 5.48157727e-01 -5.67527641e-01 8.91701334e+01] [ 6.68101208e-01 2.12619626e-02 7.43766566e-01 6.68208038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.80710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:89.19, Z:66.84 [[ 4.25247760e-01 -8.33192703e-01 -3.53488701e-01 1.23491097e+02] [ 6.09519901e-01 5.52353675e-01 -5.68674694e-01 8.91880612e+01] [ 6.69066389e-01 2.63692412e-02 7.42734697e-01 6.68384253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.83710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:89.21, Z:66.86 [[ 4.26656826e-01 -8.32414600e-01 -3.53623934e-01 1.23502555e+02] [ 6.07752090e-01 5.53442027e-01 -5.69507962e-01 8.92052759e+01] [ 6.69777089e-01 2.80687745e-02 7.42031532e-01 6.68552969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.86710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.52, Y:89.22, Z:66.87 [[ 4.27545979e-01 -8.32070603e-01 -3.53359516e-01 1.23517031e+02] [ 6.07298953e-01 5.53916038e-01 -5.69530512e-01 8.92204618e+01] [ 6.69621100e-01 2.89056162e-02 7.42140181e-01 6.68723012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.89710568099997 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:123.53, Y:89.23, Z:66.89 [[ 4.27918045e-01 -8.32212306e-01 -3.52574566e-01 1.23534128e+02] [ 6.08262940e-01 5.53703286e-01 -5.68708068e-01 8.92344092e+01] [ 6.68507549e-01 2.89024022e-02 7.43143531e-01 6.68917699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.92710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:89.25, Z:66.91 [[ 4.27979910e-01 -8.32259680e-01 -3.52387601e-01 1.23547502e+02] [ 6.08069289e-01 5.53614068e-01 -5.69001936e-01 8.92505141e+01] [ 6.68644103e-01 2.92453189e-02 7.43007251e-01 6.69105851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.95710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:123.56, Y:89.27, Z:66.93 [[ 4.27792809e-01 -8.23964258e-01 -3.71586080e-01 1.23563374e+02] [ 6.12101931e-01 5.66577347e-01 -5.51653276e-01 8.92658056e+01] [ 6.65074837e-01 8.54474745e-03 7.46727828e-01 6.69311706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.98710568099997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:123.57, Y:89.28, Z:66.95 [[ 4.26187623e-01 -8.39822811e-01 -3.36246570e-01 1.23574701e+02] [ 6.11586568e-01 5.41366414e-01 -5.76961242e-01 8.92848125e+01] [ 6.66577812e-01 4.02498544e-02 7.44348016e-01 6.69452693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.01710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:123.59, Y:89.30, Z:66.97 [[ 4.19056508e-01 -8.43150056e-01 -3.36882214e-01 1.23593052e+02] [ 6.14131767e-01 5.36494353e-01 -5.78805652e-01 8.92981867e+01] [ 6.68755423e-01 3.56622063e-02 7.42626683e-01 6.69663298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.04710568099998 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:123.62, Y:89.30, Z:66.99 [[ 4.14218759e-01 -8.31925444e-01 -3.69219278e-01 1.23615449e+02] [ 6.20595200e-01 5.54887310e-01 -5.54041217e-01 8.93036099e+01] [ 6.65796078e-01 3.58553776e-04 7.46133670e-01 6.69872595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.07710568099998 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:123.63, Y:89.32, Z:67.00 [[ 4.10727060e-01 -8.42383194e-01 -3.48846438e-01 1.23628491e+02] [ 6.23357691e-01 5.38660402e-01 -5.66806987e-01 8.93233679e+01] [ 6.65378443e-01 1.53468575e-02 7.46348446e-01 6.70026496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.10710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:123.65, Y:89.34, Z:67.02 [[ 4.04830069e-01 -8.45185217e-01 -3.48962125e-01 1.23645948e+02] [ 6.26307423e-01 5.34355409e-01 -5.67629553e-01 8.93373505e+01] [ 6.66221906e-01 1.12359422e-02 7.45668912e-01 6.70207148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.13710568099998 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:123.66, Y:89.35, Z:67.04 [[ 4.02835307e-01 -8.46116840e-01 -3.49012905e-01 1.23659353e+02] [ 6.26896345e-01 5.32900709e-01 -5.68346555e-01 8.93536498e+01] [ 6.66876816e-01 1.01551441e-02 7.45098776e-01 6.70385566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.16710568099998 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:123.67, Y:89.37, Z:67.06 [[ 4.01227135e-01 -8.46893944e-01 -3.48980563e-01 1.23672502e+02] [ 6.27372282e-01 5.31679745e-01 -5.68964558e-01 8.93709613e+01] [ 6.67398536e-01 9.34328754e-03 7.44642127e-01 6.70571419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.19710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:123.69, Y:89.39, Z:67.08 [[ 4.00262123e-01 -8.47071608e-01 -3.49656865e-01 1.23686742e+02] [ 6.26035572e-01 5.31393280e-01 -5.70701888e-01 8.93862869e+01] [ 6.69230675e-01 9.53271417e-03 7.42993561e-01 6.70750589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.22710568099995 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:123.70, Y:89.40, Z:67.09 [[ 4.03066776e-01 -8.49567356e-01 -3.40253555e-01 1.23698272e+02] [ 6.20541686e-01 5.26981898e-01 -5.80704826e-01 8.94039558e+01] [ 6.72655328e-01 2.29213073e-02 7.39600854e-01 6.70937210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25710568099996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:123.71, Y:89.42, Z:67.11 [[ 4.12271313e-01 -8.36528448e-01 -3.60905141e-01 1.23710661e+02] [ 6.18288949e-01 5.47846423e-01 -5.63545093e-01 8.94150613e+01] [ 6.69142093e-01 9.18981507e-03 7.43077659e-01 6.71147129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.28710568099996 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:123.72, Y:89.43, Z:67.13 [[ 4.16573621e-01 -8.39623439e-01 -3.48566922e-01 1.23720187e+02] [ 6.16418272e-01 5.42689809e-01 -5.70540345e-01 8.94347614e+01] [ 6.68202763e-01 2.28090375e-02 7.43629488e-01 6.71298273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31710568099996 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:123.73, Y:89.45, Z:67.15 [[ 4.24056312e-01 -8.36181191e-01 -3.47817854e-01 1.23733693e+02] [ 6.12457218e-01 5.47702096e-01 -5.70016289e-01 8.94520901e+01] [ 6.67137468e-01 2.86954498e-02 7.44381737e-01 6.71480479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.34710568099996 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:123.75, Y:89.47, Z:67.17 [[ 4.26742571e-01 -8.35179811e-01 -3.46937259e-01 1.23745868e+02] [ 6.11965053e-01 5.49126317e-01 -5.69174017e-01 8.94692828e+01] [ 6.65875028e-01 3.05773055e-02 7.45436433e-01 6.71664533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37710568099996 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:123.76, Y:89.48, Z:67.18 [[ 4.29681782e-01 -8.34054948e-01 -3.46014320e-01 1.23758714e+02] [ 6.11391525e-01 5.50716273e-01 -5.68253455e-01 8.94840450e+01] [ 6.64510323e-01 3.26179347e-02 7.46566876e-01 6.71834962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.40710568099996 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:123.77, Y:89.50, Z:67.20 [[ 4.30083535e-01 -8.33984135e-01 -3.45685719e-01 1.23771247e+02] [ 6.11178266e-01 5.50789389e-01 -5.68411977e-01 8.95008278e+01] [ 6.64446597e-01 3.31890334e-02 7.46598425e-01 6.72016351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.43710568099996 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:123.79, Y:89.52, Z:67.22 [[ 4.32142498e-01 -8.33025849e-01 -3.45428426e-01 1.23785316e+02] [ 6.09761396e-01 5.52119094e-01 -5.68643602e-01 8.95152681e+01] [ 6.64412449e-01 3.51061474e-02 7.46541128e-01 6.72191641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.46710568099996 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:123.80, Y:89.53, Z:67.24 [[ 4.33060957e-01 -8.32490212e-01 -3.45569465e-01 1.23797148e+02] [ 6.08249557e-01 5.52838580e-01 -5.69562973e-01 8.95317692e+01] [ 6.65199733e-01 3.64630128e-02 7.45774607e-01 6.72371312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.49710568099997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:123.81, Y:89.55, Z:67.25 [[ 4.35485689e-01 -8.30731223e-01 -3.46753298e-01 1.23811053e+02] [ 6.03605928e-01 5.55244556e-01 -5.72156768e-01 8.95499967e+01] [ 6.67841372e-01 3.98637380e-02 7.43235349e-01 6.72542882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.52710568099997 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:123.82, Y:89.57, Z:67.27 [[ 4.33771424e-01 -8.35516869e-01 -3.37274241e-01 1.23823246e+02] [ 5.98832319e-01 5.47021034e-01 -5.84951145e-01 8.95706464e+01] [ 6.73232653e-01 5.17643746e-02 7.37616597e-01 6.72703995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.55710568099997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:123.84, Y:89.58, Z:67.29 [[ 4.34167062e-01 -8.26324884e-01 -3.58728516e-01 1.23836526e+02] [ 6.00711159e-01 5.62327012e-01 -5.68273205e-01 8.95820967e+01] [ 6.71301025e-01 3.12332851e-02 7.40526445e-01 6.72906387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.58710568099997 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:123.85, Y:89.60, Z:67.31 [[ 4.33220894e-01 -8.33656395e-01 -3.42544408e-01 1.23850409e+02] [ 6.02706620e-01 5.50545226e-01 -5.77619844e-01 8.96005889e+01] [ 6.70122666e-01 4.37832025e-02 7.40957923e-01 6.73062412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.61710568099997 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:123.87, Y:89.62, Z:67.33 [[ 4.32535985e-01 -8.33624484e-01 -3.43486304e-01 1.23866581e+02] [ 6.03203235e-01 5.50704938e-01 -5.76948810e-01 8.96163541e+01] [ 6.70118258e-01 4.23590715e-02 7.41044688e-01 6.73251662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.64710568099997 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:123.88, Y:89.63, Z:67.34 [[ 4.25649071e-01 -8.41152748e-01 -3.33593949e-01 1.23881778e+02] [ 6.05377958e-01 5.38712157e-01 -5.85923835e-01 8.96318110e+01] [ 6.72562559e-01 4.74475125e-02 7.38517662e-01 6.73447805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.67710568099997 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:123.90, Y:89.64, Z:67.36 [[ 4.22495041e-01 -8.33838948e-01 -3.55261240e-01 1.23895497e+02] [ 6.09199741e-01 5.51470757e-01 -5.69873389e-01 8.96417940e+01] [ 6.71098813e-01 2.43436254e-02 7.40968131e-01 6.73644178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.70710568099997 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:123.91, Y:89.66, Z:67.39 [[ 4.21454911e-01 -8.37172983e-01 -3.48593107e-01 1.23912082e+02] [ 6.09036954e-01 5.46108823e-01 -5.75186180e-01 8.96581437e+01] [ 6.71900102e-01 3.01089567e-02 7.40029529e-01 6.73850475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.73710568099997 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:123.93, Y:89.67, Z:67.40 [[ 4.16314853e-01 -8.40411405e-01 -3.46973507e-01 1.23928637e+02] [ 6.14317552e-01 5.41332195e-01 -5.74084837e-01 8.96718215e+01] [ 6.70295374e-01 2.58481293e-02 7.41644110e-01 6.74034279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.76710568099998 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:123.94, Y:89.69, Z:67.42 [[ 4.09544172e-01 -8.43599028e-01 -3.47295626e-01 1.23943900e+02] [ 6.17366315e-01 5.36554924e-01 -5.75297877e-01 8.96889518e+01] [ 6.71663907e-01 2.12012718e-02 7.40552565e-01 6.74206053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.79710568099998 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:123.96, Y:89.71, Z:67.44 [[ 4.05802971e-01 -8.45171823e-01 -3.47862814e-01 1.23956875e+02] [ 6.17975283e-01 5.34152325e-01 -5.76877668e-01 8.97054379e+01] [ 6.73372482e-01 1.91280504e-02 7.39055897e-01 6.74381254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.82710568099998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:123.97, Y:89.72, Z:67.46 [[ 3.99120878e-01 -8.48142385e-01 -3.48363345e-01 1.23973147e+02] [ 6.20697470e-01 5.29568902e-01 -5.78179409e-01 8.97190514e+01] [ 6.74860857e-01 1.45352261e-02 7.37801837e-01 6.74581378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.85710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:123.98, Y:89.74, Z:67.48 [[ 3.94190303e-01 -8.53048109e-01 -3.41939949e-01 1.23983779e+02] [ 6.22883705e-01 5.21559881e-01 -5.83087627e-01 8.97372462e+01] [ 6.75743956e-01 1.68586657e-02 7.36943614e-01 6.74773289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.88710568099998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:123.99, Y:89.76, Z:67.48 [[ 3.87919171e-01 -8.64471982e-01 -3.19698154e-01 1.23990944e+02] [ 6.29726170e-01 5.01861543e-01 -5.92941770e-01 8.97626259e+01] [ 6.73025756e-01 2.86911862e-02 7.39062344e-01 6.74846892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91710568099998 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:124.01, Y:89.76, Z:67.52 [[ 3.84582099e-01 -8.40770037e-01 -3.81054266e-01 1.24005981e+02] [ 6.31129143e-01 5.40737696e-01 -5.56128356e-01 8.97567469e+01] [ 6.73626465e-01 -2.66174416e-02 7.38592511e-01 6.75244882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.94710568099995 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:124.01, Y:89.78, Z:67.53 [[ 3.82639562e-01 -8.56425635e-01 -3.46586349e-01 1.24013931e+02] [ 6.32705264e-01 5.16268019e-01 -5.77192672e-01 8.97831939e+01] [ 6.73254049e-01 1.56974399e-03 7.39409577e-01 6.75342898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97710568099995 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:124.02, Y:89.80, Z:67.55 [[ 3.79141514e-01 -8.58167914e-01 -3.46120706e-01 1.24022162e+02] [ 6.35095481e-01 5.13368131e-01 -5.77154133e-01 8.98027095e+01] [ 6.72982498e-01 -9.96604829e-04 7.39657734e-01 6.75517343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.00710568099996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:124.03, Y:89.82, Z:67.57 [[ 3.76701134e-01 -8.59471096e-01 -3.45551285e-01 1.24032045e+02] [ 6.37091317e-01 5.11176518e-01 -5.76899663e-01 8.98199472e+01] [ 6.72466288e-01 -2.82896564e-03 7.40122347e-01 6.75697166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03710568099996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:124.04, Y:89.84, Z:67.59 [[ 3.69131094e-01 -8.62816170e-01 -3.45384558e-01 1.24040766e+02] [ 6.41271173e-01 5.05448348e-01 -5.77315555e-01 8.98370182e+01] [ 6.72691250e-01 -8.38003875e-03 7.39875839e-01 6.75870671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.06710568099996 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:124.05, Y:89.86, Z:67.60 [[ 3.57271859e-01 -8.67596532e-01 -3.45880148e-01 1.24047928e+02] [ 6.46461446e-01 4.96985487e-01 -5.78872200e-01 8.98576698e+01] [ 6.74124927e-01 -1.67834332e-02 7.38426637e-01 6.76032531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09710568099996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:124.06, Y:89.88, Z:67.62 [[ 3.51668350e-01 -8.70084036e-01 -3.45373916e-01 1.24056414e+02] [ 6.50030506e-01 4.92456835e-01 -5.78745719e-01 8.98775777e+01] [ 6.73639156e-01 -2.09770295e-02 7.38762649e-01 6.76211627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.12710568099996 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:124.06, Y:89.90, Z:67.64 [[ 3.41700823e-01 -8.74249251e-01 -3.44860543e-01 1.24061044e+02] [ 6.56041421e-01 4.84637304e-01 -5.78564030e-01 8.98968786e+01] [ 6.72941454e-01 -2.85469957e-02 7.39144687e-01 6.76405228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15710568099996 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:124.07, Y:89.92, Z:67.66 [[ 3.38069839e-01 -8.75852204e-01 -3.44371458e-01 1.24068318e+02] [ 6.58385421e-01 4.81571819e-01 -5.78461079e-01 8.99156680e+01] [ 6.72486000e-01 -3.11689034e-02 7.39453230e-01 6.76589392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.18710568099996 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:124.07, Y:89.94, Z:67.68 [[ 3.32981451e-01 -8.77872003e-01 -3.44186140e-01 1.24068562e+02] [ 6.60933398e-01 4.77633079e-01 -5.78820944e-01 8.99370588e+01] [ 6.72525387e-01 -3.47474777e-02 7.39257882e-01 6.76770176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.21710568099996 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:124.07, Y:89.96, Z:67.69 [[ 3.32029335e-01 -8.78345227e-01 -3.43898507e-01 1.24072972e+02] [ 6.61426399e-01 4.76727816e-01 -5.79004066e-01 8.99588221e+01] [ 6.72511442e-01 -3.52172162e-02 7.39248340e-01 6.76946295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.24710568099997 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:124.08, Y:89.98, Z:67.71 [[ 3.31713596e-01 -8.78578741e-01 -3.43606587e-01 1.24083227e+02] [ 6.61584130e-01 4.76298328e-01 -5.79177298e-01 8.99768283e+01] [ 6.72512104e-01 -3.52036812e-02 7.39248383e-01 6.77130635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.27710568099997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:124.08, Y:90.00, Z:67.73 [[ 3.32719423e-01 -8.78109896e-01 -3.43832511e-01 1.24080328e+02] [ 6.60003527e-01 4.77257240e-01 -5.80190374e-01 9.00022335e+01] [ 6.73567465e-01 -3.38900637e-02 7.38348382e-01 6.77299331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.30710568099997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:124.08, Y:90.02, Z:67.74 [[ 3.38271780e-01 -8.69376230e-01 -3.60218231e-01 1.24081154e+02] [ 6.59876782e-01 4.92041293e-01 -5.67853854e-01 9.00207910e+01] [ 6.70920886e-01 -4.56107131e-02 7.40124873e-01 6.77449326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.33710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:124.08, Y:90.05, Z:67.76 [[ 3.31762721e-01 -8.89165637e-01 -3.15147531e-01 1.24079661e+02] [ 6.56753536e-01 4.57513873e-01 -5.99462967e-01 9.00529838e+01] [ 6.77206239e-01 -8.09479058e-03 7.35748724e-01 6.77597677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.36710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:124.08, Y:90.07, Z:67.78 [[ 3.31589273e-01 -8.78783153e-01 -3.43203618e-01 1.24078506e+02] [ 6.60023282e-01 4.76022201e-01 -5.81181668e-01 9.00709877e+01] [ 6.74105200e-01 -3.38087714e-02 7.37861197e-01 6.77842189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.39710568099997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:124.08, Y:90.09, Z:67.80 [[ 3.31493919e-01 -8.79274532e-01 -3.42035202e-01 1.24080441e+02] [ 6.61765844e-01 4.75093535e-01 -5.79958706e-01 9.00934946e+01] [ 6.72441633e-01 -3.40944296e-02 7.39364471e-01 6.78022982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.42710568099997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:124.08, Y:90.12, Z:67.82 [[ 3.28750643e-01 -8.80652330e-01 -3.41137052e-01 1.24075788e+02] [ 6.64377941e-01 4.72375442e-01 -5.79192018e-01 9.01201199e+01] [ 6.71211565e-01 -3.62341840e-02 7.40379712e-01 6.78207205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.45710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.08, Y:90.14, Z:67.84 [[ 3.26829352e-01 -8.81429498e-01 -3.40975974e-01 1.24079015e+02] [ 6.65107564e-01 4.70836280e-01 -5.79607735e-01 9.01406147e+01] [ 6.71427214e-01 -3.73528791e-02 7.40128543e-01 6.78377399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.48710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:90.17, Z:67.86 [[ 3.23064195e-01 -8.82585621e-01 -3.41573049e-01 1.24075781e+02] [ 6.65163436e-01 4.68501096e-01 -5.81432994e-01 9.01668721e+01] [ 6.73191748e-01 -3.93617204e-02 7.38419613e-01 6.78562564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.51710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:90.19, Z:67.87 [[ 3.22060626e-01 -8.83002889e-01 -3.41442311e-01 1.24078447e+02] [ 6.65316244e-01 4.67680985e-01 -5.81918200e-01 9.01892961e+01] [ 6.73521528e-01 -3.97541760e-02 7.38097796e-01 6.78739146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.07, Y:90.22, Z:67.89 [[ 3.22593731e-01 -8.83012076e-01 -3.40914883e-01 1.24071987e+02] [ 6.65431516e-01 4.67711851e-01 -5.81761568e-01 9.02172749e+01] [ 6.73152421e-01 -3.91828723e-02 7.38464976e-01 6.78926638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.07, Y:90.24, Z:67.91 [[ 3.23507422e-01 -8.82924391e-01 -3.40275576e-01 1.24065874e+02] [ 6.65618202e-01 4.67940774e-01 -5.81363777e-01 9.02440812e+01] [ 6.72529075e-01 -3.84181198e-02 7.39072859e-01 6.79110982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.60710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.06, Y:90.27, Z:67.93 [[ 3.23087655e-01 -8.83106685e-01 -3.40201337e-01 1.24062362e+02] [ 6.65531161e-01 4.67593161e-01 -5.81742993e-01 9.02712870e+01] [ 6.72816945e-01 -3.84606112e-02 7.38808595e-01 6.79292458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.07, Y:90.29, Z:67.95 [[ 3.22684011e-01 -8.83451836e-01 -3.39687919e-01 1.24066459e+02] [ 6.66192628e-01 4.66925114e-01 -5.81522417e-01 9.02940919e+01] [ 6.72355867e-01 -3.86496020e-02 7.39218369e-01 6.79467280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.06, Y:90.32, Z:67.97 [[ 3.22321846e-01 -8.83875191e-01 -3.38929601e-01 1.24063289e+02] [ 6.67313845e-01 4.66099384e-01 -5.80898955e-01 9.03191284e+01] [ 6.71417053e-01 -3.89359915e-02 7.40056166e-01 6.79653401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:124.07, Y:90.34, Z:67.98 [[ 3.22002693e-01 -8.83948228e-01 -3.39042471e-01 1.24066989e+02] [ 6.66803169e-01 4.65972036e-01 -5.81587135e-01 9.03408673e+01] [ 6.72077227e-01 -3.88019704e-02 7.39463730e-01 6.79837313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.72710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.06, Y:90.37, Z:68.00 [[ 3.24292892e-01 -8.82946306e-01 -3.39470088e-01 1.24064209e+02] [ 6.64110875e-01 4.68061761e-01 -5.82987937e-01 9.03671508e+01] [ 6.73640013e-01 -3.63869332e-02 7.38163346e-01 6.80012586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.07, Y:90.39, Z:68.02 [[ 3.26045383e-01 -8.82340930e-01 -3.39365423e-01 1.24067304e+02] [ 6.62772192e-01 4.69331382e-01 -5.83490424e-01 9.03898942e+01] [ 6.74112327e-01 -3.46776066e-02 7.37814363e-01 6.80195096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.78710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:124.06, Y:90.42, Z:68.04 [[ 3.28429033e-01 -8.81504600e-01 -3.39240344e-01 1.24064685e+02] [ 6.61136103e-01 4.71055909e-01 -5.83956663e-01 9.04157625e+01] [ 6.74561653e-01 -3.24957166e-02 7.37502952e-01 6.80374939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.06, Y:90.44, Z:68.06 [[ 3.26779641e-01 -8.82365410e-01 -3.38594668e-01 1.24063575e+02] [ 6.62713302e-01 4.69356351e-01 -5.83537227e-01 9.04399666e+01] [ 6.73814622e-01 -3.37031048e-02 7.38131395e-01 6.80559462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.84710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.07, Y:90.46, Z:68.08 [[ 3.24547355e-01 -8.83480980e-01 -3.37831870e-01 1.24067086e+02] [ 6.64836192e-01 4.67126058e-01 -5.82911728e-01 9.04610680e+01] [ 6.72801495e-01 -3.54203946e-02 7.38974657e-01 6.80753748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87710568099996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:124.06, Y:90.50, Z:68.09 [[ 3.24501306e-01 -8.99580654e-01 -2.92324392e-01 1.24061573e+02] [ 6.71788679e-01 4.36748960e-01 -5.98289492e-01 9.04955478e+01] [ 6.65882026e-01 -2.23449568e-03 7.46053707e-01 6.80885368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.90710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:124.08, Y:90.50, Z:68.11 [[ 3.21724078e-01 -8.68687626e-01 -3.76663545e-01 1.24075655e+02] [ 6.71410828e-01 4.89806229e-01 -5.56145088e-01 9.05034004e+01] [ 6.67608506e-01 -7.39707173e-02 7.40828735e-01 6.81142017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.93710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:124.07, Y:90.53, Z:68.13 [[ 3.19365904e-01 -8.86381087e-01 -3.35162628e-01 1.24068316e+02] [ 6.71616724e-01 4.61231600e-01 -5.79824446e-01 9.05300267e+01] [ 6.68533018e-01 -3.99246682e-02 7.42610009e-01 6.81334213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.96710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.07, Y:90.55, Z:68.15 [[ 3.18881531e-01 -8.86648499e-01 -3.34916421e-01 1.24073206e+02] [ 6.71725696e-01 4.60712081e-01 -5.80111169e-01 9.05519871e+01] [ 6.68654738e-01 -3.99852283e-02 7.42497153e-01 6.81519689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.99710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.07, Y:90.58, Z:68.17 [[ 3.18506447e-01 -8.92791624e-01 -3.18554171e-01 1.24072528e+02] [ 6.70524729e-01 4.49737838e-01 -5.90027513e-01 9.05820088e+01] [ 6.70037485e-01 -2.56708827e-02 7.41883262e-01 6.81663291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.02710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:124.08, Y:90.60, Z:68.19 [[ 3.18450056e-01 -8.92466391e-01 -3.19520425e-01 1.24077556e+02] [ 6.64830827e-01 4.50543121e-01 -5.95827885e-01 9.06002135e+01] [ 6.75714091e-01 -2.26856047e-02 7.36814651e-01 6.81850617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.05710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:124.09, Y:90.62, Z:68.20 [[ 3.20609846e-01 -8.80463139e-01 -3.49276376e-01 1.24086158e+02] [ 6.69855995e-01 4.71463981e-01 -5.73597995e-01 9.06226373e+01] [ 6.69703123e-01 -5.00637094e-02 7.40939507e-01 6.82021025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.08710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:124.08, Y:90.64, Z:68.22 [[ 3.22884411e-01 -8.84046005e-01 -3.37947212e-01 1.24084383e+02] [ 6.65905029e-01 4.65939846e-01 -5.82641015e-01 9.06448882e+01] [ 6.72544534e-01 -3.69150473e-02 7.39135393e-01 6.82233741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.11710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:124.09, Y:90.67, Z:68.24 [[ 3.26124697e-01 -8.83498779e-01 -3.36262678e-01 1.24090133e+02] [ 6.62895522e-01 4.67329659e-01 -5.84955141e-01 9.06650851e+01] [ 6.73952676e-01 -3.21387051e-02 7.38075128e-01 6.82419956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.14710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.09, Y:90.68, Z:68.26 [[ 3.36645873e-01 -8.77299753e-01 -3.42074115e-01 1.24094150e+02] [ 6.57183235e-01 4.79071163e-01 -5.81894334e-01 9.06848386e+01] [ 6.74373600e-01 -2.89130478e-02 7.37824020e-01 6.82616920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.17710568099997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:124.10, Y:90.70, Z:68.28 [[ 3.43748601e-01 -8.77088543e-01 -3.35488580e-01 1.24099977e+02] [ 6.53820777e-01 4.79980671e-01 -5.84924736e-01 9.07048793e+01] [ 6.74058818e-01 -1.82823444e-02 7.38451397e-01 6.82809040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.20710568099997 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:124.10, Y:90.73, Z:68.30 [[ 3.57397579e-01 -8.71882233e-01 -3.34795971e-01 1.24102868e+02] [ 6.47129243e-01 4.89653298e-01 -5.84348689e-01 9.07269916e+01] [ 6.73417192e-01 -7.81145610e-03 7.39221393e-01 6.82996365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.23710568099997 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:124.11, Y:90.75, Z:68.32 [[ 3.62484028e-01 -8.70038384e-01 -3.34123539e-01 1.24108931e+02] [ 6.45036229e-01 4.92968745e-01 -5.83875056e-01 9.07465019e+01] [ 6.72706172e-01 -3.87640531e-03 7.39899574e-01 6.83174583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.26710568099998 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:124.11, Y:90.76, Z:68.34 [[ 3.72072119e-01 -8.72077838e-01 -3.17871960e-01 1.24110695e+02] [ 6.36168761e-01 4.88964740e-01 -5.96827270e-01 9.07622650e+01] [ 6.75908015e-01 1.98425757e-02 7.36718825e-01 6.83355409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.29710568099998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:124.13, Y:90.79, Z:68.35 [[ 3.74089657e-01 -8.64256899e-01 -3.36328622e-01 1.24125666e+02] [ 6.39468602e-01 5.03044866e-01 -5.81399837e-01 9.07874285e+01] [ 6.71667206e-01 2.42407172e-03 7.40849032e-01 6.83512369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.32710568099998 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:124.13, Y:90.81, Z:68.37 [[ 3.75001275e-01 -8.65509939e-01 -3.32064133e-01 1.24134128e+02] [ 6.37986200e-01 5.00835667e-01 -5.84924989e-01 9.08070324e+01] [ 6.72567953e-01 7.49528210e-03 7.39997411e-01 6.83699714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.35710568099998 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:124.14, Y:90.83, Z:68.39 [[ 3.75870787e-01 -8.64694866e-01 -3.33202552e-01 1.24142685e+02] [ 6.34413869e-01 5.02207973e-01 -5.87627599e-01 9.08268748e+01] [ 6.75455546e-01 9.48372803e-03 7.37339721e-01 6.83876939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.38710568099998 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:124.15, Y:90.84, Z:68.41 [[ 3.76085150e-01 -8.64458475e-01 -3.33573839e-01 1.24153340e+02] [ 6.32830366e-01 5.02596248e-01 -5.89001476e-01 9.08446662e+01] [ 6.76820278e-01 1.04190540e-02 7.36074558e-01 6.84057719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41710568099998 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:124.17, Y:90.86, Z:68.42 [[ 3.76273060e-01 -8.64400465e-01 -3.33512250e-01 1.24168204e+02] [ 6.32191401e-01 5.02683373e-01 -5.89612974e-01 9.08615611e+01] [ 6.77312791e-01 1.10119013e-02 7.35612752e-01 6.84234406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.44710568099995 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:124.18, Y:90.88, Z:68.44 [[ 3.75958899e-01 -8.64768986e-01 -3.32910659e-01 1.24180362e+02] [ 6.33016703e-01 5.02053721e-01 -5.89263875e-01 9.08781463e+01] [ 6.76716159e-01 1.08009902e-02 7.36164777e-01 6.84426159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47710568099995 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:124.19, Y:90.89, Z:68.46 [[ 3.74632601e-01 -8.65729588e-01 -3.31907660e-01 1.24194470e+02] [ 6.35294139e-01 5.00421854e-01 -5.88200072e-01 9.08932442e+01] [ 6.75316053e-01 9.49993135e-03 7.37467274e-01 6.84624663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.50710568099996 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:124.21, Y:90.91, Z:68.48 [[ 3.73561041e-01 -8.66402204e-01 -3.31359879e-01 1.24206579e+02] [ 6.36430706e-01 4.99270167e-01 -5.87950046e-01 9.09091335e+01] [ 6.74839318e-01 8.74762995e-03 7.37912850e-01 6.84813401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53710568099996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:124.22, Y:90.92, Z:68.50 [[ 3.71781047e-01 -8.69773957e-01 -3.24456650e-01 1.24220523e+02] [ 6.38058726e-01 4.93284708e-01 -5.91228601e-01 9.09210468e+01] [ 6.74284744e-01 1.27851914e-02 7.38360768e-01 6.85015338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.56710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:124.24, Y:90.94, Z:68.52 [[ 3.67563089e-01 -8.68777600e-01 -3.31847641e-01 1.24241259e+02] [ 6.43275066e-01 4.95201103e-01 -5.83928983e-01 9.09363124e+01] [ 6.71635738e-01 1.16142782e-03 7.40880615e-01 6.85204307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.25, Y:90.95, Z:68.54 [[ 3.64582975e-01 -8.71184529e-01 -3.28811148e-01 1.24254441e+02] [ 6.45035298e-01 4.90953737e-01 -5.85571424e-01 9.09524435e+01] [ 6.71571827e-01 1.39457539e-03 7.40938146e-01 6.85391197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.62710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:90.97, Z:68.56 [[ 3.60094306e-01 -8.79540929e-01 -3.11030295e-01 1.24270684e+02] [ 6.49378758e-01 4.75679939e-01 -5.93326069e-01 9.09711824e+01] [ 6.69805434e-01 1.16768727e-02 7.42444834e-01 6.85561653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.29, Y:90.99, Z:68.57 [[ 3.57095925e-01 -8.72722157e-01 -3.32924220e-01 1.24287861e+02] [ 6.49883175e-01 4.88146041e-01 -5.82550685e-01 9.09866953e+01] [ 6.70920531e-01 -8.33537344e-03 7.41482409e-01 6.85736476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.68710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.30, Y:91.00, Z:68.60 [[ 3.53161512e-01 -8.74324352e-01 -3.32917217e-01 1.24300331e+02] [ 6.45794833e-01 4.85294027e-01 -5.89439344e-01 9.09985450e+01] [ 6.76923910e-01 -6.82892879e-03 7.36021321e-01 6.85972449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:91.01, Z:68.61 [[ 3.57623686e-01 -8.65500432e-01 -3.50733947e-01 1.24316517e+02] [ 6.47487050e-01 5.00444054e-01 -5.74731476e-01 9.10145890e+01] [ 6.72953059e-01 -2.15580993e-02 7.39370969e-01 6.86115683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.74710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.33, Y:91.03, Z:68.63 [[ 3.63138364e-01 -8.69542624e-01 -3.34703083e-01 1.24329217e+02] [ 6.45721293e-01 4.93836108e-01 -5.82382959e-01 9.10311901e+01] [ 6.71695274e-01 -4.63931226e-03 7.40813024e-01 6.86320897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.77710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.34, Y:91.05, Z:68.65 [[ 3.69469499e-01 -8.82169590e-01 -2.92008741e-01 1.24336268e+02] [ 6.48983892e-01 4.69872595e-01 -5.98364147e-01 9.10532678e+01] [ 6.65065559e-01 3.15683323e-02 7.46117446e-01 6.86477940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.80710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.36, Y:91.06, Z:68.67 [[ 3.75653371e-01 -8.55076736e-01 -3.57390990e-01 1.24357278e+02] [ 6.41431602e-01 5.18231185e-01 -5.65687139e-01 9.10580757e+01] [ 6.68917069e-01 -1.67395942e-02 7.43148532e-01 6.86725174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.83710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.36, Y:91.08, Z:68.70 [[ 3.78015440e-01 -8.68149940e-01 -3.21589813e-01 1.24364364e+02] [ 6.40959563e-01 4.96066364e-01 -5.85737997e-01 9.10791134e+01] [ 6.68038297e-01 1.52919405e-02 7.43969751e-01 6.86959210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.86710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.37, Y:91.10, Z:68.71 [[ 3.81483191e-01 -8.77504656e-01 -2.90613411e-01 1.24374982e+02] [ 6.45152677e-01 4.77903010e-01 -5.96143219e-01 9.11025503e+01] [ 6.62003473e-01 3.99285976e-02 7.48436442e-01 6.87060073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.89710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.40, Y:91.11, Z:68.73 [[ 3.79596371e-01 -8.50466967e-01 -3.64160039e-01 1.24402747e+02] [ 6.35238607e-01 5.25767016e-01 -5.65721625e-01 9.11079323e+01] [ 6.72590892e-01 -1.65826399e-02 7.39828702e-01 6.87296023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.92710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.41, Y:91.13, Z:68.75 [[ 3.79260302e-01 -8.62711479e-01 -3.34500415e-01 1.24410321e+02] [ 6.34550610e-01 5.05608310e-01 -5.84556037e-01 9.11277956e+01] [ 6.73429393e-01 9.44145686e-03 7.39191255e-01 6.87483513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.95710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.43, Y:91.14, Z:68.76 [[ 3.79126708e-01 -8.60040281e-01 -3.41458130e-01 1.24429199e+02] [ 6.35629463e-01 5.10219477e-01 -5.79354184e-01 9.11438636e+01] [ 6.72486524e-01 2.60779684e-03 7.40104773e-01 6.87638420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.98710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.44, Y:91.16, Z:68.78 [[ 3.76823832e-01 -8.69777524e-01 -3.18576299e-01 1.24437741e+02] [ 6.34292304e-01 4.92937714e-01 -5.95554938e-01 9.11609624e+01] [ 6.75038572e-01 2.23487989e-02 7.37443868e-01 6.87839455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.01710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.46, Y:91.18, Z:68.80 [[ 3.73368890e-01 -8.65502713e-01 -3.33917245e-01 1.24455399e+02] [ 6.37398635e-01 5.00870862e-01 -5.85535106e-01 9.11758731e+01] [ 6.74031641e-01 5.78219600e-03 7.38679845e-01 6.88017498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:91.19, Z:68.82 [[ 3.67273986e-01 -8.68355213e-01 -3.33270226e-01 1.24469800e+02] [ 6.42002723e-01 4.95942142e-01 -5.84699834e-01 9.11914485e+01] [ 6.73009898e-01 7.84646488e-04 7.39633059e-01 6.88188298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.07710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:91.21, Z:68.83 [[ 3.64879053e-01 -8.66234494e-01 -3.41322543e-01 1.24485397e+02] [ 6.47482563e-01 4.99516636e-01 -5.75542754e-01 9.12081436e+01] [ 6.69051275e-01 -1.09969004e-02 7.43134887e-01 6.88344920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.10710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:91.24, Z:68.85 [[ 3.55787974e-01 -8.96630049e-01 -2.63570623e-01 1.24488767e+02] [ 6.55455003e-01 4.40434290e-01 -6.13511512e-01 9.12352688e+01] [ 6.66178397e-01 4.55213340e-02 7.44401875e-01 6.88451740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.51, Y:91.25, Z:68.86 [[ 3.51284998e-01 -8.83336099e-01 -3.10348491e-01 1.24509027e+02] [ 6.57970695e-01 4.68731560e-01 -5.89377034e-01 9.12488042e+01] [ 6.66088143e-01 2.83909793e-03 7.45867633e-01 6.88626031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:91.27, Z:68.88 [[ 3.50758879e-01 -8.81772661e-01 -3.15349303e-01 1.24519701e+02] [ 6.57528194e-01 4.71672931e-01 -5.87521336e-01 9.12666445e+01] [ 6.66801982e-01 -1.27273302e-03 7.45233854e-01 6.88823908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.54, Y:91.27, Z:68.91 [[ 3.40279656e-01 -8.66649122e-01 -3.64868545e-01 1.24536199e+02] [ 6.58320127e-01 4.96630998e-01 -5.65660907e-01 9.12700169e+01] [ 6.71434558e-01 -4.77174080e-02 7.39525985e-01 6.89107970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.22710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.54, Y:91.29, Z:68.93 [[ 3.36341604e-01 -8.86671148e-01 -3.17314672e-01 1.24538027e+02] [ 6.59320937e-01 4.62297079e-01 -5.92939553e-01 9.12926877e+01] [ 6.72436040e-01 -9.78196605e-03 7.40090593e-01 6.89307201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.54, Y:91.32, Z:68.94 [[ 3.35980951e-01 -8.99467531e-01 -2.79418971e-01 1.24542495e+02] [ 6.64604641e-01 4.36615861e-01 -6.06355722e-01 9.13206471e+01] [ 6.67396038e-01 1.80208270e-02 7.44484908e-01 6.89376095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.28710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.56, Y:91.34, Z:68.96 [[ 3.35952896e-01 -8.88225782e-01 -3.13353811e-01 1.24557996e+02] [ 6.63134705e-01 4.59314109e-01 -5.91001618e-01 9.13365317e+01] [ 6.68870701e-01 -9.24708161e-03 7.43321247e-01 6.89558142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:91.34, Z:68.98 [[ 3.31695880e-01 -8.72049783e-01 -3.59870837e-01 1.24571885e+02] [ 6.57660115e-01 4.87240713e-01 -5.74525596e-01 9.13449585e+01] [ 6.76358644e-01 -4.61049231e-02 7.35128098e-01 6.89818499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:91.37, Z:69.00 [[ 3.32094176e-01 -8.85835248e-01 -3.24051496e-01 1.24573908e+02] [ 6.58742051e-01 4.63699119e-01 -5.92488006e-01 9.13668757e+01] [ 6.75109153e-01 -1.67045315e-02 7.37528705e-01 6.90010024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.58, Y:91.39, Z:69.02 [[ 3.32449239e-01 -8.90784958e-01 -3.09805847e-01 1.24579313e+02] [ 6.56659036e-01 4.54412893e-01 -6.01920122e-01 9.13852214e+01] [ 6.76961162e-01 -3.32892204e-03 7.36011212e-01 6.90219230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:91.40, Z:69.04 [[ 3.36345491e-01 -8.81263885e-01 -3.32032644e-01 1.24588664e+02] [ 6.60437443e-01 4.72070158e-01 -5.83928206e-01 9.14045033e+01] [ 6.71337542e-01 -2.28851713e-02 7.40798336e-01 6.90414266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.43710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.59, Y:91.43, Z:69.05 [[ 3.41331764e-01 -9.01689692e-01 -2.65421035e-01 1.24587453e+02] [ 6.62038814e-01 4.31080411e-01 -6.13085874e-01 9.14347569e+01] [ 6.67231022e-01 3.35466554e-02 7.44095011e-01 6.90508322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.46710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:91.44, Z:69.08 [[ 3.45439669e-01 -8.74576720e-01 -3.40274883e-01 1.24603467e+02] [ 6.54478289e-01 4.84380577e-01 -5.80545972e-01 9.14421933e+01] [ 6.72554537e-01 -2.21589150e-02 7.39715741e-01 6.90806011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.49710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:91.46, Z:69.10 [[ 3.58154768e-01 -8.72577489e-01 -3.32165152e-01 1.24609677e+02] [ 6.51996875e-01 4.88395537e-01 -5.79974030e-01 9.14601345e+01] [ 6.68300260e-01 -8.85017693e-03 7.43838986e-01 6.90970456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.52710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:91.48, Z:69.11 [[ 3.65556226e-01 -8.74402290e-01 -3.19044323e-01 1.24615222e+02] [ 6.50843716e-01 4.85166686e-01 -5.83965534e-01 9.14797495e+01] [ 6.65410477e-01 5.82424395e-03 7.46454938e-01 6.91129867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.55710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:91.51, Z:69.13 [[ 3.70736929e-01 -8.92502494e-01 -2.56891862e-01 1.24613699e+02] [ 6.48619926e-01 4.46786624e-01 -6.16176845e-01 9.15084271e+01] [ 6.64715218e-01 6.18143303e-02 7.44535202e-01 6.91282327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.58710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:91.53, Z:69.14 [[ 3.79222635e-01 -8.75243833e-01 -3.00230621e-01 1.24632858e+02] [ 6.42372019e-01 4.82559876e-01 -5.95394118e-01 9.15268381e+01] [ 6.65994281e-01 3.29271758e-02 7.45229776e-01 6.91436669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.61710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:91.53, Z:69.17 [[ 3.79735351e-01 -8.56005365e-01 -3.50793214e-01 1.24651240e+02] [ 6.37366325e-01 5.16925001e-01 -5.71447908e-01 9.15348440e+01] [ 6.70496257e-01 -6.58481013e-03 7.41883690e-01 6.91651511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:91.56, Z:69.19 [[ 3.77667437e-01 -8.70360120e-01 -3.15975581e-01 1.24658587e+02] [ 6.40958342e-01 4.92010397e-01 -5.89150382e-01 9.15576093e+01] [ 6.68236269e-01 1.99757309e-02 7.43680885e-01 6.91856574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.67710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.67, Y:91.57, Z:69.20 [[ 3.80067531e-01 -8.68444674e-01 -3.18359105e-01 1.24671266e+02] [ 6.39374302e-01 4.95384729e-01 -5.88042918e-01 9.15720358e+01] [ 6.68392979e-01 1.99453893e-02 7.43540858e-01 6.92024186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:91.59, Z:69.22 [[ 3.79464271e-01 -8.78133714e-01 -2.91355535e-01 1.24678036e+02] [ 6.35494578e-01 4.76250944e-01 -6.07726648e-01 9.15886839e+01] [ 6.72423607e-01 4.54556866e-02 7.38769431e-01 6.92219421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.70, Y:91.60, Z:69.24 [[ 3.78555919e-01 -8.75299457e-01 -3.00909082e-01 1.24695103e+02] [ 6.34895682e-01 4.82125798e-01 -6.03707039e-01 9.16038826e+01] [ 6.73500475e-01 3.74909963e-02 7.38235420e-01 6.92402437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.72, Y:91.62, Z:69.26 [[ 3.79163322e-01 -8.64936884e-01 -3.28815088e-01 1.24719346e+02] [ 6.38128251e-01 5.01746556e-01 -5.83988637e-01 9.16180125e+01] [ 6.70095150e-01 1.16008745e-02 7.42184552e-01 6.92559848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.79710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.73, Y:91.64, Z:69.28 [[ 3.76170273e-01 -8.71705074e-01 -3.14048069e-01 1.24730605e+02] [ 6.39276530e-01 4.89522322e-01 -5.93037447e-01 9.16384405e+01] [ 6.70687292e-01 2.23194981e-02 7.41404341e-01 6.92751048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.82710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.75, Y:91.65, Z:69.29 [[ 3.72882011e-01 -8.71064880e-01 -3.19695137e-01 1.24748281e+02] [ 6.39135569e-01 4.90892813e-01 -5.92055716e-01 9.16535122e+01] [ 6.72654986e-01 1.64383926e-02 7.39773647e-01 6.92923933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.76, Y:91.68, Z:69.30 [[ 3.74398366e-01 -8.84069983e-01 -2.79725095e-01 1.24763616e+02] [ 6.44782215e-01 4.65008770e-01 -6.06648777e-01 9.16751960e+01] [ 6.66394596e-01 4.67665448e-02 7.44131126e-01 6.92996241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.78, Y:91.68, Z:69.33 [[ 3.69027380e-01 -8.62435408e-01 -3.46444743e-01 1.24784051e+02] [ 6.43111841e-01 5.06053795e-01 -5.74731865e-01 9.16760039e+01] [ 6.70988787e-01 -1.07109223e-02 7.41390129e-01 6.93253254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.79, Y:91.70, Z:69.35 [[ 3.61705089e-01 -8.79900876e-01 -3.08129642e-01 1.24791412e+02] [ 6.48303206e-01 4.74904515e-01 -5.95120706e-01 9.17003709e+01] [ 6.69979389e-01 1.54967532e-02 7.42217939e-01 6.93459610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.94710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:91.71, Z:69.36 [[ 3.50032408e-01 -8.84594044e-01 -3.08173150e-01 1.24806096e+02] [ 6.51266011e-01 4.66277673e-01 -5.98696680e-01 9.17135001e+01] [ 6.73297776e-01 8.86054232e-03 7.39318331e-01 6.93638597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:91.73, Z:69.38 [[ 3.42986702e-01 -8.81806265e-01 -3.23694041e-01 1.24821561e+02] [ 6.56823591e-01 4.71488669e-01 -5.88456631e-01 9.17304097e+01] [ 6.71522816e-01 -1.07770833e-02 7.40905501e-01 6.93839039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.00710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.83, Y:91.74, Z:69.40 [[ 3.35093472e-01 -8.86990532e-01 -3.17742288e-01 1.24834401e+02] [ 6.62018398e-01 4.61618593e-01 -5.90457378e-01 9.17444186e+01] [ 6.70405851e-01 -1.24928276e-02 7.41889428e-01 6.94032013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.84, Y:91.76, Z:69.42 [[ 3.33065105e-01 -8.87861285e-01 -3.17442867e-01 1.24844825e+02] [ 6.62995964e-01 4.59906533e-01 -5.90696481e-01 9.17614138e+01] [ 6.70450585e-01 -1.37229544e-02 7.41827267e-01 6.94229986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.06710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.85, Y:91.78, Z:69.44 [[ 3.33623663e-01 -8.87669421e-01 -3.17392897e-01 1.24853913e+02] [ 6.62156429e-01 4.60301050e-01 -5.91330540e-01 9.17811573e+01] [ 6.71002321e-01 -1.28818863e-02 7.41343336e-01 6.94409144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.86, Y:91.80, Z:69.46 [[ 3.39489556e-01 -8.85440193e-01 -3.17399599e-01 1.24861725e+02] [ 6.58419704e-01 4.64684835e-01 -5.92073896e-01 9.18006231e+01] [ 6.71736805e-01 -7.97924613e-03 7.40746918e-01 6.94590615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.12710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.87, Y:91.82, Z:69.48 [[ 3.43682567e-01 -8.83843395e-01 -3.17337591e-01 1.24870207e+02] [ 6.55661607e-01 4.67762578e-01 -5.92710746e-01 9.18186920e+01] [ 6.72302127e-01 -4.36172462e-03 7.40264024e-01 6.94769168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.15710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.88, Y:91.84, Z:69.48 [[ 3.53283660e-01 -8.80994496e-01 -3.14705184e-01 1.24875389e+02] [ 6.58468808e-01 4.73126301e-01 -5.85295082e-01 9.18447823e+01] [ 6.64537046e-01 -4.48358595e-04 7.47255187e-01 6.94810735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.18710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:124.88, Y:91.87, Z:69.51 [[ 3.64908726e-01 -8.95676929e-01 -2.54174077e-01 1.24882814e+02] [ 6.51914398e-01 4.40710091e-01 -6.17075549e-01 9.18696182e+01] [ 6.64717413e-01 5.94765118e-02 7.44723643e-01 6.95070408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.21710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.90, Y:91.87, Z:69.53 [[ 3.72170081e-01 -8.61551430e-01 -3.45280414e-01 1.24900432e+02] [ 6.38719150e-01 5.07642200e-01 -5.78219027e-01 9.18667166e+01] [ 6.73444339e-01 -5.34139039e-03 7.39218636e-01 6.95330216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.24710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.91, Y:91.89, Z:69.55 [[ 3.79645284e-01 -8.68993593e-01 -3.17363502e-01 1.24909211e+02] [ 6.37857341e-01 4.94344173e-01 -5.90560624e-01 9.18889022e+01] [ 6.70080197e-01 2.17709161e-02 7.41969378e-01 6.95513132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.27710568099997 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:124.92, Y:91.92, Z:69.56 [[ 3.84122712e-01 -8.80273852e-01 -2.78509764e-01 1.24918838e+02] [ 6.41577630e-01 4.71411816e-01 -6.05102508e-01 9.19164465e+01] [ 6.63948709e-01 5.37479817e-02 7.45843996e-01 6.95632428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.30710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:124.94, Y:91.93, Z:69.58 [[ 3.85326401e-01 -8.70919092e-01 -3.04997540e-01 1.24935803e+02] [ 6.40678250e-01 4.90366790e-01 -5.90822979e-01 9.19313399e+01] [ 6.64119677e-01 3.22544017e-02 7.46930190e-01 6.95844442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.33710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:91.95, Z:69.60 [[ 3.85811416e-01 -8.69811057e-01 -3.07535814e-01 1.24950435e+02] [ 6.38581540e-01 4.92359370e-01 -5.91435429e-01 9.19472041e+01] [ 6.65855216e-01 3.17958465e-02 7.45403150e-01 6.96035240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.36710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:124.97, Y:91.96, Z:69.62 [[ 3.85726837e-01 -8.65609277e-01 -3.19273217e-01 1.24965623e+02] [ 6.38408168e-01 5.00244752e-01 -5.84970255e-01 9.19640287e+01] [ 6.66070431e-01 2.18120964e-02 7.45569858e-01 6.96228671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.39710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.98, Y:91.97, Z:69.65 [[ 3.80961827e-01 -8.57011265e-01 -3.46986712e-01 1.24979668e+02] [ 6.34756554e-01 5.15296901e-01 -5.75806583e-01 9.19687493e+01] [ 6.72273906e-01 -8.91761590e-04 7.40301966e-01 6.96514871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.42710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:124.99, Y:92.00, Z:69.66 [[ 3.87088801e-01 -8.80551282e-01 -2.73480714e-01 1.24992809e+02] [ 6.38187154e-01 4.69941189e-01 -6.09813443e-01 9.19968996e+01] [ 6.65491861e-01 6.15200759e-02 7.43865488e-01 6.96616946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.45710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.01, Y:91.99, Z:69.69 [[ 3.82277343e-01 -8.53806801e-01 -3.53380784e-01 1.25011946e+02] [ 6.33012102e-01 5.20569159e-01 -5.72977687e-01 9.19947236e+01] [ 6.73171384e-01 -4.65792514e-03 7.39471833e-01 6.96931745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.48710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:125.02, Y:92.02, Z:69.71 [[ 3.84963947e-01 -8.73578514e-01 -2.97763898e-01 1.25017743e+02] [ 6.29234294e-01 4.84446793e-01 -6.07762706e-01 9.20153439e+01] [ 6.75179208e-01 4.66034744e-02 7.36180110e-01 6.97061455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.51710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:92.03, Z:69.73 [[ 3.85413970e-01 -8.63884811e-01 -3.24282445e-01 1.25035296e+02] [ 6.32120841e-01 5.03203587e-01 -5.89244764e-01 9.20310830e+01] [ 6.72219691e-01 2.21174723e-02 7.40021286e-01 6.97266040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.05, Y:92.04, Z:69.74 [[ 3.90599503e-01 -8.65080714e-01 -3.14749720e-01 1.25052764e+02] [ 6.28792767e-01 5.00441844e-01 -5.95128236e-01 9.20430866e+01] [ 6.72347889e-01 3.45444457e-02 7.39428832e-01 6.97422395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.07, Y:92.06, Z:69.76 [[ 3.89479943e-01 -8.69587097e-01 -3.03518788e-01 1.25070918e+02] [ 6.29275811e-01 4.91871853e-01 -6.01725879e-01 9.20608945e+01] [ 6.72545409e-01 4.33631298e-02 7.38784347e-01 6.97631943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:92.07, Z:69.78 [[ 3.89230228e-01 -8.68955661e-01 -3.05640129e-01 1.25085336e+02] [ 6.26545117e-01 4.92977240e-01 -6.03667672e-01 9.20737322e+01] [ 6.75234068e-01 4.34683754e-02 7.36321570e-01 6.97805899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:125.11, Y:92.08, Z:69.80 [[ 3.86357291e-01 -8.68675013e-01 -3.10051231e-01 1.25107511e+02] [ 6.26198707e-01 4.93849483e-01 -6.03314071e-01 9.20843221e+01] [ 6.77202498e-01 3.89411101e-02 7.34765518e-01 6.97973481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.66710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:125.12, Y:92.10, Z:69.82 [[ 3.83640098e-01 -8.67649804e-01 -3.16234237e-01 1.25123190e+02] [ 6.30433549e-01 4.96292946e-01 -5.96864181e-01 9.21002943e+01] [ 6.74813911e-01 2.96163604e-02 7.37393420e-01 6.98168226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69710568099995 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:125.14, Y:92.11, Z:69.84 [[ 3.82380060e-01 -8.69099156e-01 -3.13770852e-01 1.25143310e+02] [ 6.32198016e-01 4.93729563e-01 -5.97123762e-01 9.21134206e+01] [ 6.73877703e-01 2.99629099e-02 7.38235102e-01 6.98356411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.72710568099995 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:125.16, Y:92.13, Z:69.86 [[ 3.85685469e-01 -8.67974480e-01 -3.12837054e-01 1.25162288e+02] [ 6.31767998e-01 4.95560418e-01 -5.96061297e-01 9.21255481e+01] [ 6.72395655e-01 3.22517414e-02 7.39488951e-01 6.98550048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75710568099996 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:125.17, Y:92.16, Z:69.86 [[ 3.89436610e-01 -8.81698347e-01 -2.66359064e-01 1.25172344e+02] [ 6.33738665e-01 4.66357922e-01 -6.17159293e-01 9.21550517e+01] [ 6.68366988e-01 7.15423853e-02 7.40383182e-01 6.98601087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.78710568099996 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:125.20, Y:92.15, Z:69.90 [[ 3.90503146e-01 -8.53892067e-01 -3.44057597e-01 1.25197044e+02] [ 6.29237264e-01 5.20373298e-01 -5.77297234e-01 9.21539393e+01] [ 6.71987915e-01 8.94252526e-03 7.40508118e-01 6.98964270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81710568099996 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:125.21, Y:92.17, Z:69.91 [[ 3.95045126e-01 -8.58873631e-01 -3.25999133e-01 1.25208414e+02] [ 6.23269574e-01 5.11274383e-01 -5.91720832e-01 9.21682918e+01] [ 6.74888425e-01 3.05710899e-02 7.37286256e-01 6.99102779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.84710568099996 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:125.22, Y:92.20, Z:69.91 [[ 3.97696750e-01 -8.75671461e-01 -2.73928436e-01 1.25223514e+02] [ 6.29468379e-01 4.77611346e-01 -6.12908609e-01 9.22008440e+01] [ 6.67537906e-01 7.13224733e-02 7.41151974e-01 6.99125087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87710568099996 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:125.24, Y:92.20, Z:69.95 [[ 3.92601811e-01 -8.57095655e-01 -3.33542886e-01 1.25239274e+02] [ 6.21175895e-01 5.14556672e-01 -5.91076931e-01 9.21965475e+01] [ 6.78236187e-01 2.48690731e-02 7.34423042e-01 6.99490169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.90710568099996 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:125.26, Y:92.21, Z:69.97 [[ 3.93268833e-01 -8.58599388e-01 -3.28856680e-01 1.25256919e+02] [ 6.25779222e-01 5.12006578e-01 -5.88429800e-01 9.22125620e+01] [ 6.73602250e-01 2.56194238e-02 7.38649886e-01 6.99650630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.93710568099996 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:125.27, Y:92.23, Z:69.98 [[ 3.92735871e-01 -8.65310468e-01 -3.11442338e-01 1.25268660e+02] [ 6.27356048e-01 4.99702561e-01 -5.97261869e-01 9.22319041e+01] [ 6.72445481e-01 3.91809257e-02 7.39108875e-01 6.99807197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.96710568099996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:125.29, Y:92.24, Z:70.00 [[ 3.91416751e-01 -8.65951511e-01 -3.11321228e-01 1.25287331e+02] [ 6.27688502e-01 4.98637940e-01 -5.97802099e-01 9.22432629e+01] [ 6.72904207e-01 3.85770006e-02 7.38723049e-01 6.99997695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.99710568099997 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:125.30, Y:92.26, Z:70.02 [[ 3.90870082e-01 -8.66058968e-01 -3.11708907e-01 1.25303415e+02] [ 6.26573837e-01 4.98427793e-01 -5.99145193e-01 9.22578464e+01] [ 6.74259450e-01 3.88792842e-02 7.37470403e-01 7.00180060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.02710568099997 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:125.31, Y:92.29, Z:70.02 [[ 3.90596548e-01 -8.80102311e-01 -2.69915282e-01 1.25312626e+02] [ 6.32027997e-01 4.69565428e-01 -6.16481079e-01 9.22935336e+01] [ 6.69309306e-01 7.02013667e-02 7.39659936e-01 7.00225399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.05710568099997 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:125.33, Y:92.30, Z:70.05 [[ 3.89427910e-01 -8.67452312e-01 -3.09632669e-01 1.25326688e+02] [ 6.30165785e-01 4.96106110e-01 -5.97302111e-01 9.23029660e+01] [ 6.71741756e-01 3.74861986e-02 7.39836332e-01 7.00502489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.08710568099997 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:125.34, Y:92.30, Z:70.08 [[ 3.90164673e-01 -8.50316398e-01 -3.53176373e-01 1.25342943e+02] [ 6.22777389e-01 5.26238194e-01 -5.78983321e-01 9.22995911e+01] [ 6.78173909e-01 5.94857846e-03 7.34877380e-01 7.00827878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.11710568099997 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:125.35, Y:92.33, Z:70.09 [[ 3.90558037e-01 -8.66074123e-01 -3.12057740e-01 1.25352802e+02] [ 6.23888187e-01 4.98276208e-01 -6.02066733e-01 9.23264716e+01] [ 6.76925365e-01 4.04528633e-02 7.34939192e-01 7.00931779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.14710568099997 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:125.37, Y:92.36, Z:70.10 [[ 3.87505650e-01 -8.81636457e-01 -2.69363192e-01 1.25367154e+02] [ 6.32733042e-01 4.66862230e-01 -6.17809482e-01 9.23579308e+01] [ 6.70438863e-01 6.89696728e-02 7.38752269e-01 7.00960355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.17710568099997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:125.39, Y:92.35, Z:70.14 [[ 3.82776907e-01 -8.56247969e-01 -3.46873542e-01 1.25385123e+02] [ 6.26929852e-01 5.16532675e-01 -5.83226334e-01 9.23458261e+01] [ 6.78557883e-01 5.78019389e-03 7.34524192e-01 7.01410165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.20710568099997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:125.40, Y:92.37, Z:70.15 [[ 3.75413081e-01 -8.73388706e-01 -3.10253423e-01 1.25396898e+02] [ 6.35058364e-01 4.86199934e-01 -6.00258693e-01 9.23679135e+01] [ 6.75104357e-01 2.83159340e-02 7.37178618e-01 7.01518582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.23710568099997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:125.41, Y:92.38, Z:70.17 [[ 3.70452220e-01 -8.75926683e-01 -3.09059217e-01 1.25409005e+02] [ 6.39780800e-01 4.81842917e-01 -5.98755318e-01 9.23840729e+01] [ 6.73383754e-01 2.40800835e-02 7.38900852e-01 7.01700971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.26710568099998 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:125.42, Y:92.40, Z:70.19 [[ 3.58805461e-01 -8.81154563e-01 -3.07937132e-01 1.25421569e+02] [ 6.47939515e-01 4.72596408e-01 -5.97349998e-01 9.23973983e+01] [ 6.71887659e-01 1.48078051e-02 7.40505032e-01 7.01895361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.29710568099998 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:125.43, Y:92.41, Z:70.21 [[ 3.46456144e-01 -8.86000482e-01 -3.08174118e-01 1.25432720e+02] [ 6.53215036e-01 4.63644309e-01 -5.98618469e-01 9.24138044e+01] [ 6.73259427e-01 6.09107921e-03 7.39381256e-01 7.02086773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.32710568099998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:125.44, Y:92.43, Z:70.23 [[ 3.40869166e-01 -8.88209941e-01 -3.08044335e-01 1.25442599e+02] [ 6.55681127e-01 4.59432253e-01 -5.99169646e-01 9.24303509e+01] [ 6.73713939e-01 2.25960075e-03 7.38988784e-01 7.02286651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.35710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:125.45, Y:92.45, Z:70.25 [[ 3.33389127e-01 -8.91317959e-01 -3.07252315e-01 1.25450486e+02] [ 6.60560697e-01 4.53365639e-01 -5.98430583e-01 9.24462786e+01] [ 6.72689569e-01 -3.44855386e-03 7.39916787e-01 7.02492680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.38710568099998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:125.45, Y:92.47, Z:70.27 [[ 3.28615482e-01 -8.93442594e-01 -3.06222461e-01 1.25454167e+02] [ 6.64540854e-01 4.49119041e-01 -5.97224866e-01 9.24688283e+01] [ 6.71116472e-01 -7.23999893e-03 7.41316575e-01 7.02661039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:125.46, Y:92.49, Z:70.28 [[ 3.26166353e-01 -8.94453929e-01 -3.05888345e-01 1.25460026e+02] [ 6.65779329e-01 4.47073344e-01 -5.97380373e-01 9.24885243e+01] [ 6.71083747e-01 -8.80875933e-03 7.41329218e-01 7.02842140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.44710568099995 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:125.46, Y:92.51, Z:70.30 [[ 3.22984551e-01 -8.95670425e-01 -3.05704873e-01 1.25463259e+02] [ 6.67017657e-01 4.44586968e-01 -5.97854392e-01 9.25079822e+01] [ 6.71392900e-01 -1.08128158e-02 7.41022710e-01 7.03025230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47710568099995 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:125.47, Y:92.54, Z:70.31 [[ 3.21899368e-01 -9.05760097e-01 -2.75643688e-01 1.25467341e+02] [ 6.69632309e-01 4.23626845e-01 -6.10026940e-01 9.25403874e+01] [ 6.69308126e-01 1.17873676e-02 7.42891439e-01 7.03083041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.50710568099996 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:125.47, Y:92.54, Z:70.35 [[ 3.23005496e-01 -8.87237192e-01 -3.29359400e-01 1.25470556e+02] [ 6.65292434e-01 4.60383463e-01 -5.87735523e-01 9.25436358e+01] [ 6.73092436e-01 -2.92785129e-02 7.38978580e-01 7.03452370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53710568099996 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:125.47, Y:92.57, Z:70.36 [[ 3.24626468e-01 -8.94984553e-01 -3.05974356e-01 1.25473156e+02] [ 6.63825802e-01 4.46021216e-01 -6.00333557e-01 9.25703328e+01] [ 6.73760314e-01 -8.22951019e-03 7.38904130e-01 7.03584870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.56710568099996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:125.47, Y:92.59, Z:70.38 [[ 3.30199057e-01 -8.93009438e-01 -3.05782156e-01 1.25472878e+02] [ 6.60729765e-01 4.50022987e-01 -6.00762423e-01 9.25935058e+01] [ 6.74095513e-01 -3.66818659e-03 7.38635082e-01 7.03762340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59710568099996 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:125.47, Y:92.62, Z:70.39 [[ 3.36849883e-01 -8.90305565e-01 -3.06411747e-01 1.25472627e+02] [ 6.55191947e-01 4.55357805e-01 -6.02804099e-01 9.26161330e+01] [ 6.76206824e-01 2.29598121e-03 7.36708259e-01 7.03948123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.62710568099996 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:125.48, Y:92.64, Z:70.41 [[ 3.41149453e-01 -8.88555044e-01 -3.06736016e-01 1.25476022e+02] [ 6.51487723e-01 4.58726636e-01 -6.04262873e-01 9.26359006e+01] [ 6.77628805e-01 6.30919937e-03 7.35377044e-01 7.04123938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.65710568099996 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:125.48, Y:92.66, Z:70.43 [[ 3.51633488e-01 -8.84400868e-01 -3.06902254e-01 1.25475149e+02] [ 6.45049372e-01 4.66491777e-01 -6.05224528e-01 9.26586378e+01] [ 6.78428477e-01 1.48501058e-02 7.34516355e-01 7.04296671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.68710568099996 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:125.48, Y:92.68, Z:70.45 [[ 3.56145435e-01 -8.82659623e-01 -3.06712274e-01 1.25479982e+02] [ 6.42313303e-01 4.69640142e-01 -6.05699396e-01 9.26788254e+01] [ 6.78670796e-01 1.87117009e-02 7.34204210e-01 7.04483905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.71710568099996 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:125.48, Y:92.70, Z:70.47 [[ 3.58741884e-01 -8.86537574e-01 -2.92156450e-01 1.25479328e+02] [ 6.36736377e-01 4.61282159e-01 -6.17887980e-01 9.27038540e+01] [ 6.82547468e-01 3.56356588e-02 7.29971954e-01 7.04676000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.74710568099997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:125.49, Y:92.72, Z:70.49 [[ 3.60789957e-01 -8.73316797e-01 -3.27335270e-01 1.25488298e+02] [ 6.37253290e-01 4.87104343e-01 -5.97191429e-01 9.27172830e+01] [ 6.80983738e-01 6.86519151e-03 7.32266357e-01 7.04886439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.77710568099997 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:125.49, Y:92.74, Z:70.50 [[ 3.58999327e-01 -8.81709551e-01 -3.06117218e-01 1.25493729e+02] [ 6.38424375e-01 4.71229529e-01 -6.08569674e-01 9.27408051e+01] [ 6.80833167e-01 2.30434104e-02 7.32075953e-01 7.05035847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.80710568099997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:125.50, Y:92.76, Z:70.52 [[ 3.53450905e-01 -8.84016821e-01 -3.05919463e-01 1.25500464e+02] [ 6.41090670e-01 4.67063829e-01 -6.08977940e-01 9.27589987e+01] [ 6.81230659e-01 1.91216903e-02 7.31819070e-01 7.05218753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.83710568099997 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:125.51, Y:92.78, Z:70.54 [[ 3.50482172e-01 -8.85244096e-01 -3.05786097e-01 1.25509228e+02] [ 6.42379925e-01 4.64811093e-01 -6.09342827e-01 9.27773865e+01] [ 6.81549910e-01 1.71329471e-02 7.31571037e-01 7.05401291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.86710568099997 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:125.52, Y:92.79, Z:70.56 [[ 3.47471844e-01 -8.86362031e-01 -3.05983118e-01 1.25517864e+02] [ 6.42721574e-01 4.62733583e-01 -6.10562536e-01 9.27945682e+01] [ 6.82768113e-01 1.54913391e-02 7.30470890e-01 7.05600554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.89710568099997 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:125.53, Y:92.81, Z:70.58 [[ 3.48600360e-01 -8.85796061e-01 -3.06338256e-01 1.25527211e+02] [ 6.40513869e-01 4.63757129e-01 -6.12104002e-01 9.28116464e+01] [ 6.84265864e-01 1.71657745e-02 7.29030564e-01 7.05792352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.92710568099997 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:125.54, Y:92.83, Z:70.60 [[ 3.49035528e-01 -8.85650511e-01 -3.06263567e-01 1.25535184e+02] [ 6.39662058e-01 4.64003949e-01 -6.12807300e-01 9.28300453e+01] [ 6.84840603e-01 1.79863356e-02 7.28470892e-01 7.05983358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.95710568099997 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:125.54, Y:92.85, Z:70.62 [[ 3.49711397e-01 -8.85541976e-01 -3.05806062e-01 1.25542106e+02] [ 6.39591831e-01 4.64183140e-01 -6.12744892e-01 9.28479992e+01] [ 6.84561340e-01 1.86928129e-02 7.28715548e-01 7.06160577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.98710568099997 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:125.55, Y:92.87, Z:70.63 [[ 3.49787289e-01 -8.85718863e-01 -3.05206403e-01 1.25549534e+02] [ 6.40352409e-01 4.63845147e-01 -6.12206234e-01 9.28675428e+01] [ 6.83811118e-01 1.87023034e-02 7.29419344e-01 7.06343132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.01710568099998 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:125.56, Y:92.88, Z:70.65 [[ 3.45904431e-01 -8.87326963e-01 -3.04960630e-01 1.25558978e+02] [ 6.42163963e-01 4.60861319e-01 -6.12562069e-01 9.28837871e+01] [ 6.84087399e-01 1.60532076e-02 7.29223372e-01 7.06532324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.04710568099998 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:125.57, Y:92.90, Z:70.67 [[ 3.42942904e-01 -8.88491464e-01 -3.04914877e-01 1.25569344e+02] [ 6.42973851e-01 4.58670472e-01 -6.13356361e-01 9.29012773e+01] [ 6.84817342e-01 1.42939185e-02 7.28574562e-01 7.06725687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.07710568099998 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:125.58, Y:92.93, Z:70.68 [[ 3.38860245e-01 -8.98089605e-01 -2.80372603e-01 1.25577374e+02] [ 6.47388092e-01 4.38811590e-01 -6.23163740e-01 9.29282531e+01] [ 6.82687624e-01 2.96555330e-02 7.30108319e-01 7.06831213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.10710568099998 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:125.59, Y:92.93, Z:70.71 [[ 3.37583692e-01 -8.83505820e-01 -3.24737920e-01 1.25587370e+02] [ 6.44869600e-01 4.68387540e-01 -6.03950586e-01 9.29322485e+01] [ 6.85697054e-01 -5.52974416e-03 7.27866040e-01 7.07149474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13710568099998 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:125.59, Y:92.97, Z:70.72 [[ 3.41567460e-01 -8.98772406e-01 -2.74845106e-01 1.25588338e+02] [ 6.48686712e-01 4.37054010e-01 -6.23048427e-01 9.29664481e+01] [ 6.80100889e-01 3.45247006e-02 7.32305145e-01 7.07203974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.16710568099998 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:125.60, Y:92.97, Z:70.75 [[ 3.41806980e-01 -8.82055725e-01 -3.24261757e-01 1.25599351e+02] [ 6.42766152e-01 4.71141034e-01 -6.04051156e-01 9.29706369e+01] [ 6.85579800e-01 -1.95558004e-03 7.27994858e-01 7.07538417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19710568099995 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:125.60, Y:93.00, Z:70.76 [[ 3.50585847e-01 -8.92272081e-01 -2.84499731e-01 1.25601790e+02] [ 6.42638304e-01 4.50176471e-01 -6.19965447e-01 9.29988379e+01] [ 6.81252945e-01 3.45206866e-02 7.31233716e-01 7.07635351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.22710568099995 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:125.61, Y:93.02, Z:70.79 [[ 3.51709840e-01 -8.88601013e-01 -2.94428986e-01 1.25609409e+02] [ 6.38371526e-01 4.57718375e-01 -6.18850292e-01 9.30150879e+01] [ 6.84676554e-01 2.97006563e-02 7.28241641e-01 7.07858798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25710568099996 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:125.62, Y:93.03, Z:70.81 [[ 3.57989940e-01 -8.85768805e-01 -2.95392667e-01 1.25615720e+02] [ 6.35841043e-01 4.62933262e-01 -6.17575067e-01 9.30337154e+01] [ 6.83775820e-01 3.32628793e-02 7.28933611e-01 7.08074014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.28710568099996 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:125.62, Y:93.05, Z:70.83 [[ 3.60949050e-01 -8.84338363e-01 -2.96076752e-01 1.25620966e+02] [ 6.32991434e-01 4.65466583e-01 -6.18597368e-01 9.30526285e+01] [ 6.84863218e-01 3.58680842e-02 7.27788330e-01 7.08258354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31710568099996 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:125.63, Y:93.07, Z:70.84 [[ 3.60354396e-01 -8.86033981e-01 -2.91699320e-01 1.25629671e+02] [ 6.33075384e-01 4.61963496e-01 -6.21132261e-01 9.30731790e+01] [ 6.85098728e-01 3.91600816e-02 7.27396880e-01 7.08424301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.34710568099996 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:125.64, Y:93.09, Z:70.86 [[ 3.61038589e-01 -8.84626599e-01 -2.95104926e-01 1.25640795e+02] [ 6.35824742e-01 4.65001379e-01 -6.16036212e-01 9.30909013e+01] [ 6.82186217e-01 3.47778312e-02 7.30350921e-01 7.08606947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37710568099996 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:125.65, Y:93.11, Z:70.88 [[ 3.59149484e-01 -8.87001090e-01 -2.90242510e-01 1.25653523e+02] [ 6.36281074e-01 4.60226690e-01 -6.19142785e-01 9.31084933e+01] [ 6.82757675e-01 3.76889961e-02 7.29672185e-01 7.08781474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.40710568099996 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:125.66, Y:93.12, Z:70.90 [[ 3.58030182e-01 -8.83599738e-01 -3.01771259e-01 1.25664995e+02] [ 6.31077905e-01 4.67197837e-01 -6.19247009e-01 9.31208843e+01] [ 6.88153374e-01 3.12679454e-02 7.24891198e-01 7.09032011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.43710568099996 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:125.68, Y:93.14, Z:70.92 [[ 3.57864812e-01 -8.80298600e-01 -3.11459710e-01 1.25676972e+02] [ 6.33349093e-01 4.73924934e-01 -6.11771267e-01 9.31406974e+01] [ 6.86149913e-01 2.16686848e-02 7.27137377e-01 7.09215581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.46710568099996 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:125.69, Y:93.16, Z:70.94 [[ 3.57705551e-01 -8.84967070e-01 -2.98127530e-01 1.25686829e+02] [ 6.29696887e-01 4.64332757e-01 -6.22797657e-01 9.31591978e+01] [ 6.89585796e-01 3.50482020e-02 7.23355413e-01 7.09408753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.49710568099997 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:125.70, Y:93.18, Z:70.95 [[ 3.63361386e-01 -8.93920935e-01 -2.62438306e-01 1.25698100e+02] [ 6.30860748e-01 4.43367830e-01 -6.36741457e-01 9.31839054e+01] [ 6.85553222e-01 6.58052323e-02 7.25042379e-01 7.09476518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.52710568099997 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:125.71, Y:93.20, Z:70.97 [[ 3.63369078e-01 -8.85643188e-01 -2.89135013e-01 1.25713637e+02] [ 6.29151513e-01 4.62163198e-01 -6.24958841e-01 9.31977575e+01] [ 6.87118102e-01 4.51809868e-02 7.25139567e-01 7.09715878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.55710568099997 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:125.73, Y:93.19, Z:71.01 [[ 3.60129277e-01 -8.62653266e-01 -3.55156651e-01 1.25732603e+02] [ 6.17299520e-01 5.05790849e-01 -6.02591835e-01 9.31927342e+01] [ 6.99462798e-01 -2.22706882e-03 7.14665540e-01 7.10120625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.58710568099997 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:125.74, Y:93.22, Z:71.02 [[ 3.61631776e-01 -8.78432861e-01 -3.12375042e-01 1.25742555e+02] [ 6.17263600e-01 4.76688101e-01 -6.25902630e-01 9.32194811e+01] [ 6.98718904e-01 3.35285371e-02 7.14610195e-01 7.10210577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.61710568099997 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:125.76, Y:93.24, Z:71.04 [[ 3.60964131e-01 -8.79894095e-01 -3.09016629e-01 1.25755435e+02] [ 6.15825754e-01 4.73731352e-01 -6.29553213e-01 9.32350765e+01] [ 7.00331020e-01 3.69457303e-02 7.12861470e-01 7.10387913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.64710568099997 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:125.77, Y:93.27, Z:71.04 [[ 3.63279207e-01 -8.94494580e-01 -2.60590989e-01 1.25767105e+02] [ 6.26216716e-01 4.41525183e-01 -6.42579285e-01 9.32717116e+01] [ 6.89841172e-01 7.02492597e-02 7.20544377e-01 7.10418130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.67710568099997 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:125.78, Y:93.28, Z:71.07 [[ 3.58728835e-01 -8.93073859e-01 -2.71537669e-01 1.25781773e+02] [ 6.27354088e-01 4.46073338e-01 -6.38314519e-01 9.32839249e+01] [ 6.91187725e-01 5.86315567e-02 7.20292905e-01 7.10656213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.70710568099997 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:125.80, Y:93.29, Z:71.10 [[ 3.57687115e-01 -8.74038706e-01 -3.28810382e-01 1.25799376e+02] [ 6.29346970e-01 4.85752587e-01 -6.06602683e-01 9.32889584e+01] [ 6.89914719e-01 1.00381458e-02 7.23821053e-01 7.10979689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.73710568099997 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:125.81, Y:93.31, Z:71.11 [[ 3.53815259e-01 -8.84768388e-01 -3.03314460e-01 1.25805019e+02] [ 6.35213816e-01 4.65336842e-01 -6.16413036e-01 9.33140746e+01] [ 6.86526161e-01 2.54268027e-02 7.26660380e-01 7.11091237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.76710568099998 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:125.82, Y:93.33, Z:71.13 [[ 3.46856116e-01 -8.84650313e-01 -3.11584111e-01 1.25819436e+02] [ 6.37078986e-01 4.66031086e-01 -6.13958788e-01 9.33260870e+01] [ 6.88346715e-01 1.44516708e-02 7.25237857e-01 7.11321693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.79710568099998 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:125.83, Y:93.34, Z:71.15 [[ 3.41460333e-01 -8.91296883e-01 -2.98319808e-01 1.25828411e+02] [ 6.37085358e-01 4.52840065e-01 -6.23745238e-01 9.33439086e+01] [ 6.91033348e-01 2.29290749e-02 7.22459113e-01 7.11466231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.82710568099998 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:125.84, Y:93.36, Z:71.17 [[ 3.37117401e-01 -8.93166294e-01 -2.97667312e-01 1.25841294e+02] [ 6.40185747e-01 4.49303380e-01 -6.23128143e-01 9.33617390e+01] [ 6.90299983e-01 1.95049697e-02 7.23260319e-01 7.11673565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.85710568099998 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:125.85, Y:93.38, Z:71.18 [[ 3.38133707e-01 -8.93787783e-01 -2.94633664e-01 1.25849433e+02] [ 6.38108866e-01 4.47860254e-01 -6.26289285e-01 9.33793470e+01] [ 6.91724419e-01 2.37611639e-02 7.21770556e-01 7.11830639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.88710568099998 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:125.86, Y:93.41, Z:71.20 [[ 3.40288320e-01 -8.95593491e-01 -2.86559172e-01 1.25861267e+02] [ 6.35089869e-01 4.43633845e-01 -6.32336832e-01 9.34055325e+01] [ 6.93444098e-01 3.31860115e-02 7.19745769e-01 7.12019293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91710568099998 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:125.87, Y:93.41, Z:71.23 [[ 3.45081907e-01 -8.83524537e-01 -3.16706283e-01 1.25871046e+02] [ 6.28487958e-01 4.68134636e-01 -6.21170548e-01 9.34061040e+01] [ 6.97080602e-01 1.53086322e-02 7.16829325e-01 7.12322686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.94710568099995 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:125.88, Y:93.43, Z:71.25 [[ 3.45899498e-01 -8.86010438e-01 -3.08770207e-01 1.25876987e+02] [ 6.27951806e-01 4.63121375e-01 -6.25455932e-01 9.34268511e+01] [ 6.97158567e-01 2.24520841e-02 7.16565305e-01 7.12524619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97710568099995 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:125.89, Y:93.44, Z:71.27 [[ 3.44937973e-01 -8.85390646e-01 -3.11610652e-01 1.25885564e+02] [ 6.27247606e-01 4.64408575e-01 -6.25208058e-01 9.34443988e+01] [ 6.98268025e-01 2.02009642e-02 7.15551316e-01 7.12737965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.00710568099996 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:125.89, Y:93.47, Z:71.28 [[ 3.46326819e-01 -8.91310946e-01 -2.92613281e-01 1.25889526e+02] [ 6.30854450e-01 4.52132286e-01 -6.30554565e-01 9.34671270e+01] [ 6.94320097e-01 3.37815662e-02 7.18873013e-01 7.12837536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03710568099996 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:125.91, Y:93.47, Z:71.32 [[ 3.48476283e-01 -8.79642786e-01 -3.23717237e-01 1.25906701e+02] [ 6.28256602e-01 4.75502819e-01 -6.15784630e-01 9.34723940e+01] [ 6.95598966e-01 1.12088473e-02 7.18342843e-01 7.13156922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.06710568099996 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:125.91, Y:93.50, Z:71.33 [[ 3.46774168e-01 -8.91646852e-01 -2.91055952e-01 1.25911794e+02] [ 6.29548466e-01 4.51291073e-01 -6.32459560e-01 9.34983574e+01] [ 6.95281530e-01 3.60868092e-02 7.17830995e-01 7.13266531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09710568099996 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:125.92, Y:93.51, Z:71.35 [[ 3.44481466e-01 -8.90229041e-01 -2.98034854e-01 1.25922681e+02] [ 6.28170357e-01 4.54502062e-01 -6.31529792e-01 9.35144659e+01] [ 6.97663617e-01 3.03336473e-02 7.15783031e-01 7.13460446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.12710568099996 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:125.93, Y:93.53, Z:71.36 [[ 3.44097177e-01 -8.90487656e-01 -2.97706009e-01 1.25932743e+02] [ 6.28549516e-01 4.54005551e-01 -6.31509672e-01 9.35323024e+01] [ 6.97511748e-01 3.01777276e-02 7.15937613e-01 7.13638587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.15710568099996 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:125.94, Y:93.55, Z:71.39 [[ 3.44545772e-01 -8.90170884e-01 -2.98134212e-01 1.25942300e+02] [ 6.27557396e-01 4.54592576e-01 -6.32073813e-01 9.35508175e+01] [ 6.98183304e-01 3.06820303e-02 7.15261272e-01 7.13853240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.18710568099996 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:125.95, Y:93.57, Z:71.41 [[ 3.45580230e-01 -8.88110452e-01 -3.03041464e-01 1.25951468e+02] [ 6.25449830e-01 4.58740614e-01 -6.31165239e-01 9.35697256e+01] [ 6.99561873e-01 2.85809966e-02 7.14000218e-01 7.14081497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.21710568099996 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:125.96, Y:93.56, Z:71.44 [[ 3.46565864e-01 -8.61299192e-01 -3.71558614e-01 1.25962990e+02] [ 6.07356398e-01 5.07906162e-01 -6.10859670e-01 9.35588096e+01] [ 7.14849849e-01 -1.39653922e-02 6.99138513e-01 7.14445715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.24710568099997 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:125.97, Y:93.60, Z:71.45 [[ 3.46897135e-01 -8.90777806e-01 -2.93559669e-01 1.25966382e+02] [ 6.11624262e-01 4.52139007e-01 -6.49219593e-01 9.35995714e+01] [ 7.11040182e-01 4.56642010e-02 7.01667044e-01 7.14520516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.27710568099997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:125.98, Y:93.61, Z:71.47 [[ 3.41895031e-01 -8.87800482e-01 -3.08087799e-01 1.25975213e+02] [ 6.14998282e-01 4.59271011e-01 -6.40973675e-01 9.36146840e+01] [ 7.10552532e-01 2.96722468e-02 7.03018248e-01 7.14712050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.30710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:125.98, Y:93.63, Z:71.49 [[ 3.37650753e-01 -8.89524336e-01 -3.07796076e-01 1.25983411e+02] [ 6.16989673e-01 4.56110829e-01 -6.41316346e-01 9.36328859e+01] [ 7.10855620e-01 2.66339467e-02 7.02833494e-01 7.14890858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.33710568099997 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:126.00, Y:93.64, Z:71.51 [[ 3.35917745e-01 -8.76600798e-01 -3.44572648e-01 1.25995005e+02] [ 6.19311328e-01 4.81192402e-01 -6.20409019e-01 9.36375032e+01] [ 7.09656782e-01 -4.99134524e-03 7.04529871e-01 7.15074135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.36710568099997 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:125.99, Y:93.70, Z:71.50 [[ 3.29204838e-01 -9.20760079e-01 -2.09344338e-01 1.25991312e+02] [ 6.30801455e-01 3.79423319e-01 -6.76851142e-01 9.36974538e+01] [ 7.02647635e-01 9.07679573e-02 7.05724790e-01 7.15015931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.39710568099997 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:126.01, Y:93.68, Z:71.55 [[ 3.18140275e-01 -8.86682229e-01 -3.35531503e-01 1.26012521e+02] [ 6.28561199e-01 4.62226063e-01 -6.25506104e-01 9.36775617e+01] [ 7.09716552e-01 -1.19033996e-02 7.04386772e-01 7.15480790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.42710568099997 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:126.02, Y:93.70, Z:71.56 [[ 3.14537538e-01 -8.98177074e-01 -3.07154815e-01 1.26018559e+02] [ 6.30728515e-01 4.39571337e-01 -6.39498695e-01 9.37020945e+01] [ 7.09399519e-01 7.41504455e-03 7.04767578e-01 7.15624509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.45710568099997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:126.02, Y:93.72, Z:71.58 [[ 3.08026414e-01 -9.00660458e-01 -3.06480780e-01 1.26024670e+02] [ 6.34692854e-01 4.34517401e-01 -6.39030210e-01 9.37195493e+01] [ 7.08720473e-01 2.31702253e-03 7.05485593e-01 7.15809894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.48710568099997 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:126.03, Y:93.74, Z:71.60 [[ 3.05332860e-01 -9.01693953e-01 -3.06136996e-01 1.26031488e+02] [ 6.36145380e-01 4.32374696e-01 -6.39039262e-01 9.37377644e+01] [ 7.08583728e-01 3.72049910e-04 7.05626645e-01 7.16001356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.51710568099998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:126.04, Y:93.76, Z:71.62 [[ 3.02569381e-01 -9.02743889e-01 -3.05786267e-01 1.26035233e+02] [ 6.37445138e-01 4.30175764e-01 -6.39228056e-01 9.37580691e+01] [ 7.08601062e-01 -1.51113197e-03 7.05607718e-01 7.16172729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.54710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:126.04, Y:93.78, Z:71.63 [[ 3.01418979e-01 -9.06067000e-01 -2.96966649e-01 1.26037423e+02] [ 6.37271681e-01 4.23105923e-01 -6.44101066e-01 9.37786795e+01] [ 7.09247069e-01 4.89584967e-03 7.04942995e-01 7.16331609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.57710568099998 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:126.04, Y:93.80, Z:71.65 [[ 2.97918704e-01 -9.11675990e-01 -2.83004126e-01 1.26041338e+02] [ 6.36851653e-01 4.10665634e-01 -6.52513379e-01 9.37998453e+01] [ 7.11100849e-01 1.41642948e-02 7.02947335e-01 7.16526475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.60710568099998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:126.04, Y:93.83, Z:71.67 [[ 2.92161277e-01 -9.17943817e-01 -2.68367169e-01 1.26041484e+02] [ 6.46479658e-01 3.96347461e-01 -6.51899334e-01 9.38264628e+01] [ 7.04773609e-01 1.69658263e-02 7.09229385e-01 7.16683621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63710568099998 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:126.05, Y:93.84, Z:71.69 [[ 2.87332011e-01 -9.12608937e-01 -2.90835425e-01 1.26048859e+02] [ 6.49337796e-01 4.08807842e-01 -6.41277300e-01 9.38420546e+01] [ 7.04131197e-01 -4.59093767e-03 7.10055055e-01 7.16896703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.66710568099998 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:126.06, Y:93.84, Z:71.73 [[ 2.78422956e-01 -8.94114364e-01 -3.50770810e-01 1.26055021e+02] [ 6.58072406e-01 4.43604298e-01 -6.08404417e-01 9.38430905e+01] [ 6.99586567e-01 -6.14388342e-02 7.11901611e-01 7.17271787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69710568099995 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:126.05, Y:93.87, Z:71.74 [[ 2.73582172e-01 -9.16329783e-01 -2.92391047e-01 1.26054668e+02] [ 6.56655546e-01 4.00059651e-01 -6.39340104e-01 9.38736970e+01] [ 7.02820239e-01 -1.70881482e-02 7.11162222e-01 7.17379174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.72710568099995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:126.06, Y:93.89, Z:71.76 [[ 2.70773067e-01 -9.11424449e-01 -3.09818366e-01 1.26055408e+02] [ 6.60779474e-01 4.10019526e-01 -6.28692671e-01 9.38924061e+01] [ 7.00037451e-01 -3.44885741e-02 7.13272813e-01 7.17588558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75710568099996 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:126.06, Y:93.92, Z:71.77 [[ 2.73368706e-01 -9.16776049e-01 -2.91189332e-01 1.26058107e+02] [ 6.63870091e-01 3.98881272e-01 -6.32590100e-01 9.39199055e+01] [ 6.96093423e-01 -2.03815507e-02 7.17661856e-01 7.17676513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.78710568099996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:126.05, Y:93.95, Z:71.78 [[ 2.69146561e-01 -9.34185379e-01 -2.34217435e-01 1.26045717e+02] [ 6.52218785e-01 3.55734404e-01 -6.69375598e-01 9.39540357e+01] [ 7.08640096e-01 2.73991296e-02 7.05037944e-01 7.17839274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81710568099996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:126.06, Y:93.96, Z:71.82 [[ 2.76624164e-01 -9.02063375e-01 -3.31301584e-01 1.26057386e+02] [ 6.52801523e-01 4.29391763e-01 -6.24077628e-01 9.39585994e+01] [ 7.05215742e-01 -4.36392265e-02 7.07648482e-01 7.18176501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.84710568099996 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:126.06, Y:93.97, Z:71.84 [[ 2.76742879e-01 -9.01789962e-01 -3.31946146e-01 1.26056514e+02] [ 6.47777576e-01 4.30222261e-01 -6.28723325e-01 9.39731839e+01] [ 7.09787004e-01 -4.10325666e-02 7.03220262e-01 7.18416242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.87710568099996 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:126.05, Y:94.00, Z:71.86 [[ 2.84083822e-01 -9.07073864e-01 -3.10666039e-01 1.26050246e+02] [ 6.45290431e-01 4.20529374e-01 -6.37773710e-01 9.40023512e+01] [ 7.09152058e-01 -1.92886295e-02 7.04791676e-01 7.18555824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.90710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.05, Y:94.03, Z:71.87 [[ 2.85230243e-01 -9.12909846e-01 -2.91957738e-01 1.26048767e+02] [ 6.43564790e-01 4.08148628e-01 -6.47486725e-01 9.40256156e+01] [ 7.10259156e-01 -3.21092476e-03 7.03932966e-01 7.18733009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.93710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:94.05, Z:71.89 [[ 2.93084284e-01 -9.11803664e-01 -2.87603341e-01 1.26045100e+02] [ 6.38204034e-01 4.10561136e-01 -6.51256604e-01 9.40466930e+01] [ 7.11896912e-01 7.32346255e-03 7.02245793e-01 7.18931308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.96710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:94.07, Z:71.91 [[ 3.01630683e-01 -9.02232581e-01 -3.08213078e-01 1.26045400e+02] [ 6.36391842e-01 4.31237660e-01 -6.39561962e-01 9.40662602e+01] [ 7.09946726e-01 -3.23277720e-03 7.04247964e-01 7.19133218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.99710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:94.09, Z:71.93 [[ 3.06095660e-01 -9.01835695e-01 -3.04955448e-01 1.26048326e+02] [ 6.35124553e-01 4.32073038e-01 -6.40257520e-01 9.40877544e+01] [ 7.09170113e-01 2.29535575e-03 7.05033674e-01 7.19315287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.02710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:94.11, Z:71.95 [[ 3.14918260e-01 -8.97155135e-01 -3.09740461e-01 1.26049488e+02] [ 6.33219940e-01 4.41697339e-01 -6.35559571e-01 9.41127824e+01] [ 7.07007070e-01 4.01547831e-03 7.07195079e-01 7.19506361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.05710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.05, Y:94.13, Z:71.97 [[ 3.17200260e-01 -9.04659895e-01 -2.84560133e-01 1.26048823e+02] [ 6.26248403e-01 4.25140502e-01 -6.53504775e-01 9.41334501e+01] [ 7.12177599e-01 2.90865557e-02 7.01396492e-01 7.19681238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.08710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.05, Y:94.15, Z:71.99 [[ 3.24763128e-01 -8.95530236e-01 -3.04227722e-01 1.26053931e+02] [ 6.19588200e-01 4.44475577e-01 -6.46955891e-01 9.41514823e+01] [ 7.14590354e-01 2.16115125e-02 6.99209246e-01 7.19879931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.11710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.06, Y:94.17, Z:72.00 [[ 3.31451176e-01 -8.90773601e-01 -3.10905949e-01 1.26058834e+02] [ 6.16934161e-01 4.53948747e-01 -6.42901840e-01 9.41695786e+01] [ 7.13815353e-01 2.12820701e-02 7.00010510e-01 7.20048532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.14710568099997 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:126.06, Y:94.19, Z:72.02 [[ 3.30345526e-01 -8.98445833e-01 -2.89252346e-01 1.26061667e+02] [ 6.15726937e-01 4.37401062e-01 -6.55408765e-01 9.41910779e+01] [ 7.15368557e-01 3.84108926e-02 6.97690785e-01 7.20246979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.07, Y:94.22, Z:72.04 [[ 3.36759955e-01 -9.00047936e-01 -2.76597986e-01 1.26070875e+02] [ 6.18375979e-01 4.32932294e-01 -6.55881679e-01 9.42160639e+01] [ 7.10073152e-01 4.98331341e-02 7.02362284e-01 7.20359808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.20710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:94.22, Z:72.06 [[ 3.32714456e-01 -8.90195978e-01 -3.11210880e-01 1.26078631e+02] [ 6.10892926e-01 4.54864498e-01 -6.48003180e-01 9.42240693e+01] [ 7.18408605e-01 2.54835003e-02 6.95154420e-01 7.20647219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.23710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.09, Y:94.24, Z:72.08 [[ 3.33580967e-01 -8.89713588e-01 -3.11662428e-01 1.26087740e+02] [ 6.13346690e-01 4.55888439e-01 -6.44958580e-01 9.42436154e+01] [ 7.15911710e-01 2.39887883e-02 6.97778591e-01 7.20844549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.26710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.10, Y:94.26, Z:72.10 [[ 3.32890775e-01 -8.93130105e-01 -3.02493548e-01 1.26096545e+02] [ 6.15179631e-01 4.48818136e-01 -6.48163793e-01 9.42610900e+01] [ 7.14659187e-01 2.96798784e-02 6.98842866e-01 7.21039077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.11, Y:94.28, Z:72.12 [[ 3.27865571e-01 -8.95374858e-01 -3.01343709e-01 1.26108431e+02] [ 6.19724875e-01 4.44594244e-01 -6.46743409e-01 9.42757216e+01] [ 7.13053466e-01 2.52947047e-02 7.00653218e-01 7.21247224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.32710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.11, Y:94.30, Z:72.13 [[ 3.26228624e-01 -9.06275299e-01 -2.68774938e-01 1.26114682e+02] [ 6.25047042e-01 4.20108321e-01 -6.57894515e-01 9.43009382e+01] [ 7.09148136e-01 4.66270430e-02 7.03516055e-01 7.21347639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.13, Y:94.31, Z:72.16 [[ 3.14722183e-01 -8.91219722e-01 -3.26614996e-01 1.26131640e+02] [ 6.25136200e-01 4.53551797e-01 -6.35212956e-01 9.43065639e+01] [ 7.14251132e-01 -4.26324905e-03 6.99876522e-01 7.21637075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.38710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.14, Y:94.33, Z:72.18 [[ 3.06068631e-01 -9.03001177e-01 -3.01514291e-01 1.26139593e+02] [ 6.27169016e-01 4.29527079e-01 -6.49742652e-01 9.43258003e+01] [ 7.16226932e-01 9.76542265e-03 6.97799125e-01 7.21808401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.15, Y:94.34, Z:72.20 [[ 2.99531752e-01 -9.05176663e-01 -3.01555864e-01 1.26151539e+02] [ 6.29118981e-01 4.25003359e-01 -6.50831355e-01 9.43416549e+01] [ 7.17279609e-01 5.23013874e-03 6.96765820e-01 7.21999747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.44710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.16, Y:94.36, Z:72.22 [[ 2.95538254e-01 -9.12498368e-01 -2.82849551e-01 1.26157875e+02] [ 6.26689405e-01 4.08646331e-01 -6.63527367e-01 9.43600988e+01] [ 7.21053070e-01 1.88389029e-02 6.92623683e-01 7.22196173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.17, Y:94.37, Z:72.24 [[ 2.97581937e-01 -9.03324443e-01 -3.08949739e-01 1.26172066e+02] [ 6.25994209e-01 4.28957796e-01 -6.51249921e-01 9.43692127e+01] [ 7.20816371e-01 3.99465507e-04 6.93125962e-01 7.22403911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.50710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.18, Y:94.38, Z:72.26 [[ 3.01546188e-01 -8.98819249e-01 -3.18109814e-01 1.26181835e+02] [ 6.30116633e-01 4.38261062e-01 -6.40999431e-01 9.43848794e+01] [ 7.15557772e-01 -7.15535011e-03 6.98516912e-01 7.22580195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.18, Y:94.41, Z:72.28 [[ 3.03457072e-01 -9.08031226e-01 -2.88778630e-01 1.26183108e+02] [ 6.26118745e-01 4.18478656e-01 -6.57914077e-01 9.44086891e+01] [ 7.18254219e-01 1.88389658e-02 6.95525679e-01 7.22772312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.56710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.19, Y:94.42, Z:72.30 [[ 3.06471250e-01 -9.03240315e-01 -3.00386927e-01 1.26192104e+02] [ 6.24996610e-01 4.28963323e-01 -6.52203730e-01 9.44241537e+01] [ 7.17951677e-01 1.21408813e-02 6.95987061e-01 7.22976237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.59710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.20, Y:94.44, Z:72.32 [[ 3.14689890e-01 -9.00861802e-01 -2.99028906e-01 1.26198950e+02] [ 6.23718574e-01 4.33727462e-01 -6.50273503e-01 9.44405541e+01] [ 7.15503609e-01 1.81246148e-02 6.98373886e-01 7.23183661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.62710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.21, Y:94.46, Z:72.34 [[ 3.21444274e-01 -8.96081416e-01 -3.06123626e-01 1.26207559e+02] [ 6.22937648e-01 4.43585745e-01 -6.44344918e-01 9.44550121e+01] [ 7.13177583e-01 1.64250529e-02 7.00790948e-01 7.23363245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:94.48, Z:72.35 [[ 3.23918664e-01 -8.99975946e-01 -2.91753312e-01 1.26211917e+02] [ 6.23325229e-01 4.34998704e-01 -6.49801344e-01 9.44784352e+01] [ 7.11717892e-01 2.86255832e-02 7.01881911e-01 7.23544400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.68710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:94.50, Z:72.37 [[ 3.20224027e-01 -9.13158615e-01 -2.52186273e-01 1.26213608e+02] [ 6.15542089e-01 4.02912941e-01 -6.77324957e-01 9.44994205e+01] [ 7.20114233e-01 6.16644599e-02 6.91109966e-01 7.23744532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.24, Y:94.51, Z:72.40 [[ 3.21898738e-01 -8.89422076e-01 -3.24514365e-01 1.26235199e+02] [ 6.18582061e-01 4.57059617e-01 -6.39103075e-01 9.45076490e+01] [ 7.16754795e-01 4.98770814e-03 6.97307455e-01 7.23972990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.74710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.24, Y:94.53, Z:72.41 [[ 3.22048766e-01 -8.98454031e-01 -2.98437508e-01 1.26241910e+02] [ 6.17242948e-01 4.38284308e-01 -6.53389630e-01 9.45295169e+01] [ 7.17841024e-01 2.62148768e-02 6.95713335e-01 7.24138250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.77710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.25, Y:94.55, Z:72.43 [[ 3.21060862e-01 -8.98533804e-01 -2.99260633e-01 1.26251458e+02] [ 6.14388781e-01 4.38084097e-01 -6.56207856e-01 9.45470239e+01] [ 7.20726265e-01 2.68202848e-02 6.92700746e-01 7.24330241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.80710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.26, Y:94.56, Z:72.45 [[ 3.21309950e-01 -9.02190728e-01 -2.87770407e-01 1.26257373e+02] [ 6.11121336e-01 4.29683951e-01 -6.64757410e-01 9.45648120e+01] [ 7.23388297e-01 3.77305346e-02 6.89409732e-01 7.24505823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.83710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:94.58, Z:72.47 [[ 3.22680304e-01 -8.98255739e-01 -2.98352223e-01 1.26269464e+02] [ 6.08534352e-01 4.38314447e-01 -6.61488011e-01 9.45806794e+01] [ 7.24957491e-01 3.18915760e-02 6.88054913e-01 7.24733763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.86710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.28, Y:94.60, Z:72.49 [[ 3.21937146e-01 -8.96026842e-01 -3.05765224e-01 1.26278108e+02] [ 6.08455415e-01 4.43245218e-01 -6.58267184e-01 9.45971726e+01] [ 7.25354039e-01 2.58761528e-02 6.87889484e-01 7.24940068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.89710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.29, Y:94.61, Z:72.51 [[ 3.24847848e-01 -8.91952503e-01 -3.14475131e-01 1.26289786e+02] [ 6.08978493e-01 4.51673144e-01 -6.52024973e-01 9.46112623e+01] [ 7.23615278e-01 2.03003178e-02 6.89904940e-01 7.25127534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.92710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.30, Y:94.63, Z:72.53 [[ 3.23564182e-01 -8.97976063e-01 -2.98236835e-01 1.26295104e+02] [ 6.09702843e-01 4.38899292e-01 -6.60022617e-01 9.46304168e+01] [ 7.23580447e-01 3.17238318e-02 6.89510649e-01 7.25296266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.95710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.30, Y:94.65, Z:72.55 [[ 3.16686640e-01 -9.04666189e-01 -2.85111661e-01 1.26301912e+02] [ 6.09589635e-01 4.24402306e-01 -6.69539514e-01 9.46503910e+01] [ 7.26711806e-01 3.82331060e-02 6.85877672e-01 7.25499504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.98710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.32, Y:94.66, Z:72.57 [[ 3.16243303e-01 -8.93240866e-01 -3.19548005e-01 1.26316507e+02] [ 6.12617297e-01 4.49470713e-01 -6.50135467e-01 9.46607317e+01] [ 7.24355037e-01 9.84035235e-03 6.89356909e-01 7.25705037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.01710568099998 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:126.32, Y:94.68, Z:72.59 [[ 3.11554746e-01 -9.02796278e-01 -2.96466730e-01 1.26324407e+02] [ 6.17174988e-01 4.29483288e-01 -6.59271673e-01 9.46779532e+01] [ 7.22515518e-01 2.24273681e-02 6.90990839e-01 7.25887914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.33, Y:94.69, Z:72.61 [[ 3.04665135e-01 -9.05475131e-01 -2.95455484e-01 1.26334706e+02] [ 6.22160713e-01 4.24071589e-01 -6.58087634e-01 9.46936055e+01] [ 7.21176263e-01 1.66755629e-02 6.92550881e-01 7.26081680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.07710568099998 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:126.34, Y:94.71, Z:72.63 [[ 2.98420221e-01 -9.11150001e-01 -2.84167288e-01 1.26340206e+02] [ 6.22068977e-01 4.11486591e-01 -6.66114835e-01 9.47138050e+01] [ 7.23861561e-01 2.20104820e-02 6.89594068e-01 7.26280966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.10710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.35, Y:94.73, Z:72.65 [[ 2.94781576e-01 -9.05646356e-01 -3.04808958e-01 1.26351210e+02] [ 6.22786136e-01 4.24014973e-01 -6.57532305e-01 9.47279774e+01] [ 7.24735298e-01 3.99761601e-03 6.89015796e-01 7.26486683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:126.36, Y:94.74, Z:72.67 [[ 2.95327778e-01 -9.04755440e-01 -3.06918714e-01 1.26359538e+02] [ 6.24679918e-01 4.25928572e-01 -6.54492056e-01 9.47441868e+01] [ 7.22880698e-01 1.56372749e-03 6.90971093e-01 7.26662424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.16710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.36, Y:94.76, Z:72.68 [[ 2.94097259e-01 -9.09418226e-01 -2.94049812e-01 1.26362503e+02] [ 6.25579873e-01 4.15757778e-01 -6.60147932e-01 9.47630096e+01] [ 7.22604058e-01 1.01960527e-02 6.91186962e-01 7.26847142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.37, Y:94.78, Z:72.70 [[ 2.94779856e-01 -9.08954057e-01 -2.94800540e-01 1.26366884e+02] [ 6.21973548e-01 4.16721715e-01 -6.62941866e-01 9.47810678e+01] [ 7.25433485e-01 1.20637704e-02 6.88186547e-01 7.27043687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.22710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.37, Y:94.80, Z:72.72 [[ 2.95457955e-01 -9.08669058e-01 -2.95000237e-01 1.26371708e+02] [ 6.19979537e-01 4.17301355e-01 -6.64443340e-01 9.47993652e+01] [ 7.26863103e-01 1.34209602e-02 6.86651227e-01 7.27241336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.37, Y:94.82, Z:72.75 [[ 2.96769516e-01 -9.10185095e-01 -2.88948001e-01 1.26372491e+02] [ 6.17527581e-01 4.13714159e-01 -6.68954618e-01 9.48213080e+01] [ 7.28414402e-01 2.00919784e-02 6.84842151e-01 7.27455919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.28710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.38, Y:94.84, Z:72.77 [[ 3.04029731e-01 -9.02580676e-01 -3.04818054e-01 1.26376809e+02] [ 6.18898526e-01 4.30377197e-01 -6.57069314e-01 9.48358959e+01] [ 7.24244805e-01 1.11171623e-02 6.89453313e-01 7.27669324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.38, Y:94.86, Z:72.79 [[ 3.07098757e-01 -9.05629474e-01 -2.92447617e-01 1.26380173e+02] [ 6.19010244e-01 4.23493941e-01 -6.61422104e-01 9.48555462e+01] [ 7.22853146e-01 2.20938351e-02 6.90648385e-01 7.27866991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.34710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.38, Y:94.87, Z:72.81 [[ 3.11679912e-01 -9.04282435e-01 -2.91768591e-01 1.26384975e+02] [ 6.17716690e-01 4.26156564e-01 -6.60921080e-01 9.48734523e+01] [ 7.21998423e-01 2.57654953e-02 6.91414793e-01 7.28071773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.39, Y:94.90, Z:72.82 [[ 3.14805578e-01 -9.12314596e-01 -2.61876929e-01 1.26390183e+02] [ 6.22294020e-01 4.06715602e-01 -6.68829255e-01 9.49012942e+01] [ 7.16692124e-01 4.75867334e-02 6.95764257e-01 7.28204147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.40710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.40, Y:94.91, Z:72.85 [[ 3.12709508e-01 -8.94961215e-01 -3.18209344e-01 1.26402289e+02] [ 6.19528057e-01 4.46117760e-01 -6.45882288e-01 9.49060590e+01] [ 7.19998437e-01 4.83391574e-03 6.93958849e-01 7.28490840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.43710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.41, Y:94.93, Z:72.87 [[ 3.11868432e-01 -9.04766138e-01 -2.90062607e-01 1.26409339e+02] [ 6.20157589e-01 4.25130903e-01 -6.59293774e-01 9.49265599e+01] [ 7.19821260e-01 2.57283888e-02 6.93682495e-01 7.28662513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.46710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.42, Y:94.94, Z:72.89 [[ 3.11326842e-01 -9.04882912e-01 -2.90280061e-01 1.26418695e+02] [ 6.18747092e-01 4.24858859e-01 -6.60792695e-01 9.49420650e+01] [ 7.21268073e-01 2.61125595e-02 6.92163637e-01 7.28860733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.49710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.43, Y:94.96, Z:72.90 [[ 3.11812924e-01 -9.04484356e-01 -2.90999572e-01 1.26428984e+02] [ 6.15370976e-01 4.25599580e-01 -6.63463307e-01 9.49587093e+01] [ 7.23941477e-01 2.78037430e-02 6.89300870e-01 7.29043133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.52710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:94.98, Z:72.92 [[ 3.14323998e-01 -9.03700436e-01 -2.90733464e-01 1.26437528e+02] [ 6.13822225e-01 4.27096630e-01 -6.63935799e-01 9.49763021e+01] [ 7.24170353e-01 3.02322931e-02 6.88958132e-01 7.29236637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.55710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.45, Y:94.99, Z:72.94 [[ 3.22120178e-01 -9.01018573e-01 -2.90523874e-01 1.26445992e+02] [ 6.09648869e-01 4.32206226e-01 -6.64474254e-01 9.49923168e+01] [ 7.24269872e-01 3.69230134e-02 6.88527301e-01 7.29424002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.58710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.45, Y:95.01, Z:72.96 [[ 3.25842856e-01 -8.99712587e-01 -2.90419857e-01 1.26454461e+02] [ 6.07043442e-01 4.34601245e-01 -6.65296940e-01 9.50092363e+01] [ 7.24792862e-01 4.04847854e-02 6.87776336e-01 7.29606546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.61710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.47, Y:95.02, Z:72.98 [[ 3.31238833e-01 -8.97816880e-01 -2.90182158e-01 1.26467835e+02] [ 6.04321281e-01 4.38055589e-01 -6.65509648e-01 9.50241595e+01] [ 7.24621712e-01 4.50793858e-02 6.87670869e-01 7.29801797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.64710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.48, Y:95.04, Z:73.00 [[ 3.33442968e-01 -8.97194041e-01 -2.89583564e-01 1.26478683e+02] [ 6.03893847e-01 4.39136691e-01 -6.65185078e-01 9.50395553e+01] [ 7.23966856e-01 4.69235540e-02 6.88237002e-01 7.29995599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.67710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.49, Y:95.06, Z:73.02 [[ 3.32994024e-01 -8.97548849e-01 -2.89000076e-01 1.26486398e+02] [ 6.04716585e-01 4.38440936e-01 -6.64896531e-01 9.50580609e+01] [ 7.23486580e-01 4.66434322e-02 6.88760886e-01 7.30185437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.70710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.50, Y:95.08, Z:73.04 [[ 3.30054015e-01 -8.98796141e-01 -2.88495830e-01 1.26496928e+02] [ 6.06523997e-01 4.36108968e-01 -6.64783881e-01 9.50750608e+01] [ 7.23320806e-01 4.44349448e-02 6.89080944e-01 7.30361111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.51, Y:95.09, Z:73.05 [[ 3.24004633e-01 -9.00964363e-01 -2.88590044e-01 1.26512503e+02] [ 6.08008287e-01 4.32012387e-01 -6.66101509e-01 9.50886038e+01] [ 7.24808196e-01 4.03548371e-02 6.87767814e-01 7.30540708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.76710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.52, Y:95.10, Z:73.07 [[ 3.20002789e-01 -9.02401931e-01 -2.88563631e-01 1.26523867e+02] [ 6.08856013e-01 4.29235236e-01 -6.67121779e-01 9.51031828e+01] [ 7.25873660e-01 3.77871285e-02 6.86789314e-01 7.30742445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.79710568099998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:126.54, Y:95.12, Z:73.09 [[ 3.12161376e-01 -9.05381094e-01 -2.87819997e-01 1.26538135e+02] [ 6.13663310e-01 4.23436764e-01 -6.66422275e-01 9.51173294e+01] [ 7.25239697e-01 3.14067223e-02 6.87779761e-01 7.30943035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.82710568099998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:126.55, Y:95.13, Z:73.11 [[ 3.07883408e-01 -9.07004082e-01 -2.87317599e-01 1.26547618e+02] [ 6.16060060e-01 4.20181334e-01 -6.66271453e-01 9.51341177e+01] [ 7.25036420e-01 2.81290281e-02 6.88135850e-01 7.31140444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.85710568099998 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:126.56, Y:95.15, Z:73.13 [[ 3.00503986e-01 -9.09631349e-01 -2.86824271e-01 1.26558956e+02] [ 6.19829557e-01 4.14812309e-01 -6.66139676e-01 9.51489225e+01] [ 7.24919771e-01 2.23954668e-02 6.88469149e-01 7.31326795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.88710568099998 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:126.57, Y:95.16, Z:73.15 [[ 2.97124687e-01 -9.10750617e-01 -2.86793018e-01 1.26571425e+02] [ 6.20335726e-01 4.12456906e-01 -6.67130338e-01 9.51634678e+01] [ 7.25879127e-01 2.03129375e-02 6.87522274e-01 7.31525090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91710568099995 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:126.58, Y:95.18, Z:73.17 [[ 2.99371346e-01 -9.10195214e-01 -2.86219269e-01 1.26582395e+02] [ 6.19947123e-01 4.13585317e-01 -6.66792884e-01 9.51767155e+01] [ 7.25287779e-01 2.21778709e-02 6.88088497e-01 7.31726540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.94710568099995 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:126.59, Y:95.19, Z:73.19 [[ 3.02647661e-01 -9.09354866e-01 -2.85443727e-01 1.26590063e+02] [ 6.19629600e-01 4.15287240e-01 -6.66029780e-01 9.51930714e+01] [ 7.24198559e-01 2.47029729e-02 6.89148903e-01 7.31915921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97710568099995 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:126.60, Y:95.21, Z:73.21 [[ 3.11790097e-01 -9.06456415e-01 -2.84822232e-01 1.26597258e+02] [ 6.16164978e-01 4.21082828e-01 -6.65604967e-01 9.52099283e+01] [ 7.23275643e-01 3.20315533e-02 6.89816153e-01 7.32110388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.00710568099996 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:126.60, Y:95.23, Z:73.22 [[ 3.19539428e-01 -9.07554192e-01 -2.72470076e-01 1.26602635e+02] [ 6.14169858e-01 4.17331996e-01 -6.69798022e-01 9.52315526e+01] [ 7.21588484e-01 4.66839690e-02 6.90746457e-01 7.32239856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03710568099996 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:126.61, Y:95.24, Z:73.25 [[ 3.21961984e-01 -9.00733573e-01 -2.91581055e-01 1.26613244e+02] [ 6.11289742e-01 4.32955446e-01 -6.62475987e-01 9.52428939e+01] [ 7.22955969e-01 3.50515751e-02 6.90004387e-01 7.32492125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.06710568099996 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:126.62, Y:95.27, Z:73.26 [[ 3.26367499e-01 -9.05762742e-01 -2.70329634e-01 1.26618224e+02] [ 6.13138869e-01 4.20519634e-01 -6.68748057e-01 9.52660528e+01] [ 7.19405993e-01 5.25080250e-02 6.92602285e-01 7.32629054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09710568099996 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:126.63, Y:95.28, Z:73.29 [[ 3.27507922e-01 -8.99936315e-01 -2.87842300e-01 1.26631320e+02] [ 6.09123776e-01 4.33987383e-01 -6.63794529e-01 9.52786495e+01] [ 7.22292729e-01 4.20663786e-02 6.90306912e-01 7.32874747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.12710568099996 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:126.64, Y:95.30, Z:73.31 [[ 3.27705654e-01 -9.01260422e-01 -2.83440744e-01 1.26639371e+02] [ 6.08058333e-01 4.30810114e-01 -6.66834094e-01 9.52950213e+01] [ 7.23100317e-01 4.61767964e-02 6.89197820e-01 7.33057063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.15710568099996 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:126.65, Y:95.32, Z:73.32 [[ 3.28853301e-01 -9.05697496e-01 -2.67521125e-01 1.26647015e+02] [ 6.10117573e-01 4.19976835e-01 -6.71845224e-01 9.53175170e+01] [ 7.20841213e-01 5.77191806e-02 6.90692727e-01 7.33187977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.18710568099996 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:126.66, Y:95.33, Z:73.35 [[ 3.28948792e-01 -8.97416212e-01 -2.94001419e-01 1.26663113e+02] [ 6.05783651e-01 4.39359126e-01 -6.63317214e-01 9.53282000e+01] [ 7.24443828e-01 4.00961434e-02 6.88166723e-01 7.33464651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.21710568099996 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:126.67, Y:95.35, Z:73.36 [[ 3.31245077e-01 -9.00343867e-01 -2.82236815e-01 1.26670571e+02] [ 6.05980891e-01 4.32277918e-01 -6.67774634e-01 9.53460266e+01] [ 7.23231539e-01 5.01669429e-02 6.88781111e-01 7.33636404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.24710568099997 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:126.68, Y:95.36, Z:73.38 [[ 3.32462227e-01 -8.99921571e-01 -2.82152500e-01 1.26679293e+02] [ 6.05569885e-01 4.33046684e-01 -6.67649372e-01 9.53630806e+01] [ 7.23017276e-01 5.11051401e-02 6.88937068e-01 7.33832853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.27710568099997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:126.69, Y:95.38, Z:73.40 [[ 3.33110582e-01 -8.99677513e-01 -2.82166110e-01 1.26689749e+02] [ 6.04110220e-01 4.33410604e-01 -6.68734693e-01 9.53792311e+01] [ 7.23939350e-01 5.23031720e-02 6.87878039e-01 7.34028655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.30710568099997 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:126.70, Y:95.40, Z:73.42 [[ 3.32497203e-01 -8.99907359e-01 -2.82156614e-01 1.26699669e+02] [ 6.03330879e-01 4.32914286e-01 -6.69758966e-01 9.53958043e+01] [ 7.24870651e-01 5.24591852e-02 6.86884687e-01 7.34226093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.33710568099997 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:126.71, Y:95.42, Z:73.43 [[ 3.31494352e-01 -9.08175027e-01 -2.55596588e-01 1.26707347e+02] [ 6.07805470e-01 4.12776731e-01 -6.78371492e-01 9.54213803e+01] [ 7.21584372e-01 6.95233141e-02 6.88826904e-01 7.34330667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.36710568099997 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:126.72, Y:95.44, Z:73.45 [[ 3.30026714e-01 -9.04300504e-01 -2.70782138e-01 1.26718657e+02] [ 6.07021731e-01 4.22984712e-01 -6.72761883e-01 9.54375897e+01] [ 7.22915615e-01 5.76587514e-02 6.88526312e-01 7.34549542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.39710568099997 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:126.73, Y:95.45, Z:73.48 [[ 3.29843872e-01 -9.00946562e-01 -2.81954453e-01 1.26733501e+02] [ 6.05369488e-01 4.31037260e-01 -6.69129781e-01 9.54503514e+01] [ 7.24383050e-01 5.00217355e-02 6.87580557e-01 7.34775565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.42710568099997 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:126.75, Y:95.46, Z:73.50 [[ 3.26423140e-01 -8.96186774e-01 -3.00494924e-01 1.26748350e+02] [ 6.02817142e-01 4.42243619e-01 -6.64102458e-01 9.54556532e+01] [ 7.28051802e-01 3.56349188e-02 6.84595301e-01 7.35046386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.45710568099997 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:126.76, Y:95.48, Z:73.52 [[ 3.25073020e-01 -9.02716765e-01 -2.81833239e-01 1.26756083e+02] [ 6.04753261e-01 4.27551282e-01 -6.71917700e-01 9.54767780e+01] [ 7.27049534e-01 4.79827456e-02 6.84906293e-01 7.35214265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.48710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:126.77, Y:95.49, Z:73.54 [[ 3.22126740e-01 -9.03971801e-01 -2.81192722e-01 1.26767797e+02] [ 6.07030000e-01 4.25155958e-01 -6.71384383e-01 9.54910540e+01] [ 7.26463311e-01 4.55784448e-02 6.85692105e-01 7.35413358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.51710568099998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:126.78, Y:95.51, Z:73.56 [[ 3.21781605e-01 -9.04356327e-01 -2.80350197e-01 1.26778015e+02] [ 6.08824166e-01 4.24400644e-01 -6.70236696e-01 9.55066112e+01] [ 7.25113601e-01 4.49858653e-02 6.87158306e-01 7.35613562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.54710568099998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:126.79, Y:95.52, Z:73.58 [[ 3.19428801e-01 -9.05642341e-01 -2.78885624e-01 1.26789923e+02] [ 6.13198154e-01 4.21926862e-01 -6.67806669e-01 9.55184544e+01] [ 7.22463331e-01 4.23045336e-02 6.90113803e-01 7.35822838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.57710568099998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:126.80, Y:95.53, Z:73.60 [[ 3.16515539e-01 -9.07067404e-01 -2.77572761e-01 1.26801441e+02] [ 6.17290809e-01 4.19138638e-01 -6.65788900e-01 9.55319443e+01] [ 7.20256878e-01 3.93894188e-02 6.92588263e-01 7.36037805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.60710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:126.81, Y:95.55, Z:73.62 [[ 3.14029417e-01 -9.08021759e-01 -2.77276056e-01 1.26810484e+02] [ 6.18193599e-01 4.17215668e-01 -6.66158961e-01 9.55491312e+01] [ 7.20570746e-01 3.77832274e-02 6.92351232e-01 7.36231350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63710568099998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:126.82, Y:95.57, Z:73.64 [[ 3.12116232e-01 -9.08664817e-01 -2.77329603e-01 1.26821021e+02] [ 6.17784495e-01 4.15886670e-01 -6.67368410e-01 9.55660015e+01] [ 7.21751879e-01 3.69665844e-02 6.91164016e-01 7.36410494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.66710568099995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:126.83, Y:95.58, Z:73.66 [[ 3.15443996e-01 -9.07657653e-01 -2.76862187e-01 1.26830634e+02] [ 6.16478634e-01 4.17816327e-01 -6.67370669e-01 9.55815405e+01] [ 7.21421637e-01 3.98384474e-02 6.91349202e-01 7.36599237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.84, Y:95.60, Z:73.68 [[ 3.18201093e-01 -9.06836183e-01 -2.76398627e-01 1.26838607e+02] [ 6.15431168e-01 4.19359985e-01 -6.67369224e-01 9.55982727e+01] [ 7.21105084e-01 4.22532865e-02 6.91536057e-01 7.36790691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.72710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:126.84, Y:95.62, Z:73.70 [[ 3.18428089e-01 -9.16539222e-01 -2.41990511e-01 1.26843386e+02] [ 6.07743834e-01 3.93297325e-01 -6.89901911e-01 9.56240588e+01] [ 7.27496381e-01 7.26159066e-02 6.82257976e-01 7.36987560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75710568099996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:126.86, Y:95.62, Z:73.73 [[ 3.24323393e-01 -8.89511695e-01 -3.21843567e-01 1.26861057e+02] [ 6.05695150e-01 4.56617888e-01 -6.51639080e-01 9.56213532e+01] [ 7.26600112e-01 1.64027100e-02 6.86864782e-01 7.37281174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.78710568099996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:126.86, Y:95.65, Z:73.74 [[ 3.25459863e-01 -9.04447299e-01 -2.75773386e-01 1.26864044e+02] [ 6.07989602e-01 4.23538843e-01 -6.71538154e-01 9.56510064e+01] [ 7.24171611e-01 5.08913644e-02 6.87739447e-01 7.37391076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81710568099996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:126.87, Y:95.67, Z:73.76 [[ 3.25393023e-01 -9.04576728e-01 -2.75427528e-01 1.26872003e+02] [ 6.07988535e-01 4.23234824e-01 -6.71730769e-01 9.56687855e+01] [ 7.24202542e-01 5.11197266e-02 6.87689938e-01 7.37579757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.84710568099996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:126.88, Y:95.68, Z:73.78 [[ 3.23137424e-01 -9.05455797e-01 -2.75194485e-01 1.26882564e+02] [ 6.08607481e-01 4.21515510e-01 -6.72251150e-01 9.56840482e+01] [ 7.24692444e-01 4.97440826e-02 6.87274609e-01 7.37768168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:126.89, Y:95.70, Z:73.80 [[ 3.20586168e-01 -9.06318440e-01 -2.75338690e-01 1.26891450e+02] [ 6.08453599e-01 4.19818274e-01 -6.73451434e-01 9.57014156e+01] [ 7.25953667e-01 4.83683974e-02 6.86040649e-01 7.37957115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.90710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:95.72, Z:73.81 [[ 3.13238756e-01 -9.08685128e-01 -2.75994240e-01 1.26903348e+02] [ 6.08659251e-01 4.15177527e-01 -6.76137218e-01 9.57194222e+01] [ 7.28982440e-01 4.38059331e-02 6.83129301e-01 7.38148528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.93710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:126.91, Y:95.75, Z:73.84 [[ 3.02339589e-01 -9.22392913e-01 -2.40379049e-01 1.26905471e+02] [ 6.02792433e-01 3.80368997e-01 -7.01399108e-01 9.57475834e+01] [ 7.38398304e-01 6.71620459e-02 6.71012075e-01 7.38360083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.96710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.93, Y:95.73, Z:73.87 [[ 2.95869140e-01 -8.92009265e-01 -3.41732238e-01 1.26929320e+02] [ 6.13372708e-01 4.51661942e-01 -6.47900773e-01 9.57339009e+01] [ 7.32280939e-01 -1.79153831e-02 6.80766969e-01 7.38681364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.99710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.93, Y:95.77, Z:73.87 [[ 2.91511211e-01 -9.22647617e-01 -2.52472948e-01 1.26929474e+02] [ 6.15000565e-01 3.82930491e-01 -6.89302941e-01 9.57722640e+01] [ 7.32663305e-01 4.56685296e-02 6.79057337e-01 7.38709565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.02710568099997 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:126.94, Y:95.78, Z:73.90 [[ 2.81310342e-01 -9.13020775e-01 -2.95393898e-01 1.26943750e+02] [ 6.26575687e-01 4.07909398e-01 -6.64087970e-01 9.57759817e+01] [ 7.26820060e-01 1.72817966e-03 6.86825752e-01 7.39006311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.05710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.95, Y:95.80, Z:73.92 [[ 2.75774843e-01 -9.21888808e-01 -2.72156684e-01 1.26949776e+02] [ 6.29811045e-01 3.87190936e-01 -6.73365597e-01 9.57981283e+01] [ 7.26144809e-01 1.42900061e-02 6.87393274e-01 7.39158971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.08710568099997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:126.96, Y:95.81, Z:73.94 [[ 2.65617866e-01 -9.24969157e-01 -2.71807300e-01 1.26958109e+02] [ 6.33899844e-01 3.79984333e-01 -6.73634095e-01 9.58138006e+01] [ 7.26373277e-01 6.63064567e-03 6.87268432e-01 7.39363504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.11710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:95.83, Z:73.96 [[ 2.61464079e-01 -9.26263081e-01 -2.71428149e-01 1.26963806e+02] [ 6.35605592e-01 3.76859911e-01 -6.73781967e-01 9.58314867e+01] [ 7.26389749e-01 3.64853223e-03 6.87273324e-01 7.39555295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.14710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.97, Y:95.85, Z:73.98 [[ 2.56150114e-01 -9.27810941e-01 -2.71208366e-01 1.26967077e+02] [ 6.37138062e-01 3.73050743e-01 -6.74454026e-01 9.58505444e+01] [ 7.26940306e-01 -3.56970225e-05 6.86700655e-01 7.39753809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.17710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:126.97, Y:95.87, Z:74.00 [[ 2.55164641e-01 -9.28259932e-01 -2.70600269e-01 1.26971987e+02] [ 6.38161226e-01 3.71931497e-01 -6.74104748e-01 9.58686426e+01] [ 7.26389190e-01 -6.78903260e-04 6.87283263e-01 7.39956222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.20710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:126.97, Y:95.89, Z:74.01 [[ 2.54738360e-01 -9.33483041e-01 -2.52423810e-01 1.26971871e+02] [ 6.35567665e-01 3.58357188e-01 -6.83837604e-01 9.58907482e+01] [ 7.28808693e-01 1.37672583e-02 6.84578959e-01 7.40140447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.23710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.98, Y:95.90, Z:74.04 [[ 2.57315710e-01 -9.22647767e-01 -2.87245059e-01 1.26979286e+02] [ 6.38235490e-01 3.85461409e-01 -6.66389497e-01 9.59015309e+01] [ 7.25564667e-01 -1.18575042e-02 6.88051825e-01 7.40407169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.26710568099998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:126.98, Y:95.93, Z:74.05 [[ 2.59678187e-01 -9.34515759e-01 -2.43408165e-01 1.26976060e+02] [ 6.29312854e-01 3.54944927e-01 -6.91360565e-01 9.59320105e+01] [ 7.32483837e-01 2.63513710e-02 6.80274235e-01 7.40510078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.29710568099998 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:126.99, Y:95.94, Z:74.08 [[ 2.64257812e-01 -9.18337719e-01 -2.94658519e-01 1.26985407e+02] [ 6.32691407e-01 3.95658112e-01 -6.65699813e-01 9.59406682e+01] [ 7.27921281e-01 -1.05115368e-02 6.85580131e-01 7.40788080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.32710568099998 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:126.99, Y:95.97, Z:74.09 [[ 2.66531303e-01 -9.25459690e-01 -2.69231175e-01 1.26988722e+02] [ 6.32283115e-01 3.78716493e-01 -6.75863803e-01 9.59654162e+01] [ 7.27446992e-01 9.90853393e-03 6.86092336e-01 7.40934343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.35710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:126.99, Y:95.98, Z:74.11 [[ 2.70274103e-01 -9.24364413e-01 -2.69262588e-01 1.26991707e+02] [ 6.29424447e-01 3.81271062e-01 -6.77094708e-01 9.59848878e+01] [ 7.28544285e-01 1.35207092e-02 6.84865254e-01 7.41120155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.38710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:127.00, Y:96.00, Z:74.13 [[ 2.72764642e-01 -9.23666824e-01 -2.69145032e-01 1.26997351e+02] [ 6.27481259e-01 3.82860231e-01 -6.78000969e-01 9.60031066e+01] [ 7.29291931e-01 1.60512285e-02 6.84014355e-01 7.41310902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41710568099995 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:127.00, Y:96.02, Z:74.15 [[ 2.77039094e-01 -9.22386513e-01 -2.69169947e-01 1.27002330e+02] [ 6.24394133e-01 3.85744827e-01 -6.79214911e-01 9.60205160e+01] [ 7.30329588e-01 2.01009479e-02 6.82799125e-01 7.41497658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.44710568099995 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:127.01, Y:96.04, Z:74.17 [[ 2.78670699e-01 -9.29197296e-01 -2.42765375e-01 1.27005296e+02] [ 6.16877241e-01 3.66921710e-01 -6.96298017e-01 9.60443597e+01] [ 7.36074121e-01 4.42814203e-02 6.75450994e-01 7.41668237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47710568099995 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:127.02, Y:96.05, Z:74.19 [[ 2.80067081e-01 -9.13136534e-01 -2.96216308e-01 1.27017946e+02] [ 6.20250016e-01 4.07634593e-01 -6.70167111e-01 9.60499797e+01] [ 7.32702086e-01 3.96357706e-03 6.80537980e-01 7.41947310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.50710568099996 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:127.02, Y:96.07, Z:74.21 [[ 2.82380662e-01 -9.20948523e-01 -2.68542325e-01 1.27019380e+02] [ 6.20732578e-01 3.88845610e-01 -6.80801114e-01 9.60745674e+01] [ 7.31404285e-01 2.55521000e-02 6.81465232e-01 7.42086600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53710568099996 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:127.02, Y:96.09, Z:74.23 [[ 2.82670595e-01 -9.21061054e-01 -2.67850461e-01 1.27024804e+02] [ 6.21456681e-01 3.88559652e-01 -6.80303601e-01 9.60936320e+01] [ 7.30677034e-01 2.58443656e-02 6.82233934e-01 7.42277451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.56710568099996 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:127.03, Y:96.11, Z:74.25 [[ 2.80940401e-01 -9.21604688e-01 -2.67800841e-01 1.27029956e+02] [ 6.21164566e-01 3.87320690e-01 -6.81276204e-01 9.61125987e+01] [ 7.31592150e-01 2.50496168e-02 6.81282205e-01 7.42466525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.59710568099996 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:127.04, Y:96.13, Z:74.27 [[ 2.79454735e-01 -9.22076565e-01 -2.67730947e-01 1.27036281e+02] [ 6.20729505e-01 3.86232454e-01 -6.82289802e-01 9.61306009e+01] [ 7.32529817e-01 2.44806179e-02 6.80294618e-01 7.42664665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.62710568099996 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:127.04, Y:96.15, Z:74.29 [[ 2.75654712e-01 -9.23332079e-01 -2.67343136e-01 1.27040777e+02] [ 6.22260175e-01 3.83384400e-01 -6.82501778e-01 9.61480836e+01] [ 7.32670973e-01 2.17778441e-02 6.80234497e-01 7.42851065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.65710568099996 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:127.04, Y:96.17, Z:74.30 [[ 2.72376101e-01 -9.26750400e-01 -2.58737233e-01 1.27044725e+02] [ 6.21280444e-01 3.74728001e-01 -6.88178418e-01 9.61675339e+01] [ 7.34725710e-01 2.66949713e-02 6.77838852e-01 7.43046819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.68710568099996 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:127.05, Y:96.18, Z:74.32 [[ 2.65464869e-01 -9.28450406e-01 -2.59823490e-01 1.27050206e+02] [ 6.23453084e-01 3.70877398e-01 -6.88299504e-01 9.61835381e+01] [ 7.35414614e-01 2.07315815e-02 6.77300189e-01 7.43247383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.71710568099996 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:127.06, Y:96.20, Z:74.35 [[ 2.53717639e-01 -9.26487977e-01 -2.77934144e-01 1.27060470e+02] [ 6.32169481e-01 3.76304626e-01 -6.77315714e-01 9.61974348e+01] [ 7.32112769e-01 -3.85453999e-03 6.81172544e-01 7.43495226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.74710568099997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:127.07, Y:96.22, Z:74.37 [[ 2.47288061e-01 -9.31780808e-01 -2.65768962e-01 1.27065703e+02] [ 6.34879608e-01 3.63021377e-01 -6.82014196e-01 9.62174911e+01] [ 7.31967553e-01 -7.73258398e-05 6.81339486e-01 7.43672219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.77710568099997 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:127.07, Y:96.24, Z:74.39 [[ 2.38330705e-01 -9.34322904e-01 -2.65026765e-01 1.27070245e+02] [ 6.39391249e-01 3.56357426e-01 -6.81313596e-01 9.62354908e+01] [ 7.31011153e-01 -7.07784481e-03 6.82328805e-01 7.43865401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.80710568099997 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:127.08, Y:96.25, Z:74.41 [[ 2.36326203e-01 -9.35029637e-01 -2.64328401e-01 1.27075978e+02] [ 6.41354701e-01 3.54462358e-01 -6.80456159e-01 9.62532223e+01] [ 7.29941143e-01 -8.71864274e-03 6.83454397e-01 7.44068880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.83710568099997 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:127.08, Y:96.27, Z:74.43 [[ 2.36219444e-01 -9.35336919e-01 -2.63334811e-01 1.27080339e+02] [ 6.43224406e-01 3.53644612e-01 -6.79115493e-01 9.62703210e+01] [ 7.28328730e-01 -8.96309368e-03 6.85169267e-01 7.44285363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.86710568099997 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:127.08, Y:96.29, Z:74.45 [[ 2.37713776e-01 -9.35167930e-01 -2.62589228e-01 1.27080239e+02] [ 6.43697309e-01 3.54119684e-01 -6.78419504e-01 9.62894273e+01] [ 7.27424178e-01 -7.75831724e-03 6.86144208e-01 7.44489320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.89710568099997 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:127.08, Y:96.31, Z:74.47 [[ 2.39272748e-01 -9.34871824e-01 -2.62227429e-01 1.27083105e+02] [ 6.42941444e-01 3.54931314e-01 -6.78712061e-01 9.63071098e+01] [ 7.27581508e-01 -6.19958164e-03 6.85993232e-01 7.44678585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.92710568099997 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:127.09, Y:96.33, Z:74.49 [[ 2.41598311e-01 -9.34372141e-01 -2.61875847e-01 1.27086597e+02] [ 6.41807750e-01 3.56276057e-01 -6.79080395e-01 9.63255363e+01] [ 7.27813897e-01 -4.00927154e-03 6.85762975e-01 7.44882105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.95710568099997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:127.09, Y:96.35, Z:74.51 [[ 2.47576069e-01 -9.32889639e-01 -2.61577928e-01 1.27086372e+02] [ 6.39160735e-01 3.60160841e-01 -6.79527573e-01 9.63450971e+01] [ 7.28134359e-01 1.04442423e-03 6.85433632e-01 7.45070183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.98710568099997 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:127.09, Y:96.36, Z:74.53 [[ 2.50586647e-01 -9.32177008e-01 -2.61251524e-01 1.27089621e+02] [ 6.37688191e-01 3.61982984e-01 -6.79942711e-01 9.63644484e+01] [ 7.28395568e-01 3.78755220e-03 6.85146372e-01 7.45262070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.01710568099998 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:127.09, Y:96.39, Z:74.54 [[ 2.57998410e-01 -9.30162309e-01 -2.61218107e-01 1.27087965e+02] [ 6.33555095e-01 3.67006032e-01 -6.81112703e-01 9.63856342e+01] [ 7.29413985e-01 1.02299314e-02 6.83996043e-01 7.45438378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.04710568099998 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:127.09, Y:96.41, Z:74.56 [[ 2.61568871e-01 -9.29144098e-01 -2.61290971e-01 1.27090436e+02] [ 6.30869237e-01 3.69466786e-01 -6.82274358e-01 9.64062882e+01] [ 7.30469528e-01 1.36212982e-02 6.82809438e-01 7.45620685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.07710568099998 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:127.09, Y:96.43, Z:74.58 [[ 2.69088890e-01 -9.30600494e-01 -2.48140868e-01 1.27090922e+02] [ 6.27268955e-01 3.64846048e-01 -6.88055971e-01 9.64324673e+01] [ 7.30838441e-01 2.94971548e-02 6.81912817e-01 7.45776726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.10710568099998 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:127.09, Y:96.45, Z:74.60 [[ 2.73301266e-01 -9.26993197e-01 -2.56885247e-01 1.27092818e+02] [ 6.18826910e-01 3.73889273e-01 -6.90840117e-01 9.64464735e+01] [ 7.36450727e-01 2.98399744e-02 6.75832748e-01 7.46023942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.13710568099998 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:127.10, Y:96.46, Z:74.62 [[ 2.76810722e-01 -9.21423813e-01 -2.72679263e-01 1.27101022e+02] [ 6.21267981e-01 3.88092798e-01 -6.80742298e-01 9.64633206e+01] [ 7.33077022e-01 1.90298714e-02 6.79879359e-01 7.46212603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.16710568099995 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:127.10, Y:96.48, Z:74.64 [[ 2.78828792e-01 -9.22771826e-01 -2.65982448e-01 1.27103745e+02] [ 6.18397122e-01 3.84425383e-01 -6.85421129e-01 9.64836805e+01] [ 7.34737711e-01 2.66323646e-02 6.77828307e-01 7.46394580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19710568099995 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:127.11, Y:96.51, Z:74.66 [[ 2.79103247e-01 -9.25154659e-01 -2.57274629e-01 1.27108770e+02] [ 6.17875180e-01 3.78113883e-01 -6.89391147e-01 9.65051083e+01] [ 7.35072540e-01 3.34477000e-02 6.77162914e-01 7.46571861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.22710568099995 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:127.12, Y:96.52, Z:74.68 [[ 2.78579008e-01 -9.20717546e-01 -2.73263494e-01 1.27118385e+02] [ 6.14766688e-01 3.89548048e-01 -6.85794603e-01 9.65171180e+01] [ 7.37872384e-01 2.30546871e-02 6.74546385e-01 7.46799646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25710568099996 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:127.12, Y:96.54, Z:74.70 [[ 2.78345683e-01 -9.24302950e-01 -2.61127818e-01 1.27123883e+02] [ 6.15321617e-01 3.80357185e-01 -6.90440236e-01 9.65361758e+01] [ 7.37497789e-01 3.15034676e-02 6.74614366e-01 7.46972184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.28710568099996 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:127.13, Y:96.55, Z:74.72 [[ 2.76412093e-01 -9.24997585e-01 -2.60721734e-01 1.27132284e+02] [ 6.16061135e-01 3.78764134e-01 -6.90656505e-01 9.65530274e+01] [ 7.37607641e-01 3.02852830e-02 6.74550049e-01 7.47175811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.31710568099996 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:127.14, Y:96.57, Z:74.74 [[ 2.74009334e-01 -9.25832130e-01 -2.60295507e-01 1.27139648e+02] [ 6.17104825e-01 3.76847608e-01 -6.90773129e-01 9.65699606e+01] [ 7.37631697e-01 2.86486720e-02 6.74595237e-01 7.47370797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.34710568099996 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:127.15, Y:96.58, Z:74.76 [[ 2.69523577e-01 -9.27424605e-01 -2.59308009e-01 1.27148526e+02] [ 6.20862093e-01 3.73186164e-01 -6.89392739e-01 9.65848285e+01] [ 7.36129950e-01 2.48130841e-02 6.76385251e-01 7.47573309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.37710568099996 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:127.16, Y:96.60, Z:74.78 [[ 2.64983465e-01 -9.29105237e-01 -2.57967483e-01 1.27157699e+02] [ 6.25729334e-01 3.69238114e-01 -6.87114267e-01 9.65993219e+01] [ 7.33652890e-01 2.06560975e-02 6.79210396e-01 7.47785344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.40710568099996 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:127.16, Y:96.62, Z:74.80 [[ 2.60235464e-01 -9.34448661e-01 -2.43070365e-01 1.27163143e+02] [ 6.25649938e-01 3.54939168e-01 -6.94680029e-01 9.66195976e+01] [ 7.35418016e-01 2.87034203e-02 6.77005506e-01 7.47991428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.43710568099996 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:127.17, Y:96.63, Z:74.82 [[ 2.57401843e-01 -9.25693578e-01 -2.77192516e-01 1.27174055e+02] [ 6.30646024e-01 3.78274043e-01 -6.77638798e-01 9.66279621e+01] [ 7.32140617e-01 -3.84882923e-04 6.81153410e-01 7.48222243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.46710568099996 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:127.18, Y:96.65, Z:74.84 [[ 2.55455152e-01 -9.32179886e-01 -2.56482601e-01 1.27175801e+02] [ 6.31168507e-01 3.61747659e-01 -6.86123128e-01 9.66519960e+01] [ 7.32372161e-01 1.33899475e-02 6.80772890e-01 7.48381514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.49710568099997 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:127.18, Y:96.67, Z:74.86 [[ 2.53776470e-01 -9.32633283e-01 -2.56500806e-01 1.27181770e+02] [ 6.30391177e-01 3.60599961e-01 -6.87440639e-01 9.66701838e+01] [ 7.33624201e-01 1.27604137e-02 6.79435578e-01 7.48563121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.52710568099997 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:127.19, Y:96.69, Z:74.88 [[ 2.48801045e-01 -9.33753147e-01 -2.57299632e-01 1.27190430e+02] [ 6.28199785e-01 3.57770440e-01 -6.90916306e-01 9.66877799e+01] [ 7.37199478e-01 1.02651258e-02 6.75597186e-01 7.48755076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.55710568099997 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:127.20, Y:96.71, Z:74.90 [[ 2.45633292e-01 -9.34614387e-01 -2.57216318e-01 1.27196477e+02] [ 6.28372801e-01 3.55565241e-01 -6.91896656e-01 9.67055066e+01] [ 7.38113751e-01 8.32511560e-03 6.74624921e-01 7.48957868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.58710568099997 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:127.20, Y:96.72, Z:74.92 [[ 2.42825136e-01 -9.35533081e-01 -2.56542019e-01 1.27199460e+02] [ 6.30324578e-01 3.53185199e-01 -6.91340106e-01 9.67249483e+01] [ 7.37378383e-01 6.17001564e-03 6.75451738e-01 7.49150963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.61710568099997 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:127.20, Y:96.74, Z:74.94 [[ 2.41918676e-01 -9.35976286e-01 -2.55780662e-01 1.27203155e+02] [ 6.31847938e-01 3.52021010e-01 -6.90542824e-01 9.67422095e+01] [ 7.36371874e-01 5.44072214e-03 6.76555143e-01 7.49353084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.64710568099997 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:127.21, Y:96.76, Z:74.96 [[ 2.40531661e-01 -9.36422255e-01 -2.55456221e-01 1.27208561e+02] [ 6.32018501e-01 3.50842970e-01 -6.90986125e-01 9.67598412e+01] [ 7.36679804e-01 4.75098236e-03 6.76225032e-01 7.49551893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.67710568099997 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:127.21, Y:96.78, Z:74.98 [[ 2.40181825e-01 -9.36622819e-01 -2.55049770e-01 1.27214892e+02] [ 6.32151728e-01 3.50306949e-01 -6.91136191e-01 9.67780023e+01] [ 7.36679635e-01 4.76819877e-03 6.76225096e-01 7.49751605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.70710568099997 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:127.22, Y:96.80, Z:74.99 [[ 2.36874687e-01 -9.37543007e-01 -2.54761638e-01 1.27219667e+02] [ 6.33063672e-01 3.47860205e-01 -6.91537176e-01 9.67971570e+01] [ 7.36967279e-01 2.52731369e-03 6.75923696e-01 7.49947517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.73710568099997 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:127.22, Y:96.82, Z:75.01 [[ 2.32294943e-01 -9.41336580e-01 -2.44794817e-01 1.27222817e+02] [ 6.32319547e-01 3.37392160e-01 -6.97379754e-01 9.68166434e+01] [ 7.39060925e-01 7.20924260e-03 6.73600012e-01 7.50147258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.76710568099998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:127.23, Y:96.83, Z:75.04 [[ 2.27167103e-01 -9.38142826e-01 -2.61310439e-01 1.27225993e+02] [ 6.35562674e-01 3.46123395e-01 -6.90114979e-01 9.68314039e+01] [ 7.37872072e-01 -9.30774060e-03 6.74876412e-01 7.50362123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.79710568099998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:127.23, Y:96.85, Z:75.05 [[ 2.27432736e-01 -9.35769312e-01 -2.69462698e-01 1.27231130e+02] [ 6.39287219e-01 3.52212397e-01 -6.83562930e-01 9.68468213e+01] [ 7.34565315e-01 -1.67994714e-02 6.78329990e-01 7.50541265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.82710568099998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:127.23, Y:96.87, Z:75.07 [[ 2.21042052e-01 -9.44659685e-01 -2.42401510e-01 1.27229006e+02] [ 6.38266204e-01 3.28051023e-01 -6.96418538e-01 9.68707942e+01] [ 7.37398579e-01 -7.78908971e-04 6.75457422e-01 7.50716808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.85710568099998 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:127.24, Y:96.89, Z:75.09 [[ 2.20792890e-01 -9.38393814e-01 -2.65833688e-01 1.27235865e+02] [ 6.41574983e-01 3.45028843e-01 -6.85081483e-01 9.68855317e+01] [ 7.34596516e-01 -1.92911228e-02 6.78229911e-01 7.50933008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.88710568099998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:127.24, Y:96.91, Z:75.11 [[ 2.18206164e-01 -9.43129063e-01 -2.50786045e-01 1.27235028e+02] [ 6.42382442e-01 3.32263921e-01 -6.90612398e-01 9.69070909e+01] [ 7.34663779e-01 -1.04046697e-02 6.78351587e-01 7.51115344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91710568099995 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:127.23, Y:96.93, Z:75.13 [[ 2.17854474e-01 -9.43347153e-01 -2.50271009e-01 1.27234444e+02] [ 6.42775244e-01 3.31643441e-01 -6.90545157e-01 9.69261595e+01] [ 7.34424546e-01 -1.04296572e-02 6.78610203e-01 7.51311331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.94710568099995 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:127.24, Y:96.94, Z:75.15 [[ 2.18809295e-01 -9.43358004e-01 -2.49395607e-01 1.27236806e+02] [ 6.43863919e-01 3.31634709e-01 -6.89534389e-01 9.69448564e+01] [ 7.33186025e-01 -9.70029925e-03 6.79958938e-01 7.51508447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:127.24, Y:96.96, Z:75.17 [[ 2.21246551e-01 -9.43084954e-01 -2.48275520e-01 1.27235294e+02] [ 6.45337979e-01 3.32454284e-01 -6.87759436e-01 9.69647590e+01] [ 7.31155836e-01 -8.05721855e-03 6.82162902e-01 7.51693398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.00710568099996 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:127.24, Y:96.99, Z:75.19 [[ 2.18698913e-01 -9.42747942e-01 -2.51787813e-01 1.27237903e+02] [ 6.45547629e-01 3.33280701e-01 -6.87162450e-01 9.69853655e+01] [ 7.31737005e-01 -1.22593450e-02 6.81476826e-01 7.51920229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.03710568099996 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:127.24, Y:97.00, Z:75.21 [[ 2.18989040e-01 -9.46886408e-01 -2.35478090e-01 1.27237383e+02] [ 6.35448298e-01 3.21542123e-01 -7.02008635e-01 9.70045303e+01] [ 7.40438560e-01 4.09804610e-03 6.72111557e-01 7.52110739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.06710568099996 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:127.25, Y:97.02, Z:75.23 [[ 2.18571956e-01 -9.38771875e-01 -2.66333753e-01 1.27245140e+02] [ 6.37569914e-01 3.44007301e-01 -6.89321102e-01 9.70193915e+01] [ 7.38736018e-01 -1.91401263e-02 6.73723052e-01 7.52338992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.09710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:127.25, Y:97.04, Z:75.25 [[ 2.20015473e-01 -9.37944866e-01 -2.68053391e-01 1.27246407e+02] [ 6.42822104e-01 3.46088575e-01 -6.83375769e-01 9.70377282e+01] [ 7.33739010e-01 -2.19574014e-02 6.79076533e-01 7.52522659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.12710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:97.06, Z:75.27 [[ 2.15908833e-01 -9.45121872e-01 -2.45210163e-01 1.27243702e+02] [ 6.46910646e-01 3.26569593e-01 -6.89100078e-01 9.70601407e+01] [ 7.31361738e-01 -9.84627122e-03 6.81918660e-01 7.52710913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.15710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.25, Y:97.08, Z:75.29 [[ 2.07555201e-01 -9.47082274e-01 -2.44859155e-01 1.27246230e+02] [ 6.49499539e-01 3.20595248e-01 -6.89470112e-01 9.70796743e+01] [ 7.31485603e-01 -1.59328008e-02 6.81670711e-01 7.52893407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.18710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:97.10, Z:75.31 [[ 2.03639085e-01 -9.47942832e-01 -2.44817299e-01 1.27251573e+02] [ 6.49826447e-01 3.17903024e-01 -6.90408036e-01 9.70981198e+01] [ 7.32295509e-01 -1.84946944e-02 6.80735803e-01 7.53080568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.21710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.26, Y:97.12, Z:75.33 [[ 2.00170653e-01 -9.48718565e-01 -2.44672832e-01 1.27257145e+02] [ 6.50052393e-01 3.15445600e-01 -6.91321893e-01 9.71165393e+01] [ 7.33050882e-01 -2.06678048e-02 6.79859725e-01 7.53270919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.24710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:127.26, Y:97.14, Z:75.35 [[ 1.96402028e-01 -9.49616710e-01 -2.44242395e-01 1.27257372e+02] [ 6.51255852e-01 3.12549957e-01 -6.91504403e-01 9.71355061e+01] [ 7.33002086e-01 -2.32514220e-02 6.79828885e-01 7.53465592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.27710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:97.16, Z:75.37 [[ 1.98706019e-01 -9.49369374e-01 -2.43338674e-01 1.27250809e+02] [ 6.51999367e-01 3.13427628e-01 -6.90405639e-01 9.71566093e+01] [ 7.31719033e-01 -2.14689052e-02 6.81268187e-01 7.53668324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.30710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:97.18, Z:75.39 [[ 1.99458041e-01 -9.52694512e-01 -2.29324346e-01 1.27249478e+02] [ 6.49081601e-01 3.03773391e-01 -6.97434443e-01 9.71787857e+01] [ 7.34104601e-01 -9.74130613e-03 6.78966525e-01 7.53873349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.33710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.26, Y:97.19, Z:75.40 [[ 2.10664700e-01 -9.39840961e-01 -2.68922575e-01 1.27255265e+02] [ 6.47916456e-01 3.40232670e-01 -6.81502748e-01 9.71929222e+01] [ 7.32000444e-01 -3.06707900e-02 6.80613439e-01 7.54049656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.36710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.25, Y:97.22, Z:75.42 [[ 2.13687844e-01 -9.48735595e-01 -2.32891126e-01 1.27251622e+02] [ 6.43005616e-01 3.16070097e-01 -6.97598360e-01 9.72172377e+01] [ 7.35446316e-01 -6.82012061e-04 6.77582653e-01 7.54230981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.39710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:97.24, Z:75.44 [[ 2.24496931e-01 -9.40136837e-01 -2.56405646e-01 1.27251256e+02] [ 6.41732354e-01 3.40641931e-01 -6.87126379e-01 9.72377560e+01] [ 7.33335335e-01 -1.02860352e-02 6.79789294e-01 7.54411754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.42710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:97.26, Z:75.46 [[ 2.35232569e-01 -9.40721987e-01 -2.44351759e-01 1.27246192e+02] [ 6.41598357e-01 3.39140843e-01 -6.87993486e-01 9.72602027e+01] [ 7.30080260e-01 5.06278761e-03 6.83342653e-01 7.54605829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.45710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:97.28, Z:75.48 [[ 2.38669018e-01 -9.40887776e-01 -2.40348272e-01 1.27248269e+02] [ 6.41479741e-01 3.38567303e-01 -6.88386463e-01 9.72792943e+01] [ 7.29068475e-01 1.01179736e-02 6.84365973e-01 7.54807855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.48710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:97.30, Z:75.50 [[ 2.41398920e-01 -9.40426443e-01 -2.39425700e-01 1.27251725e+02] [ 6.43133368e-01 3.39796751e-01 -6.86234391e-01 9.72975532e+01] [ 7.26709043e-01 1.16735837e-02 6.86846194e-01 7.55010605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.51710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.26, Y:97.31, Z:75.52 [[ 2.41276456e-01 -9.40695995e-01 -2.38488400e-01 1.27256995e+02] [ 6.44968937e-01 3.39058218e-01 -6.84875606e-01 9.73149548e+01] [ 7.25121191e-01 1.14267491e-02 6.88526461e-01 7.55213250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:97.33, Z:75.54 [[ 2.39011466e-01 -9.41393840e-01 -2.38015037e-01 1.27260459e+02] [ 6.45988884e-01 3.37163159e-01 -6.84849886e-01 9.73340532e+01] [ 7.24963365e-01 9.93190733e-03 6.88715817e-01 7.55407716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:97.35, Z:75.56 [[ 2.38948567e-01 -9.41366974e-01 -2.38184388e-01 1.27265636e+02] [ 6.43999943e-01 3.37214852e-01 -6.86695141e-01 9.73527416e+01] [ 7.26751440e-01 1.06940874e-02 6.86817283e-01 7.55589126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:97.37, Z:75.58 [[ 2.43038328e-01 -9.40213149e-01 -2.38603448e-01 1.27272307e+02] [ 6.39963549e-01 3.40267233e-01 -6.88959263e-01 9.73716688e+01] [ 7.28957494e-01 1.47459975e-02 6.84400123e-01 7.55767016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:97.39, Z:75.60 [[ 2.45830180e-01 -9.39541453e-01 -2.38389139e-01 1.27278062e+02] [ 6.38277728e-01 3.41993713e-01 -6.89667922e-01 9.73891489e+01] [ 7.29499188e-01 1.73827114e-02 6.83760760e-01 7.55956597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.66710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:97.41, Z:75.62 [[ 2.50965168e-01 -9.38199197e-01 -2.38324887e-01 1.27281813e+02] [ 6.35520965e-01 3.45406338e-01 -6.90512537e-01 9.74079336e+01] [ 7.30157234e-01 2.18341329e-02 6.82930219e-01 7.56153577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:97.43, Z:75.64 [[ 2.52693768e-01 -9.37853523e-01 -2.37858421e-01 1.27287400e+02] [ 6.35097657e-01 3.46240346e-01 -6.90484315e-01 9.74260696e+01] [ 7.29929330e-01 2.34177577e-02 6.83121353e-01 7.56352685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.72710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.30, Y:97.44, Z:75.65 [[ 2.54083310e-01 -9.37665175e-01 -2.37119573e-01 1.27295362e+02] [ 6.35728075e-01 3.46675738e-01 -6.89685253e-01 9.74430276e+01] [ 7.28897446e-01 2.44939424e-02 6.84184595e-01 7.56543681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.30, Y:97.46, Z:75.67 [[ 2.53065398e-01 -9.37995246e-01 -2.36902559e-01 1.27303674e+02] [ 6.35432840e-01 3.45803814e-01 -6.90394691e-01 9.74593299e+01] [ 7.29508746e-01 2.41793412e-02 6.83543963e-01 7.56733939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.32, Y:97.48, Z:75.69 [[ 2.49619457e-01 -9.38929709e-01 -2.36856768e-01 1.27315121e+02] [ 6.35747372e-01 3.43406217e-01 -6.91301272e-01 9.74758018e+01] [ 7.30421389e-01 2.19811806e-02 6.82642968e-01 7.56924067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.81710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:97.49, Z:75.71 [[ 2.45605692e-01 -9.40197211e-01 -2.36023408e-01 1.27325349e+02] [ 6.38663622e-01 3.40112090e-01 -6.90240932e-01 9.74909277e+01] [ 7.29237013e-01 1.87875376e-02 6.84003221e-01 7.57120931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.84710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:97.51, Z:75.73 [[ 2.43334911e-01 -9.40959857e-01 -2.35335224e-01 1.27333054e+02] [ 6.40365885e-01 3.38085102e-01 -6.89659334e-01 9.75082965e+01] [ 7.28505082e-01 1.71175439e-02 6.84826500e-01 7.57314462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.87710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.34, Y:97.52, Z:75.75 [[ 2.37308306e-01 -9.42592495e-01 -2.34955647e-01 1.27342591e+02] [ 6.42379154e-01 3.33700026e-01 -6.89922688e-01 9.75234820e+01] [ 7.28720654e-01 1.27937745e-02 6.84691557e-01 7.57507413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.90710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:97.54, Z:75.77 [[ 2.33735956e-01 -9.43594618e-01 -2.34513752e-01 1.27350918e+02] [ 6.44047308e-01 3.30946829e-01 -6.89693600e-01 9.75405712e+01] [ 7.28402751e-01 1.01682421e-02 6.85073747e-01 7.57696610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.93710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.36, Y:97.56, Z:75.79 [[ 2.26403891e-01 -9.45482914e-01 -2.34101125e-01 1.27362198e+02] [ 6.46585101e-01 3.25636067e-01 -6.89846982e-01 9.75559827e+01] [ 7.28470305e-01 4.81774143e-03 6.85060439e-01 7.57898454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.96710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:97.57, Z:75.81 [[ 2.23168848e-01 -9.46421147e-01 -2.33415247e-01 1.27370300e+02] [ 6.48617669e-01 3.22925979e-01 -6.89212544e-01 9.75729935e+01] [ 7.27661174e-01 2.41351607e-03 6.85932497e-01 7.58094513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.99710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:97.59, Z:75.83 [[ 2.20440353e-01 -9.47158178e-01 -2.33018103e-01 1.27378621e+02] [ 6.49458944e-01 3.20766228e-01 -6.89428827e-01 9.75895696e+01] [ 7.27742489e-01 6.42242896e-04 6.85850171e-01 7.58280193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.02710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.38, Y:97.62, Z:75.84 [[ 2.21075481e-01 -9.60705848e-01 -1.67838929e-01 1.27378433e+02] [ 6.49366078e-01 2.73405504e-01 -7.09628866e-01 9.76232382e+01] [ 7.27632688e-01 4.78926364e-02 6.84293041e-01 7.58389024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.05710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.40, Y:97.62, Z:75.87 [[ 2.21374390e-01 -9.29288232e-01 -2.95663258e-01 1.27398433e+02] [ 6.46458021e-01 3.66839003e-01 -6.68970233e-01 9.76188913e+01] [ 7.30126980e-01 -4.30410077e-02 6.81954591e-01 7.58732023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.08710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.39, Y:97.65, Z:75.89 [[ 2.21027135e-01 -9.52228882e-01 -2.10730069e-01 1.27390401e+02] [ 6.41509305e-01 3.04701866e-01 -7.04004676e-01 9.76463878e+01] [ 7.34583431e-01 2.04188366e-02 6.78211069e-01 7.58880719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.11710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.40, Y:97.66, Z:75.91 [[ 2.21219206e-01 -9.46345942e-01 -2.35566173e-01 1.27398713e+02] [ 6.41888036e-01 3.23144656e-01 -6.95382830e-01 9.76621980e+01] [ 7.34194669e-01 2.62492982e-03 6.78933942e-01 7.59100128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.14710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.41, Y:97.68, Z:75.93 [[ 2.22780273e-01 -9.41186531e-01 -2.54041066e-01 1.27407665e+02] [ 6.46451720e-01 3.37681023e-01 -6.84157657e-01 9.76777895e+01] [ 7.29704820e-01 -1.18084548e-02 6.83660323e-01 7.59293722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.17710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.41, Y:97.70, Z:75.95 [[ 2.24624876e-01 -9.46595646e-01 -2.31301421e-01 1.27410224e+02] [ 6.47680744e-01 3.22380235e-01 -6.90348201e-01 9.76967011e+01] [ 7.28047608e-01 5.25990245e-03 6.85506392e-01 7.59488414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.20710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:97.71, Z:75.97 [[ 2.26015933e-01 -9.46490496e-01 -2.30374779e-01 1.27413765e+02] [ 6.49010763e-01 3.22672116e-01 -6.88961345e-01 9.77143263e+01] [ 7.26430883e-01 6.20052983e-03 6.87211558e-01 7.59684319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.23710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:97.73, Z:75.99 [[ 2.31782395e-01 -9.45319191e-01 -2.29452716e-01 1.27415884e+02] [ 6.48753774e-01 3.25976732e-01 -6.87646501e-01 9.77322618e+01] [ 7.24841680e-01 1.05260368e-02 6.88835061e-01 7.59872413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.26710568099998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:127.42, Y:97.75, Z:76.01 [[ 2.40132889e-01 -9.43303408e-01 -2.29161244e-01 1.27420512e+02] [ 6.45377105e-01 3.31477328e-01 -6.88194140e-01 9.77504015e+01] [ 7.25137634e-01 1.73626264e-02 6.88385031e-01 7.60060565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.43, Y:97.77, Z:76.02 [[ 2.44133827e-01 -9.42345073e-01 -2.28876471e-01 1.27426006e+02] [ 6.43911239e-01 3.34003620e-01 -6.88345769e-01 9.77694548e+01] [ 7.25104813e-01 2.06723552e-02 6.88328166e-01 7.60242063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.32710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.43, Y:97.79, Z:76.04 [[ 2.47115392e-01 -9.41640540e-01 -2.28576194e-01 1.27430776e+02] [ 6.42570214e-01 3.35811581e-01 -6.88719175e-01 9.77891947e+01] [ 7.25284429e-01 2.33168551e-02 6.88054373e-01 7.60429716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.43, Y:97.81, Z:76.06 [[ 2.49058690e-01 -9.43883692e-01 -2.16917828e-01 1.27432794e+02] [ 6.38206822e-01 3.28420333e-01 -6.96298885e-01 9.78118706e+01] [ 7.28465388e-01 3.49808509e-02 6.84188950e-01 7.60613299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.38710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:127.44, Y:97.83, Z:76.08 [[ 2.50954154e-01 -9.36647985e-01 -2.44361545e-01 1.27442957e+02] [ 6.38247633e-01 3.49900954e-01 -6.85718077e-01 9.78265759e+01] [ 7.27778793e-01 1.61206221e-02 6.85622457e-01 7.60800485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:127.45, Y:97.85, Z:76.10 [[ 2.52205594e-01 -9.43189646e-01 -2.16299862e-01 1.27446384e+02] [ 6.36103040e-01 3.30038399e-01 -6.97457940e-01 9.78450065e+01] [ 7.29222367e-01 3.83137946e-02 6.83203331e-01 7.60982108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.44710568099995 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:127.46, Y:97.86, Z:76.12 [[ 2.53137387e-01 -9.37900941e-01 -2.37198839e-01 1.27456294e+02] [ 6.38649687e-01 3.46174213e-01 -6.87233579e-01 9.78594143e+01] [ 7.26669141e-01 2.24775481e-02 6.86619778e-01 7.61178471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47710568099995 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:127.46, Y:97.88, Z:76.14 [[ 2.54838967e-01 -9.43338574e-01 -2.12531022e-01 1.27458112e+02] [ 6.34212124e-01 3.28965997e-01 -6.99683039e-01 9.78800670e+01] [ 7.29953480e-01 4.35167525e-02 6.82110115e-01 7.61374666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.50710568099996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:127.47, Y:97.90, Z:76.16 [[ 2.61582303e-01 -9.33359288e-01 -2.45794911e-01 1.27468812e+02] [ 6.33800565e-01 3.58170193e-01 -6.85573450e-01 9.78954045e+01] [ 7.27922758e-01 2.35489283e-02 6.85254629e-01 7.61564278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53710568099996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:127.47, Y:97.92, Z:76.18 [[ 2.62571618e-01 -9.40536631e-01 -2.15515639e-01 1.27470933e+02] [ 6.31928507e-01 3.36405544e-01 -6.98210335e-01 9.79169986e+01] [ 7.29193052e-01 4.71397412e-02 6.82682457e-01 7.61753425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.56710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.49, Y:97.93, Z:76.20 [[ 2.65779792e-01 -9.33548602e-01 -2.40516340e-01 1.27485268e+02] [ 6.30488177e-01 3.57061272e-01 -6.89196566e-01 9.79308462e+01] [ 7.29277561e-01 3.15318112e-02 6.83491027e-01 7.61950510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.59710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.49, Y:97.95, Z:76.21 [[ 2.65738216e-01 -9.36994160e-01 -2.26771130e-01 1.27488899e+02] [ 6.31143763e-01 3.46902794e-01 -6.93769416e-01 9.79507640e+01] [ 7.28725429e-01 4.12358632e-02 6.83563349e-01 7.62141770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.62710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:127.50, Y:97.97, Z:76.24 [[ 2.65392957e-01 -9.38441893e-01 -2.21118500e-01 1.27496239e+02] [ 6.30625356e-01 3.42441992e-01 -6.96451824e-01 9.79694956e+01] [ 7.29299828e-01 4.53904764e-02 6.82686946e-01 7.62352730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.65710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.50, Y:97.99, Z:76.25 [[ 2.67755476e-01 -9.40805334e-01 -2.07827641e-01 1.27503348e+02] [ 6.34196475e-01 3.34481077e-01 -6.97077643e-01 9.79901346e+01] [ 7.25328778e-01 5.48427987e-02 6.86214566e-01 7.62450013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.68710568099996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:127.52, Y:98.00, Z:76.27 [[ 2.65422578e-01 -9.35278539e-01 -2.34104483e-01 1.27516813e+02] [ 6.29936433e-01 3.52048656e-01 -6.92272948e-01 9.80013962e+01] [ 7.29884200e-01 3.62739278e-02 6.82607688e-01 7.62729835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:98.02, Z:76.29 [[ 2.62620692e-01 -9.38064493e-01 -2.25976502e-01 1.27529282e+02] [ 6.30780950e-01 3.44131646e-01 -6.95477393e-01 9.80189318e+01] [ 7.30168313e-01 4.01050816e-02 6.82089303e-01 7.62906213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.74710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.54, Y:98.04, Z:76.31 [[ 2.60370372e-01 -9.38777051e-01 -2.25621184e-01 1.27539849e+02] [ 6.31530654e-01 3.42350817e-01 -6.95675895e-01 9.80354954e+01] [ 7.30326162e-01 3.86466973e-02 6.82004494e-01 7.63105429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.77710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.55, Y:98.06, Z:76.32 [[ 2.55914783e-01 -9.45966446e-01 -1.99135901e-01 1.27548312e+02] [ 6.37524658e-01 3.20002972e-01 -7.00828373e-01 9.80578039e+01] [ 7.26684206e-01 5.23982936e-02 6.84970426e-01 7.63230590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.80710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:98.07, Z:76.35 [[ 2.51247034e-01 -9.38728794e-01 -2.35930456e-01 1.27562777e+02] [ 6.33751997e-01 3.43779162e-01 -6.92946097e-01 9.80667169e+01] [ 7.31596428e-01 2.45792533e-02 6.81294743e-01 7.63536131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.83710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:127.57, Y:98.08, Z:76.37 [[ 2.45858890e-01 -9.42861139e-01 -2.24869472e-01 1.27572112e+02] [ 6.36141091e-01 3.31991179e-01 -6.96495779e-01 9.80833210e+01] [ 7.31353484e-01 2.81909682e-02 6.81415696e-01 7.63715487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.86710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:127.58, Y:98.11, Z:76.39 [[ 2.44289459e-01 -9.47914256e-01 -2.04404559e-01 1.27578357e+02] [ 6.40089948e-01 3.15973190e-01 -7.00318357e-01 9.81062870e+01] [ 7.28428115e-01 4.02430890e-02 6.83939306e-01 7.63855888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.89710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:127.59, Y:98.11, Z:76.41 [[ 2.38374922e-01 -9.41750992e-01 -2.37239258e-01 1.27594558e+02] [ 6.36545704e-01 3.35999697e-01 -6.94200094e-01 9.81132954e+01] [ 7.33475946e-01 1.44662627e-02 6.79561450e-01 7.64138600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.92710568099997 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:127.60, Y:98.14, Z:76.43 [[ 2.38767324e-01 -9.48414826e-01 -2.08565298e-01 1.27600755e+02] [ 6.40740556e-01 3.15255870e-01 -7.00046625e-01 9.81377495e+01] [ 7.29686032e-01 3.35120142e-02 6.82960643e-01 7.64277108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.95710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.61, Y:98.15, Z:76.45 [[ 2.38303714e-01 -9.42407404e-01 -2.34690487e-01 1.27610311e+02] [ 6.39078860e-01 3.34125897e-01 -6.92775646e-01 9.81475544e+01] [ 7.31293068e-01 1.51052805e-02 6.81896092e-01 7.64530372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.98710568099997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:127.62, Y:98.16, Z:76.47 [[ 2.42787570e-01 -9.44230491e-01 -2.22447693e-01 1.27617066e+02] [ 6.39827969e-01 3.28226456e-01 -6.94901118e-01 9.81645783e+01] [ 7.29160042e-01 2.63850983e-02 6.83834380e-01 7.64717894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.01710568099998 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:127.63, Y:98.18, Z:76.49 [[ 2.44744588e-01 -9.43861840e-01 -2.21866884e-01 1.27625298e+02] [ 6.39680165e-01 3.29145173e-01 -6.94602578e-01 9.81803320e+01] [ 7.28635282e-01 2.80763769e-02 6.84326197e-01 7.64927613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.04710568099998 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:127.63, Y:98.20, Z:76.51 [[ 2.48777133e-01 -9.43652789e-01 -2.18241498e-01 1.27634655e+02] [ 6.38887133e-01 3.29233104e-01 -6.95290440e-01 9.81950670e+01] [ 7.27965088e-01 3.35406771e-02 6.84793292e-01 7.65122408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.07710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:127.64, Y:98.21, Z:76.53 [[ 2.49646632e-01 -9.43067325e-01 -2.19773930e-01 1.27641386e+02] [ 6.39507916e-01 3.30992667e-01 -6.93882901e-01 9.82136670e+01] [ 7.27121850e-01 3.26783615e-02 6.85730224e-01 7.65317697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.10710568099998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:127.65, Y:98.24, Z:76.55 [[ 2.53919838e-01 -9.44620464e-01 -2.07886735e-01 1.27647944e+02] [ 6.38735429e-01 3.25163149e-01 -6.97342081e-01 9.82362111e+01] [ 7.26320706e-01 4.42843656e-02 6.85927931e-01 7.65470477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.13710568099998 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:127.66, Y:98.25, Z:76.57 [[ 2.55160573e-01 -9.38746447e-01 -2.31620788e-01 1.27658076e+02] [ 6.35256788e-01 3.43354295e-01 -6.91777884e-01 9.82474226e+01] [ 7.28932024e-01 2.93757634e-02 6.83955532e-01 7.65715579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.16710568099995 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:127.67, Y:98.27, Z:76.59 [[ 2.56623767e-01 -9.41115239e-01 -2.20105312e-01 1.27666607e+02] [ 6.34999800e-01 3.35856524e-01 -6.95683584e-01 9.82652539e+01] [ 7.28642228e-01 3.87621126e-02 6.83796755e-01 7.65886815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19710568099995 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:127.67, Y:98.28, Z:76.61 [[ 2.56464345e-01 -9.42833904e-01 -2.12815104e-01 1.27673971e+02] [ 6.34229838e-01 3.30304976e-01 -6.99035861e-01 9.82824026e+01] [ 7.29368598e-01 4.43040853e-02 6.82684844e-01 7.66085114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.22710568099995 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:127.69, Y:98.30, Z:76.63 [[ 2.57116661e-01 -9.43788176e-01 -2.07737581e-01 1.27685075e+02] [ 6.33295539e-01 3.26928910e-01 -7.01465785e-01 9.82995352e+01] [ 7.29950535e-01 4.87992566e-02 6.81755711e-01 7.66280664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25710568099996 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:127.69, Y:98.31, Z:76.65 [[ 2.56638255e-01 -9.39886637e-01 -2.25277420e-01 1.27693270e+02] [ 6.29772079e-01 3.39428137e-01 -6.98695691e-01 9.83119529e+01] [ 7.33160238e-01 3.74386141e-02 6.79024606e-01 7.66500405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.28710568099996 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:127.70, Y:98.34, Z:76.67 [[ 2.56918105e-01 -9.42361976e-01 -2.14352501e-01 1.27701407e+02] [ 6.33238055e-01 3.31700066e-01 -6.99274361e-01 9.83371433e+01] [ 7.30070307e-01 4.39200826e-02 6.81959217e-01 7.66652313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.31710568099996 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:127.71, Y:98.35, Z:76.69 [[ 2.58200114e-01 -9.35521992e-01 -2.41104343e-01 1.27713121e+02] [ 6.32500016e-01 3.52339411e-01 -6.89783060e-01 9.83463364e+01] [ 7.30257784e-01 2.56035641e-02 6.82691750e-01 7.66897198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.34710568099996 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:127.72, Y:98.37, Z:76.71 [[ 2.57663239e-01 -9.42345470e-01 -2.13529087e-01 1.27720657e+02] [ 6.33383113e-01 3.31614644e-01 -6.99183495e-01 9.83678135e+01] [ 7.29681772e-01 4.49081663e-02 6.82310610e-01 7.67056363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.37710568099996 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:127.73, Y:98.38, Z:76.73 [[ 2.56322175e-01 -9.41639314e-01 -2.18207113e-01 1.27730220e+02] [ 6.32639395e-01 3.34112741e-01 -6.98667355e-01 9.83840294e+01] [ 7.30798425e-01 4.10375205e-02 6.81358631e-01 7.67262753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.40710568099996 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:127.74, Y:98.41, Z:76.75 [[ 2.51889423e-01 -9.47395392e-01 -1.97468199e-01 1.27737749e+02] [ 6.27776630e-01 3.15251550e-01 -7.11697241e-01 9.84050162e+01] [ 7.36510843e-01 5.53030870e-02 6.74161218e-01 7.67460618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.43710568099996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:127.75, Y:98.41, Z:76.77 [[ 2.51919500e-01 -9.35923469e-01 -2.46137818e-01 1.27752251e+02] [ 6.29546497e-01 3.51658700e-01 -6.92825640e-01 9.84121643e+01] [ 7.34988281e-01 1.95810871e-02 6.77797025e-01 7.67707139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.46710568099996 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:127.76, Y:98.43, Z:76.79 [[ 2.51477397e-01 -9.43131137e-01 -2.17400041e-01 1.27760492e+02] [ 6.32709007e-01 3.30171902e-01 -7.00475430e-01 9.84333997e+01] [ 7.32419574e-01 3.86027738e-02 6.79758335e-01 7.67871182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.49710568099997 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:127.77, Y:98.45, Z:76.81 [[ 2.51156331e-01 -9.45762405e-01 -2.06043615e-01 1.27766201e+02] [ 6.31929923e-01 3.21453694e-01 -7.05217764e-01 9.84509009e+01] [ 7.33201930e-01 4.69147808e-02 6.78390694e-01 7.68055555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.52710568099997 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:127.78, Y:98.46, Z:76.83 [[ 2.50059738e-01 -9.42669604e-01 -2.21007116e-01 1.27777928e+02] [ 6.36362922e-01 3.32045072e-01 -6.96267407e-01 9.84648344e+01] [ 7.29734445e-01 3.34677114e-02 6.82911087e-01 7.68283160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.55710568099997 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:127.78, Y:98.48, Z:76.85 [[ 2.49777412e-01 -9.44079265e-01 -2.15233793e-01 1.27784812e+02] [ 6.36947839e-01 3.27612246e-01 -6.97830686e-01 9.84827686e+01] [ 7.29320708e-01 3.72096436e-02 6.83159387e-01 7.68473424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.58710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:127.79, Y:98.50, Z:76.87 [[ 2.50422333e-01 -9.43982622e-01 -2.14908037e-01 1.27794332e+02] [ 6.36412022e-01 3.27790229e-01 -6.98235851e-01 9.84985511e+01] [ 7.29567264e-01 3.80837920e-02 6.82847883e-01 7.68659671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.61710568099997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:127.80, Y:98.52, Z:76.88 [[ 2.51478841e-01 -9.43653008e-01 -2.15121812e-01 1.27802950e+02] [ 6.34001547e-01 3.28550901e-01 -7.00068814e-01 9.85165225e+01] [ 7.31300507e-01 3.96649322e-02 6.80901066e-01 7.68848818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.64710568099997 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:127.81, Y:98.53, Z:76.91 [[ 2.51774567e-01 -9.43652019e-01 -2.14779970e-01 1.27810549e+02] [ 6.33661387e-01 3.28482910e-01 -7.00408612e-01 9.85335214e+01] [ 7.31493550e-01 4.02473013e-02 6.80659489e-01 7.69052649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.67710568099997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:127.82, Y:98.55, Z:76.93 [[ 2.52013097e-01 -9.43781297e-01 -2.13930508e-01 1.27821716e+02] [ 6.35264296e-01 3.28106294e-01 -6.99131986e-01 9.85481689e+01] [ 7.30019639e-01 4.02880031e-02 6.82237645e-01 7.69265627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.70710568099997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:127.83, Y:98.58, Z:76.94 [[ 2.52615333e-01 -9.48579089e-01 -1.90743822e-01 1.27830039e+02] [ 6.39408015e-01 3.11619455e-01 -7.02887406e-01 9.85771876e+01] [ 7.26183781e-01 5.55970081e-02 6.85248924e-01 7.69413396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.73710568099997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:127.84, Y:98.58, Z:76.97 [[ 2.46155412e-01 -9.37153421e-01 -2.47287239e-01 1.27840895e+02] [ 6.36955436e-01 3.48720488e-01 -6.87518577e-01 9.85759293e+01] [ 7.30544513e-01 1.17254677e-02 6.82764402e-01 7.69710845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.76710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:127.85, Y:98.60, Z:76.98 [[ 2.43971226e-01 -9.46291125e-01 -2.12158310e-01 1.27845118e+02] [ 6.39697655e-01 3.21457141e-01 -6.98177783e-01 9.86007574e+01] [ 7.28879243e-01 3.46181165e-02 6.83766506e-01 7.69832786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.79710568099998 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:127.86, Y:98.61, Z:77.00 [[ 2.37334183e-01 -9.48110075e-01 -2.11565053e-01 1.27857373e+02] [ 6.42615506e-01 3.16557497e-01 -6.97736815e-01 9.86139832e+01] [ 7.28503807e-01 2.96418139e-02 6.84400150e-01 7.70035915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.82710568099998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:127.87, Y:98.63, Z:77.02 [[ 2.29271518e-01 -9.50248484e-01 -2.10861066e-01 1.27866649e+02] [ 6.46437115e-01 3.10607709e-01 -6.96880124e-01 9.86299071e+01] [ 7.27704354e-01 2.34663446e-02 6.85489390e-01 7.70242004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.85710568099998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:127.87, Y:98.65, Z:77.04 [[ 2.25105058e-01 -9.51340618e-01 -2.10425145e-01 1.27872833e+02] [ 6.47965676e-01 3.07457388e-01 -6.96857544e-01 9.86482317e+01] [ 7.27645652e-01 2.05178868e-02 6.85646280e-01 7.70440218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.88710568099995 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:127.88, Y:98.66, Z:77.06 [[ 2.16988991e-01 -9.53257817e-01 -2.10274371e-01 1.27880769e+02] [ 6.49608149e-01 3.01794484e-01 -6.97803226e-01 9.86630903e+01] [ 7.28646026e-01 1.48196730e-02 6.84730127e-01 7.70638713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91710568099995 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:127.89, Y:98.68, Z:77.08 [[ 2.12836691e-01 -9.54240033e-01 -2.10063091e-01 1.27886853e+02] [ 6.50110443e-01 2.98795663e-01 -6.98625481e-01 9.86801386e+01] [ 7.29422343e-01 1.21289261e-02 6.83956091e-01 7.70844161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.94710568099995 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:127.89, Y:98.70, Z:77.10 [[ 2.07296751e-01 -9.55518761e-01 -2.09790265e-01 1.27889732e+02] [ 6.51363860e-01 2.94814032e-01 -6.99149346e-01 9.86994891e+01] [ 7.29899430e-01 8.28159073e-03 6.83504379e-01 7.71039644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97710568099995 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:127.89, Y:98.72, Z:77.12 [[ 2.05218580e-01 -9.59238448e-01 -1.94285701e-01 1.27889995e+02] [ 6.48361080e-01 2.81947438e-01 -7.07201210e-01 9.87201172e+01] [ 7.33152947e-01 1.91635413e-02 6.79793730e-01 7.71199095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.00710568099996 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:127.90, Y:98.73, Z:77.14 [[ 2.05256617e-01 -9.53323388e-01 -2.21459338e-01 1.27896488e+02] [ 6.51653100e-01 3.01947500e-01 -6.95827525e-01 9.87341465e+01] [ 7.30217747e-01 -1.49146057e-03 6.83212864e-01 7.71439939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03710568099996 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:127.90, Y:98.76, Z:77.16 [[ 2.05441706e-01 -9.56216241e-01 -2.08432738e-01 1.27895665e+02] [ 6.52913734e-01 2.92566413e-01 -6.98647658e-01 9.87559100e+01] [ 7.29038656e-01 7.44276910e-03 6.84432059e-01 7.71604792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.06710568099996 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:127.90, Y:98.78, Z:77.18 [[ 2.04883635e-01 -9.56480483e-01 -2.07768578e-01 1.27898268e+02] [ 6.54001829e-01 2.91709301e-01 -6.97988031e-01 9.87752869e+01] [ 7.28219955e-01 7.12529489e-03 6.85306447e-01 7.71795744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.09710568099996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:127.90, Y:98.79, Z:77.20 [[ 2.03497952e-01 -9.56901556e-01 -2.07190724e-01 1.27898651e+02] [ 6.55107222e-01 2.90346048e-01 -6.97519678e-01 9.87944018e+01] [ 7.27614672e-01 6.21168636e-03 6.85957946e-01 7.72000113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.12710568099996 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:127.90, Y:98.81, Z:77.22 [[ 2.02696251e-01 -9.57142785e-01 -2.06862078e-01 1.27900983e+02] [ 6.55073919e-01 2.89555375e-01 -6.97879535e-01 9.88123138e+01] [ 7.27868388e-01 5.94761359e-03 6.85691064e-01 7.72199093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.15710568099996 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:127.90, Y:98.83, Z:77.24 [[ 2.03371165e-01 -9.56975846e-01 -2.06971978e-01 1.27899337e+02] [ 6.52788749e-01 2.90077990e-01 -6.99801121e-01 9.88314803e+01] [ 7.29730785e-01 7.21039060e-03 6.83696564e-01 7.72395966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.18710568099996 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:127.90, Y:98.85, Z:77.26 [[ 2.04597842e-01 -9.56731919e-01 -2.06890694e-01 1.27900691e+02] [ 6.51098600e-01 2.90839895e-01 -7.01058321e-01 9.88497728e+01] [ 7.30896940e-01 8.72877802e-03 6.82432027e-01 7.72587989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.21710568099996 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:127.90, Y:98.87, Z:77.28 [[ 2.10888404e-01 -9.55328339e-01 -2.07060007e-01 1.27899940e+02] [ 6.46767446e-01 2.95196212e-01 -7.03243249e-01 9.88695077e+01] [ 7.32951534e-01 1.43861747e-02 6.80128728e-01 7.72791562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.24710568099997 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:127.90, Y:98.89, Z:77.30 [[ 2.14023607e-01 -9.54706083e-01 -2.06712822e-01 1.27901541e+02] [ 6.45507641e-01 2.97055489e-01 -7.03617739e-01 9.88880001e+01] [ 7.33153314e-01 1.71561001e-02 6.79846959e-01 7.72984893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.27710568099997 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:127.90, Y:98.91, Z:77.32 [[ 2.16755525e-01 -9.54199802e-01 -2.06203252e-01 1.27900777e+02] [ 6.44945167e-01 2.98533937e-01 -7.03507797e-01 9.89082944e+01] [ 7.32845668e-01 1.94994110e-02 6.80115431e-01 7.73184166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.30710568099997 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:127.90, Y:98.93, Z:77.34 [[ 2.16986637e-01 -9.54301630e-01 -2.05487709e-01 1.27903322e+02] [ 6.46072513e-01 2.98195189e-01 -7.02616493e-01 9.89270412e+01] [ 7.31783511e-01 1.96984290e-02 6.81252424e-01 7.73384027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.33710568099997 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:127.90, Y:98.95, Z:77.36 [[ 2.14818124e-01 -9.54944476e-01 -2.04778468e-01 1.27903108e+02] [ 6.47871278e-01 2.96232856e-01 -7.01789785e-01 9.89470003e+01] [ 7.30832389e-01 1.80870771e-02 6.82317285e-01 7.73566567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.36710568099997 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:127.90, Y:98.98, Z:77.37 [[ 2.14162290e-01 -9.60777692e-01 -1.76183822e-01 1.27904562e+02] [ 6.51668587e-01 2.74895801e-01 -7.06937304e-01 9.89782487e+01] [ 7.27641785e-01 3.65858493e-02 6.84980955e-01 7.73681925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.39710568099997 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:127.91, Y:98.98, Z:77.40 [[ 2.08047046e-01 -9.49490787e-01 -2.34912051e-01 1.27911804e+02] [ 6.48954833e-01 3.13686721e-01 -6.93150969e-01 9.89796526e+01] [ 7.31829251e-01 -8.23929892e-03 6.81438231e-01 7.74008497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.42710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:127.91, Y:99.00, Z:77.42 [[ 2.06273685e-01 -9.56973386e-01 -2.04090925e-01 1.27911216e+02] [ 6.48846055e-01 2.89897799e-01 -7.03532560e-01 9.90042737e+01] [ 7.32427446e-01 1.26966618e-02 6.80726693e-01 7.74155094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.45710568099997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:127.91, Y:99.02, Z:77.43 [[ 2.04609699e-01 -9.57272055e-01 -2.04365076e-01 1.27910999e+02] [ 6.46498878e-01 2.88925024e-01 -7.06088898e-01 9.90241454e+01] [ 7.34965354e-01 1.23508443e-02 6.77992171e-01 7.74339886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.48710568099997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:127.92, Y:99.04, Z:77.45 [[ 2.04254215e-01 -9.57419487e-01 -2.04029757e-01 1.27915977e+02] [ 6.46610610e-01 2.88437690e-01 -7.06185824e-01 9.90425602e+01] [ 7.34965941e-01 1.23136251e-02 6.77992213e-01 7.74541099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.51710568099998 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:127.92, Y:99.06, Z:77.47 [[ 2.04653758e-01 -9.57427122e-01 -2.03593089e-01 1.27918122e+02] [ 6.46695172e-01 2.88388984e-01 -7.06128281e-01 9.90610717e+01] [ 7.34780371e-01 1.28491389e-02 6.78183386e-01 7.74741898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.54710568099998 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:127.92, Y:99.08, Z:77.49 [[ 2.04201979e-01 -9.57672967e-01 -2.02889232e-01 1.27920705e+02] [ 6.47966154e-01 2.87584466e-01 -7.05290748e-01 9.90776760e+01] [ 7.33785674e-01 1.25564110e-02 6.79264986e-01 7.74938551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.57710568099998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:127.92, Y:99.10, Z:77.51 [[ 2.03481169e-01 -9.58099530e-01 -2.01595398e-01 1.27919945e+02] [ 6.52107589e-01 2.86209057e-01 -7.02025689e-01 9.90962751e+01] [ 7.30308911e-01 1.13871191e-02 6.83022128e-01 7.75143757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.60710568099998 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:127.92, Y:99.11, Z:77.53 [[ 2.02105575e-01 -9.58558216e-01 -2.00797120e-01 1.27921949e+02] [ 6.54051122e-01 2.84710143e-01 -7.00826130e-01 9.91143137e+01] [ 7.28951622e-01 1.03092864e-02 6.84487584e-01 7.75331284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.63710568099995 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:127.93, Y:99.13, Z:77.55 [[ 1.98735448e-01 -9.59330902e-01 -2.00470551e-01 1.27925130e+02] [ 6.54599256e-01 2.82166147e-01 -7.01343054e-01 9.91323281e+01] [ 7.29386068e-01 8.15385254e-03 6.84053711e-01 7.75529809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.66710568099995 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:127.93, Y:99.15, Z:77.57 [[ 1.96334634e-01 -9.59845288e-01 -2.00373987e-01 1.27929006e+02] [ 6.53966671e-01 2.80444751e-01 -7.02622470e-01 9.91505939e+01] [ 7.30602700e-01 6.91121640e-03 6.82767845e-01 7.75711545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69710568099995 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:127.93, Y:99.17, Z:77.59 [[ 1.90075855e-01 -9.61144606e-01 -2.00180456e-01 1.27929191e+02] [ 6.54755647e-01 2.76032411e-01 -7.03634245e-01 9.91703166e+01] [ 7.31550554e-01 2.67459639e-03 6.81781955e-01 7.75889250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.72710568099995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:127.93, Y:99.19, Z:77.61 [[ 1.85852439e-01 -9.62106323e-01 -1.99525174e-01 1.27929834e+02] [ 6.56828920e-01 2.72674285e-01 -7.03011027e-01 9.91899388e+01] [ 7.30776738e-01 -3.97590603e-04 6.82616438e-01 7.76063708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75710568099996 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:127.93, Y:99.21, Z:77.63 [[ 1.83716009e-01 -9.62570775e-01 -1.99263471e-01 1.27933432e+02] [ 6.56731115e-01 2.71025874e-01 -7.03739453e-01 9.92082037e+01] [ 7.31404587e-01 -1.57431758e-03 6.81941971e-01 7.76268745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.78710568099996 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:127.94, Y:99.22, Z:77.65 [[ 1.80856710e-01 -9.63137675e-01 -1.99139823e-01 1.27935664e+02] [ 6.56318790e-01 2.68989774e-01 -7.04904354e-01 9.92237184e+01] [ 7.32486517e-01 -3.21252559e-03 6.80773959e-01 7.76483798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.81710568099996 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:127.94, Y:99.25, Z:77.67 [[ 1.82889040e-01 -9.64040686e-01 -1.92813780e-01 1.27942980e+02] [ 6.57832462e-01 2.65746805e-01 -7.04723412e-01 9.92477258e+01] [ 7.30621688e-01 2.04702458e-03 6.82779436e-01 7.76695036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.84710568099996 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:127.94, Y:99.26, Z:77.69 [[ 1.83555822e-01 -9.58168467e-01 -2.19591552e-01 1.27938951e+02] [ 6.59643303e-01 2.85684463e-01 -6.95165520e-01 9.92560490e+01] [ 7.28819575e-01 -1.72504184e-02 6.84488458e-01 7.76933831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.87710568099996 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:127.94, Y:99.28, Z:77.71 [[ 1.86596340e-01 -9.62739139e-01 -1.95742574e-01 1.27936679e+02] [ 6.59854772e-01 2.70426748e-01 -7.01042834e-01 9.92785535e+01] [ 7.27855402e-01 1.65035553e-03 6.85728656e-01 7.77107792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.90710568099996 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:127.93, Y:99.30, Z:77.73 [[ 1.95318568e-01 -9.61057407e-01 -1.95497616e-01 1.27933886e+02] [ 6.56689790e-01 2.76212288e-01 -7.01758714e-01 9.92994711e+01] [ 7.28429253e-01 8.68521844e-03 6.85065975e-01 7.77292240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.93710568099996 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:127.93, Y:99.32, Z:77.75 [[ 1.98695271e-01 -9.60390779e-01 -1.95370776e-01 1.27934887e+02] [ 6.54539331e-01 2.78407374e-01 -7.02899423e-01 9.93200510e+01] [ 7.29450789e-01 1.17849347e-02 6.83931767e-01 7.77479371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.96710568099996 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:127.93, Y:99.34, Z:77.77 [[ 2.06180380e-01 -9.58804459e-01 -1.95406400e-01 1.27932955e+02] [ 6.50496771e-01 2.83485353e-01 -7.04620469e-01 9.93410247e+01] [ 7.30988100e-01 1.81676836e-02 6.82148322e-01 7.77665953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.99710568099997 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:127.93, Y:99.36, Z:77.79 [[ 2.12413295e-01 -9.57463879e-01 -1.95303642e-01 1.27932916e+02] [ 6.47378139e-01 2.87595320e-01 -7.05826096e-01 9.93600314e+01] [ 7.31971405e-01 2.34915391e-02 6.80930253e-01 7.77866906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.02710568099997 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:127.94, Y:99.38, Z:77.81 [[ 2.13896949e-01 -9.57169392e-01 -1.95127778e-01 1.27935900e+02] [ 6.45988430e-01 2.88436495e-01 -7.06755500e-01 9.93785110e+01] [ 7.32766705e-01 2.51225580e-02 6.80016039e-01 7.78067911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.05710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:127.94, Y:99.40, Z:77.83 [[ 2.15674288e-01 -9.56756736e-01 -1.95195159e-01 1.27938185e+02] [ 6.43476558e-01 2.89613313e-01 -7.08563369e-01 9.93971965e+01] [ 7.34453893e-01 2.72153914e-02 6.78112676e-01 7.78257551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.08710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:127.94, Y:99.42, Z:77.84 [[ 2.15670889e-01 -9.56801250e-01 -1.94980602e-01 1.27941142e+02] [ 6.42615684e-01 2.89419829e-01 -7.09423178e-01 9.94160491e+01] [ 7.35208236e-01 2.77043342e-02 6.77274922e-01 7.78445230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.11710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:127.94, Y:99.43, Z:77.86 [[ 2.18745542e-01 -9.56231194e-01 -1.94350951e-01 1.27943024e+02] [ 6.42521837e-01 2.91051568e-01 -7.08840373e-01 9.94346997e+01] [ 7.34381425e-01 3.01809416e-02 6.78065656e-01 7.78623046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.14710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:127.95, Y:99.45, Z:77.88 [[ 2.21619536e-01 -9.55685166e-01 -1.93779888e-01 1.27946167e+02] [ 6.42615196e-01 2.92601553e-01 -7.08117251e-01 9.94530484e+01] [ 7.33437449e-01 3.24067157e-02 6.78984030e-01 7.78817537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.17710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:127.95, Y:99.47, Z:77.90 [[ 2.27196205e-01 -9.54492205e-01 -1.93200710e-01 1.27951466e+02] [ 6.41558984e-01 2.95952624e-01 -7.07682212e-01 9.94695396e+01] [ 7.32655413e-01 3.68330615e-02 6.79602363e-01 7.79006973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.20710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.96, Y:99.49, Z:77.92 [[ 2.27289744e-01 -9.54571561e-01 -1.92697968e-01 1.27957447e+02] [ 6.41796399e-01 2.95656254e-01 -7.07590815e-01 9.94866107e+01] [ 7.32418428e-01 3.71552734e-02 6.79840225e-01 7.79199523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.23710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:127.96, Y:99.50, Z:77.94 [[ 2.22028783e-01 -9.55880342e-01 -1.92343422e-01 1.27961821e+02] [ 6.43148727e-01 2.91842302e-01 -7.07946175e-01 9.95038840e+01] [ 7.32845778e-01 3.34790008e-02 6.79570616e-01 7.79376285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.26710568099998 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:127.97, Y:99.52, Z:77.95 [[ 2.13454644e-01 -9.57924143e-01 -1.91881348e-01 1.27969043e+02] [ 6.45875670e-01 2.85731180e-01 -7.07956434e-01 9.95219073e+01] [ 7.32995044e-01 2.71850944e-02 6.79690544e-01 7.79548259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.29710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:127.98, Y:99.54, Z:77.97 [[ 2.08886272e-01 -9.59018507e-01 -1.91441974e-01 1.27976576e+02] [ 6.47274418e-01 2.82326417e-01 -7.08044930e-01 9.95391375e+01] [ 7.33077318e-01 2.39853740e-02 6.79722258e-01 7.79738445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.32710568099998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:127.98, Y:99.56, Z:77.99 [[ 1.99540916e-01 -9.61073769e-01 -1.91103725e-01 1.27984772e+02] [ 6.49695954e-01 2.75756077e-01 -7.08416370e-01 9.95568678e+01] [ 7.33538404e-01 1.71987345e-02 6.79430359e-01 7.79931259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.35710568099998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:127.99, Y:99.57, Z:78.01 [[ 1.94252352e-01 -9.62246435e-01 -1.90651049e-01 1.27989536e+02] [ 6.51269990e-01 2.71846748e-01 -7.08482001e-01 9.95741214e+01] [ 7.33562147e-01 1.34589884e-02 6.79489096e-01 7.80118697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.38710568099995 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:127.99, Y:99.59, Z:78.03 [[ 1.86527278e-01 -9.63906120e-01 -1.89980437e-01 1.27993644e+02] [ 6.54343810e-01 2.66130547e-01 -7.07819688e-01 9.95903585e+01] [ 7.32831326e-01 7.71515660e-03 6.80366610e-01 7.80314177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:128.00, Y:99.61, Z:78.05 [[ 1.84234253e-01 -9.64427792e-01 -1.89569972e-01 1.27997569e+02] [ 6.54932104e-01 2.64271888e-01 -7.07971968e-01 9.96073980e+01] [ 7.32885856e-01 6.27722613e-03 6.80322657e-01 7.80510658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.44710568099995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:128.00, Y:99.63, Z:78.07 [[ 1.84335960e-01 -9.64420738e-01 -1.89506977e-01 1.27999316e+02] [ 6.53447647e-01 2.64281483e-01 -7.09338756e-01 9.96257940e+01] [ 7.34184191e-01 6.92375260e-03 6.78915043e-01 7.80717459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.00, Y:99.64, Z:78.09 [[ 1.88739586e-01 -9.63612864e-01 -1.89281847e-01 1.28000451e+02] [ 6.51336568e-01 2.67085047e-01 -7.10229718e-01 9.96449366e+01] [ 7.34940844e-01 1.07622740e-02 6.78045817e-01 7.80917740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.50710568099996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:128.00, Y:99.66, Z:78.11 [[ 1.91564643e-01 -9.63140285e-01 -1.88848559e-01 1.28002712e+02] [ 6.50540589e-01 2.68674262e-01 -7.10359827e-01 9.96640548e+01] [ 7.34914914e-01 1.32261743e-02 6.78030337e-01 7.81117328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.00, Y:99.68, Z:78.13 [[ 1.97005391e-01 -9.62120502e-01 -1.88448975e-01 1.28001253e+02] [ 6.48869493e-01 2.72048440e-01 -7.10603988e-01 9.96840706e+01] [ 7.34953915e-01 1.77140255e-02 6.77885651e-01 7.81315955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.56710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:128.00, Y:99.70, Z:78.15 [[ 1.99608399e-01 -9.62927293e-01 -1.81459407e-01 1.28003411e+02] [ 6.47532849e-01 2.68614525e-01 -7.13125127e-01 9.97032817e+01] [ 7.35430280e-01 2.48448383e-02 6.77144768e-01 7.81513866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.01, Y:99.72, Z:78.17 [[ 2.06358767e-01 -9.62792312e-01 -1.74490754e-01 1.28008944e+02] [ 6.42897106e-01 2.67846959e-01 -7.17594118e-01 9.97186820e+01] [ 7.37630918e-01 3.59022364e-02 6.74248959e-01 7.81712492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.62710568099996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:128.02, Y:99.74, Z:78.19 [[ 2.09177882e-01 -9.59470213e-01 -1.88842589e-01 1.28017312e+02] [ 6.43236468e-01 2.80459287e-01 -7.12453111e-01 9.97351415e+01] [ 7.36540196e-01 2.75589925e-02 6.75832111e-01 7.81929990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.65710568099996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:128.02, Y:99.75, Z:78.21 [[ 2.13895404e-01 -9.59904333e-01 -1.81197206e-01 1.28019128e+02] [ 6.41242831e-01 2.77902290e-01 -7.15246775e-01 9.97547995e+01] [ 7.36923597e-01 3.67965883e-02 6.74973795e-01 7.82115030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.68710568099996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:128.02, Y:99.77, Z:78.23 [[ 2.15804988e-01 -9.56787611e-01 -1.94899139e-01 1.28024726e+02] [ 6.43268263e-01 2.89475642e-01 -7.08808715e-01 9.97742542e+01] [ 7.34597951e-01 2.75920253e-02 6.77941392e-01 7.82314083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.71710568099996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:128.03, Y:99.79, Z:78.25 [[ 2.19839574e-01 -9.57959642e-01 -1.84347187e-01 1.28029153e+02] [ 6.42337182e-01 2.84368644e-01 -7.11714422e-01 9.97942201e+01] [ 7.34216253e-01 3.80499431e-02 6.77848579e-01 7.82494965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.74710568099997 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:128.04, Y:99.81, Z:78.27 [[ 2.21948358e-01 -9.57174351e-01 -1.85892947e-01 1.28038718e+02] [ 6.42229120e-01 2.86958355e-01 -7.10771876e-01 9.98109357e+01] [ 7.33676144e-01 3.83687869e-02 6.78415177e-01 7.82702450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.77710568099997 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:128.04, Y:99.83, Z:78.29 [[ 2.22558683e-01 -9.57110532e-01 -1.85491408e-01 1.28044441e+02] [ 6.41844586e-01 2.87058854e-01 -7.11078576e-01 9.98278338e+01] [ 7.33827745e-01 3.92000556e-02 6.78203654e-01 7.82904684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.80710568099997 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:128.05, Y:99.85, Z:78.31 [[ 2.23212769e-01 -9.57028937e-01 -1.85126104e-01 1.28051859e+02] [ 6.41352680e-01 2.87209885e-01 -7.11461328e-01 9.98460764e+01] [ 7.34059126e-01 4.00761301e-02 6.77901987e-01 7.83096523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.83710568099997 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:128.06, Y:99.86, Z:78.33 [[ 2.22479426e-01 -9.57302661e-01 -1.84592849e-01 1.28057559e+02] [ 6.42048119e-01 2.86347808e-01 -7.11181514e-01 9.98647676e+01] [ 7.33673713e-01 3.97057636e-02 6.78340869e-01 7.83288289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.86710568099997 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:128.07, Y:99.88, Z:78.35 [[ 2.20757351e-01 -9.57834513e-01 -1.83900076e-01 1.28065796e+02] [ 6.43777848e-01 2.84742203e-01 -7.10261895e-01 9.98826167e+01] [ 7.32677469e-01 3.84047397e-02 6.79491576e-01 7.83465562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.89710568099997 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:128.08, Y:99.90, Z:78.37 [[ 2.19106170e-01 -9.58332993e-01 -1.83276732e-01 1.28076062e+02] [ 6.45602435e-01 2.83238184e-01 -7.09206336e-01 9.98983280e+01] [ 7.31566800e-01 3.70675797e-02 6.80761347e-01 7.83654663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.92710568099997 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:128.08, Y:99.91, Z:78.38 [[ 2.18200332e-01 -9.58636246e-01 -1.82770795e-01 1.28083842e+02] [ 6.46187438e-01 2.82269455e-01 -7.09059764e-01 9.99149639e+01] [ 7.31321003e-01 3.66128843e-02 6.81049988e-01 7.83842000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.95710568099997 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:128.09, Y:99.93, Z:78.40 [[ 2.16966897e-01 -9.58968955e-01 -1.82493585e-01 1.28091542e+02] [ 6.45883730e-01 2.81200155e-01 -7.09761002e-01 9.99317921e+01] [ 7.31955991e-01 3.61250047e-02 6.80393571e-01 7.84040328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.98710568099997 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:128.10, Y:99.95, Z:78.42 [[ 2.16830102e-01 -9.58994566e-01 -1.82521586e-01 1.28101852e+02] [ 6.43823205e-01 2.81024401e-01 -7.11700054e-01 9.99482644e+01] [ 7.33809504e-01 3.68063632e-02 6.78357504e-01 7.84221022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.01710568099998 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:128.11, Y:99.97, Z:78.44 [[ 2.16892885e-01 -9.59038277e-01 -1.82217066e-01 1.28108673e+02] [ 6.43108476e-01 2.80805258e-01 -7.12432379e-01 9.99663564e+01] [ 7.34417432e-01 3.73361747e-02 6.77670307e-01 7.84417981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.04710568099998 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:128.12, Y:99.98, Z:78.46 [[ 2.17800368e-01 -9.58918585e-01 -1.81763985e-01 1.28119179e+02] [ 6.42963698e-01 2.81083398e-01 -7.12453372e-01 9.99829664e+01] [ 7.34275618e-01 3.83049626e-02 6.77769907e-01 7.84601714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.07710568099998 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:128.13, Y:100.00, Z:78.48 [[ 2.17293526e-01 -9.59087835e-01 -1.81477406e-01 1.28127674e+02] [ 6.42380566e-01 2.80492532e-01 -7.13211854e-01 9.99999422e+01] [ 7.34935870e-01 3.83987596e-02 6.77048597e-01 7.84802943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.10710568099998 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:128.14, Y:100.02, Z:78.50 [[ 2.14997680e-01 -9.59591605e-01 -1.81548751e-01 1.28141223e+02] [ 6.40847993e-01 2.78896732e-01 -7.15213578e-01 1.00015036e+02] [ 7.36946299e-01 3.74241075e-02 6.74914505e-01 7.85001230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13710568099995 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:128.15, Y:100.04, Z:78.51 [[ 2.13818540e-01 -9.64904136e-01 -1.52452093e-01 1.28148134e+02] [ 6.47094054e-01 2.56812350e-01 -7.17855628e-01 1.00041464e+02] [ 7.31813445e-01 5.48399989e-02 6.79294970e-01 7.85116146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.16710568099995 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:128.16, Y:100.06, Z:78.53 [[ 2.12886981e-01 -9.61321432e-01 -1.74757654e-01 1.28158610e+02] [ 6.47024695e-01 2.72723666e-01 -7.12025875e-01 1.00055590e+02] [ 7.32146282e-01 3.85085216e-02 6.80058024e-01 7.85342888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19710568099995 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:128.17, Y:100.07, Z:78.55 [[ 2.12984872e-01 -9.61238838e-01 -1.75092380e-01 1.28169392e+02] [ 6.48291180e-01 2.73104885e-01 -7.10726578e-01 1.00071297e+02] [ 7.30996574e-01 3.78631639e-02 6.81329869e-01 7.85549876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.22710568099995 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:128.18, Y:100.09, Z:78.57 [[ 2.12544445e-01 -9.61484496e-01 -1.74276859e-01 1.28176624e+02] [ 6.48702125e-01 2.72219741e-01 -7.10691189e-01 1.00088545e+02] [ 7.30760161e-01 3.79996957e-02 6.81575829e-01 7.85745577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25710568099996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:128.19, Y:100.10, Z:78.60 [[ 2.13602962e-01 -9.60734436e-01 -1.77096353e-01 1.28187732e+02] [ 6.47325993e-01 2.74963321e-01 -7.10889746e-01 1.00104620e+02] [ 7.31671261e-01 3.72090833e-02 6.80641352e-01 7.85951966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.28710568099996 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:128.20, Y:100.11, Z:78.63 [[ 2.14631349e-01 -9.52598850e-01 -2.15612652e-01 1.28199202e+02] [ 6.40090411e-01 3.03932311e-01 -7.05626967e-01 1.00105214e+02] [ 7.37711089e-01 1.34380768e-02 6.74982791e-01 7.86275766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.31710568099996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:128.20, Y:100.13, Z:78.64 [[ 2.19231203e-01 -9.62226160e-01 -1.61426445e-01 1.28198802e+02] [ 6.37990602e-01 2.66556785e-01 -7.22437175e-01 1.00129611e+02] [ 7.38177263e-01 5.53922158e-02 6.72328811e-01 7.86382897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.34710568099996 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:128.21, Y:100.16, Z:78.65 [[ 2.20880062e-01 -9.63987390e-01 -1.48122620e-01 1.28205967e+02] [ 6.46739660e-01 2.58450249e-01 -7.17587125e-01 1.00159007e+02] [ 7.30027267e-01 6.27039155e-02 6.80535384e-01 7.86510843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.37710568099996 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:128.22, Y:100.17, Z:78.68 [[ 2.22230083e-01 -9.59276198e-01 -1.74364461e-01 1.28220812e+02] [ 6.46787790e-01 2.78866301e-01 -7.09858535e-01 1.00169088e+02] [ 7.29574770e-01 4.49751171e-02 6.82420614e-01 7.86767077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.40710568099996 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:128.23, Y:100.19, Z:78.70 [[ 2.21647694e-01 -9.58751651e-01 -1.77953845e-01 1.28225337e+02] [ 6.46295679e-01 2.81090159e-01 -7.09429502e-01 1.00185790e+02] [ 7.30187781e-01 4.22326118e-02 6.81940035e-01 7.86973245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.43710568099996 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:128.24, Y:100.20, Z:78.72 [[ 2.18380628e-01 -9.60635166e-01 -1.71726464e-01 1.28236467e+02] [ 6.46717682e-01 2.74247385e-01 -7.11719475e-01 1.00203722e+02] [ 7.30798290e-01 4.43672056e-02 6.81150064e-01 7.87192742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.46710568099996 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:128.25, Y:100.20, Z:78.75 [[ 2.12523708e-01 -9.50910759e-01 -2.24949774e-01 1.28246255e+02] [ 6.39133403e-01 3.09409596e-01 -7.04112346e-01 1.00199130e+02] [ 7.39149624e-01 5.86765222e-03 6.73515704e-01 7.87539156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.49710568099997 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:128.25, Y:100.25, Z:78.75 [[ 2.10251873e-01 -9.67755587e-01 -1.38720126e-01 1.28249080e+02] [ 6.46709031e-01 2.44085085e-01 -7.22627083e-01 1.00246018e+02] [ 7.33185910e-01 6.22221396e-02 6.77175624e-01 7.87529772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.52710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:128.26, Y:100.23, Z:78.79 [[ 2.04360036e-01 -9.53361517e-01 -2.22123374e-01 1.28263211e+02] [ 6.38494078e-01 3.01817247e-01 -7.07977162e-01 1.00234799e+02] [ 7.41998846e-01 2.85777954e-03 6.70395067e-01 7.87918565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.55710568099997 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:128.27, Y:100.26, Z:78.80 [[ 2.05679958e-01 -9.62534653e-01 -1.76699737e-01 1.28266365e+02] [ 6.38584251e-01 2.68828545e-01 -7.21069600e-01 1.00261438e+02] [ 7.41556410e-01 3.54718963e-02 6.69952114e-01 7.88041129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.58710568099997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:128.27, Y:100.28, Z:78.82 [[ 2.09367825e-01 -9.64969071e-01 -1.58113269e-01 1.28269583e+02] [ 6.31859284e-01 2.56913705e-01 -7.31265474e-01 1.00277529e+02] [ 7.46270031e-01 5.31981248e-02 6.63514130e-01 7.88233608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.61710568099997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:128.28, Y:100.31, Z:78.84 [[ 2.11912359e-01 -9.65086502e-01 -1.53951924e-01 1.28275969e+02] [ 6.36993446e-01 2.55868678e-01 -7.27166122e-01 1.00306112e+02] [ 7.41169685e-01 5.60291218e-02 6.68975512e-01 7.88423965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.64710568099997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:128.29, Y:100.30, Z:78.88 [[ 2.11982354e-01 -9.51392103e-01 -2.23420116e-01 1.28285469e+02] [ 6.26864097e-01 3.07760835e-01 -7.15768588e-01 1.00295281e+02] [ 7.49736544e-01 1.16762606e-02 6.61633418e-01 7.88778114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.67710568099997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:128.28, Y:100.34, Z:78.88 [[ 2.15026985e-01 -9.67270837e-01 -1.34723875e-01 1.28282652e+02] [ 6.34846059e-01 2.43269710e-01 -7.33341892e-01 1.00343544e+02] [ 7.42114464e-01 7.21593747e-02 6.66377631e-01 7.88783162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.70710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:128.30, Y:100.35, Z:78.90 [[ 2.11648460e-01 -9.60322622e-01 -1.81618807e-01 1.28296709e+02] [ 6.31089652e-01 2.76179050e-01 -7.24879978e-01 1.00352029e+02] [ 7.46277951e-01 3.88019812e-02 6.64502540e-01 7.89047890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.73710568099997 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:128.30, Y:100.35, Z:78.94 [[ 2.05817750e-01 -9.54199947e-01 -2.17120969e-01 1.28304103e+02] [ 6.25848356e-01 2.98913167e-01 -7.20392083e-01 1.00351921e+02] [ 7.52298404e-01 1.23846759e-02 6.58706104e-01 7.89354708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.76710568099998 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:128.31, Y:100.38, Z:78.95 [[ 1.98570984e-01 -9.64472377e-01 -1.74248666e-01 1.28310033e+02] [ 6.30193211e-01 2.61809525e-01 -7.30966682e-01 1.00377017e+02] [ 7.50617134e-01 3.53384472e-02 6.59791719e-01 7.89485000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.79710568099998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:128.31, Y:100.41, Z:78.96 [[ 1.95687473e-01 -9.72846069e-01 -1.23599915e-01 1.28313429e+02] [ 6.34950534e-01 2.21742667e-01 -7.40045950e-01 1.00414351e+02] [ 7.47358169e-01 6.63378898e-02 6.61101393e-01 7.89561361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.82710568099998 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:128.33, Y:100.39, Z:79.00 [[ 1.83120999e-01 -9.55517405e-01 -2.31199455e-01 1.28330930e+02] [ 6.35202156e-01 2.94494374e-01 -7.13996698e-01 1.00394799e+02] [ 7.50323211e-01 -1.61106034e-02 6.60874820e-01 7.90025961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.85710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:128.33, Y:100.43, Z:79.01 [[ 1.74246159e-01 -9.69556135e-01 -1.72044116e-01 1.28331454e+02] [ 6.41457596e-01 2.44322355e-01 -7.27212994e-01 1.00425296e+02] [ 7.47108044e-01 1.63550658e-02 6.64501379e-01 7.90128325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.88710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:128.33, Y:100.44, Z:79.03 [[ 1.67942203e-01 -9.73325315e-01 -1.56311382e-01 1.28334007e+02] [ 6.40329458e-01 2.28265744e-01 -7.33398211e-01 1.00444406e+02] [ 7.49515578e-01 2.30777285e-02 6.61584323e-01 7.90289365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91710568099995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:128.34, Y:100.46, Z:79.05 [[ 1.57448050e-01 -9.70599224e-01 -1.82063886e-01 1.28341119e+02] [ 6.46804413e-01 2.40671102e-01 -7.23686032e-01 1.00457801e+02] [ 7.46226617e-01 -3.81677050e-03 6.65681057e-01 7.90532899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.94710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:128.34, Y:100.48, Z:79.07 [[ 1.51844074e-01 -9.75542214e-01 -1.58936361e-01 1.28341970e+02] [ 6.44709316e-01 2.19639472e-01 -7.32194237e-01 1.00481182e+02] [ 7.49195085e-01 8.71160343e-03 6.62292106e-01 7.90720439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:128.35, Y:100.49, Z:79.10 [[ 1.51032910e-01 -9.70526370e-01 -1.87796767e-01 1.28349563e+02] [ 6.47393769e-01 2.40677887e-01 -7.23156597e-01 1.00490339e+02] [ 7.47041076e-01 -1.23580114e-02 6.64663006e-01 7.90964670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.00710568099996 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:128.35, Y:100.52, Z:79.11 [[ 1.46890016e-01 -9.76002408e-01 -1.60756407e-01 1.28346326e+02] [ 6.46258422e-01 2.17730872e-01 -7.31398195e-01 1.00515438e+02] [ 7.48848032e-01 3.54491074e-03 6.62732268e-01 7.91143954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03710568099996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:128.35, Y:100.53, Z:79.14 [[ 1.49002368e-01 -9.71678392e-01 -1.83410459e-01 1.28350317e+02] [ 6.48580866e-01 2.36044708e-01 -7.23619897e-01 1.00528428e+02] [ 7.46418887e-01 -1.11354366e-02 6.65383234e-01 7.91379184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.06710568099996 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:128.35, Y:100.55, Z:79.16 [[ 1.52616574e-01 -9.73737988e-01 -1.68945291e-01 1.28345935e+02] [ 6.46798371e-01 2.27664311e-01 -7.27887924e-01 1.00552181e+02] [ 7.47234936e-01 1.81422283e-03 6.64557492e-01 7.91552343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.09710568099996 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:128.34, Y:100.57, Z:79.17 [[ 1.55168478e-01 -9.73415422e-01 -1.68478957e-01 1.28343864e+02] [ 6.46295166e-01 2.29010734e-01 -7.27912524e-01 1.00571961e+02] [ 7.47144767e-01 4.06194359e-03 6.64648929e-01 7.91742683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.12710568099996 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:128.34, Y:100.59, Z:79.19 [[ 1.58302696e-01 -9.73013090e-01 -1.67886218e-01 1.28344335e+02] [ 6.46275886e-01 2.30654070e-01 -7.27410599e-01 1.00590006e+02] [ 7.46503675e-01 6.65024476e-03 6.65348058e-01 7.91944091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.15710568099996 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:128.34, Y:100.61, Z:79.21 [[ 1.63547385e-01 -9.72238885e-01 -1.67343367e-01 1.28341932e+02] [ 6.45472410e-01 2.33736179e-01 -7.27140129e-01 1.00610332e+02] [ 7.46068108e-01 1.09063397e-02 6.65780317e-01 7.92141263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.18710568099996 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:128.34, Y:100.63, Z:79.23 [[ 1.65968667e-01 -9.71884265e-01 -1.67019090e-01 1.28343237e+02] [ 6.44242268e-01 2.35089324e-01 -7.27794552e-01 1.00628722e+02] [ 7.46596479e-01 1.31903345e-02 6.65146385e-01 7.92329954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.21710568099996 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:128.34, Y:100.65, Z:79.25 [[ 1.73589805e-01 -9.70582133e-01 -1.66843948e-01 1.28343460e+02] [ 6.40854199e-01 2.39966446e-01 -7.29192705e-01 1.00648871e+02] [ 7.47778360e-01 1.96577751e-02 6.63657364e-01 7.92521908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.24710568099997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:128.34, Y:100.67, Z:79.27 [[ 1.76751732e-01 -9.70029773e-01 -1.66736511e-01 1.28344391e+02] [ 6.38287930e-01 2.41919337e-01 -7.30796520e-01 1.00667675e+02] [ 7.49231169e-01 2.27436480e-02 6.61917957e-01 7.92707426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.27710568099997 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:128.34, Y:100.69, Z:79.29 [[ 1.83200112e-01 -9.68807300e-01 -1.66883593e-01 1.28342873e+02] [ 6.34059305e-01 2.46173159e-01 -7.33053596e-01 1.00688836e+02] [ 7.51269936e-01 2.84814063e-02 6.59380234e-01 7.92888492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.30710568099997 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:128.34, Y:100.71, Z:79.31 [[ 1.86350567e-01 -9.68266583e-01 -1.66533152e-01 1.28344260e+02] [ 6.32840066e-01 2.47951791e-01 -7.33507573e-01 1.00707714e+02] [ 7.51523065e-01 3.13007009e-02 6.58963845e-01 7.93092218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.33710568099997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:128.34, Y:100.75, Z:79.31 [[ 1.92075176e-01 -9.74721022e-01 -1.14131748e-01 1.28335081e+02] [ 6.40513026e-01 2.12622314e-01 -7.37926023e-01 1.00745364e+02] [ 7.43538963e-01 6.86343999e-02 6.65160980e-01 7.93122849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.36710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.35, Y:100.74, Z:79.36 [[ 1.92982473e-01 -9.59855771e-01 -2.03555063e-01 1.28350100e+02] [ 6.28381320e-01 2.80231502e-01 -7.25677079e-01 1.00735329e+02] [ 7.53587873e-01 1.21327578e-02 6.57235204e-01 7.93583485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.39710568099997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:128.34, Y:100.78, Z:79.35 [[ 1.97693705e-01 -9.73672260e-01 -1.13488013e-01 1.28335350e+02] [ 6.39158530e-01 2.15813405e-01 -7.38174063e-01 1.00782121e+02] [ 7.43231843e-01 7.33955341e-02 6.64995882e-01 7.93536240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.42710568099997 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:128.35, Y:100.77, Z:79.40 [[ 1.98362679e-01 -9.59317773e-01 -2.00902109e-01 1.28351589e+02] [ 6.27591377e-01 2.81761750e-01 -7.25768131e-01 1.00773122e+02] [ 7.52848797e-01 1.78808802e-02 6.57950578e-01 7.93986025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.45710568099997 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:128.35, Y:100.80, Z:79.42 [[ 1.96422161e-01 -9.67088011e-01 -1.61737794e-01 1.28346863e+02] [ 6.26581244e-01 2.50677662e-01 -7.37940820e-01 1.00800625e+02] [ 7.54197772e-01 4.36060626e-02 6.55197857e-01 7.94155163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.48710568099997 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:128.36, Y:100.81, Z:79.43 [[ 1.93916676e-01 -9.64166824e-01 -1.81048772e-01 1.28355589e+02] [ 6.27235953e-01 2.63756726e-01 -7.32807921e-01 1.00813763e+02] [ 7.54301917e-01 2.85433772e-02 6.55906925e-01 7.94320479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.51710568099998 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:128.36, Y:100.83, Z:79.45 [[ 1.89901100e-01 -9.67882054e-01 -1.64747993e-01 1.28358294e+02] [ 6.28408605e-01 2.48750462e-01 -7.37038556e-01 1.00834333e+02] [ 7.54347531e-01 3.64353761e-02 6.55463398e-01 7.94495673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.54710568099998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:128.36, Y:100.86, Z:79.47 [[ 1.77133152e-01 -9.70941667e-01 -1.60922730e-01 1.28363783e+02] [ 6.30312750e-01 2.37492156e-01 -7.39123341e-01 1.00855029e+02] [ 7.55863535e-01 2.94915990e-02 6.54064647e-01 7.94719532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.57710568099998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:128.37, Y:100.87, Z:79.49 [[ 1.71590747e-01 -9.69302305e-01 -1.76095590e-01 1.28370599e+02] [ 6.31170448e-01 2.45407282e-01 -7.35798296e-01 1.00869095e+02] [ 7.56426124e-01 1.51098471e-02 6.53904589e-01 7.94937927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.60710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:128.38, Y:100.88, Z:79.51 [[ 1.64483100e-01 -9.70019963e-01 -1.78903833e-01 1.28377448e+02] [ 6.35675125e-01 2.42930153e-01 -7.32736021e-01 1.00884310e+02] [ 7.54229703e-01 6.79797552e-03 6.56575466e-01 7.95126771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.63710568099995 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:128.38, Y:100.90, Z:79.53 [[ 1.59490831e-01 -9.73736839e-01 -1.62478442e-01 1.28380705e+02] [ 6.37463398e-01 2.27255193e-01 -7.36203432e-01 1.00904542e+02] [ 7.53792472e-01 1.38436370e-02 6.56966714e-01 7.95297817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66710568099995 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:128.39, Y:100.92, Z:79.55 [[ 1.48399222e-01 -9.75603510e-01 -1.61788328e-01 1.28387763e+02] [ 6.41211501e-01 2.19474057e-01 -7.35308745e-01 1.00920420e+02] [ 7.52878133e-01 5.37870882e-03 6.58137970e-01 7.95506668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69710568099995 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:128.39, Y:100.94, Z:79.57 [[ 1.42842979e-01 -9.76526774e-01 -1.61218308e-01 1.28391989e+02] [ 6.43153144e-01 2.15392274e-01 -7.34819843e-01 1.00937373e+02] [ 7.52296428e-01 1.27579360e-03 6.58823539e-01 7.95722242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.72710568099995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:128.39, Y:100.95, Z:79.59 [[ 1.34307097e-01 -9.77861360e-01 -1.60464214e-01 1.28393052e+02] [ 6.46715698e-01 2.09187633e-01 -7.33484383e-01 1.00953762e+02] [ 7.50813165e-01 -5.26256741e-03 6.60493676e-01 7.95917605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75710568099996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:128.39, Y:100.97, Z:79.61 [[ 1.27270692e-01 -9.78889544e-01 -1.59929460e-01 1.28391908e+02] [ 6.48334273e-01 2.04128403e-01 -7.33480924e-01 1.00972080e+02] [ 7.50642952e-01 -1.03371249e-02 6.60627203e-01 7.96095689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.78710568099996 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:128.39, Y:100.99, Z:79.63 [[ 1.23660192e-01 -9.79437263e-01 -1.59407667e-01 1.28392681e+02] [ 6.49166298e-01 2.01344067e-01 -7.33514611e-01 1.00990308e+02] [ 7.50527331e-01 -1.27755269e-02 6.60715908e-01 7.96293164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.81710568099996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:128.39, Y:101.01, Z:79.65 [[ 1.16604958e-01 -9.80449643e-01 -1.58498523e-01 1.28390265e+02] [ 6.52958107e-01 1.95928227e-01 -7.31613177e-01 1.01006874e+02] [ 7.48364212e-01 -1.81831715e-02 6.63038745e-01 7.96488775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.84710568099996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:128.39, Y:101.02, Z:79.67 [[ 1.13004595e-01 -9.81003046e-01 -1.57680009e-01 1.28390733e+02] [ 6.55428078e-01 1.92870753e-01 -7.30215658e-01 1.01023966e+02] [ 7.46755647e-01 -2.08301807e-02 6.64772222e-01 7.96691085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.87710568099996 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:128.39, Y:101.04, Z:79.69 [[ 1.05884055e-01 -9.81887342e-01 -1.57117202e-01 1.28385021e+02] [ 6.57264204e-01 1.87675915e-01 -7.29918843e-01 1.01043814e+02] [ 7.46185187e-01 -2.59807462e-02 6.65231289e-01 7.96873920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.90710568099996 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:128.38, Y:101.06, Z:79.71 [[ 1.02697194e-01 -9.82266542e-01 -1.56862129e-01 1.28382549e+02] [ 6.56514030e-01 1.85403446e-01 -7.31173639e-01 1.01064327e+02] [ 7.47290181e-01 -2.78927079e-02 6.63912180e-01 7.97065622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.93710568099996 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:128.38, Y:101.09, Z:79.73 [[ 1.00331548e-01 -9.82541759e-01 -1.56669309e-01 1.28380453e+02] [ 6.55428744e-01 1.83738579e-01 -7.32566240e-01 1.01085101e+02] [ 7.48563119e-01 -2.91860630e-02 6.62420887e-01 7.97252289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.96710568099996 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:128.37, Y:101.11, Z:79.74 [[ 9.85608697e-02 -9.82748268e-01 -1.56497915e-01 1.28373894e+02] [ 6.54063191e-01 1.82497822e-01 -7.34095285e-01 1.01105762e+02] [ 7.49991398e-01 -3.00064559e-02 6.60766612e-01 7.97437845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.99710568099997 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:128.36, Y:101.13, Z:79.76 [[ 9.64860506e-02 -9.82971134e-01 -1.56391148e-01 1.28363774e+02] [ 6.52230180e-01 1.81129199e-01 -7.36062501e-01 1.01127543e+02] [ 7.51855195e-01 -3.09832632e-02 6.58599881e-01 7.97619249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.02710568099997 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:128.36, Y:101.15, Z:79.78 [[ 9.55172451e-02 -9.83107248e-01 -1.56130059e-01 1.28360870e+02] [ 6.51073896e-01 1.80346493e-01 -7.37277372e-01 1.01147314e+02] [ 7.52980237e-01 -3.12295024e-02 6.57301667e-01 7.97820474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.05710568099997 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:128.35, Y:101.17, Z:79.80 [[ 9.31206909e-02 -9.84269182e-01 -1.50142312e-01 1.28349641e+02] [ 6.51406770e-01 1.74272463e-01 -7.38443179e-01 1.01167737e+02] [ 7.52992534e-01 -2.90393793e-02 6.57387981e-01 7.98013824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.08710568099997 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:128.35, Y:101.19, Z:79.82 [[ 9.17480803e-02 -9.82903100e-01 -1.59636417e-01 1.28347789e+02] [ 6.53882480e-01 1.80374081e-01 -7.34780847e-01 1.01185323e+02] [ 7.51012644e-01 -3.69687240e-02 6.59252093e-01 7.98227849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.11710568099997 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:128.33, Y:101.21, Z:79.84 [[ 8.81015317e-02 -9.87097497e-01 -1.33703596e-01 1.28331259e+02] [ 6.51116776e-01 1.58647679e-01 -7.42211465e-01 1.01205345e+02] [ 7.53846844e-01 -2.16666872e-02 6.56692843e-01 7.98439698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.14710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:128.33, Y:101.22, Z:79.87 [[ 8.42192746e-02 -9.81325711e-01 -1.72936295e-01 1.28325376e+02] [ 6.59762681e-01 1.84977540e-01 -7.28351917e-01 1.01221340e+02] [ 7.46739793e-01 -5.27556434e-02 6.63020756e-01 7.98666057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.32, Y:101.24, Z:79.89 [[ 8.36742601e-02 -9.84813172e-01 -1.52123750e-01 1.28318319e+02] [ 6.61323940e-01 1.69075086e-01 -7.30797005e-01 1.01243123e+02] [ 7.45418852e-01 -3.94541787e-02 6.65427759e-01 7.98850678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.20710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.30, Y:101.26, Z:79.90 [[ 8.10831783e-02 -9.89235631e-01 -1.21812905e-01 1.28299477e+02] [ 6.53551063e-01 1.45042623e-01 -7.42855064e-01 1.01262546e+02] [ 7.52526762e-01 -1.93779040e-02 6.58276515e-01 7.99048922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.23710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.30, Y:101.29, Z:79.92 [[ 8.03161827e-02 -9.86480502e-01 -1.42847926e-01 1.28300231e+02] [ 6.62886092e-01 1.59888079e-01 -7.31449131e-01 1.01287980e+02] [ 7.44399987e-01 -3.59447015e-02 6.66765805e-01 7.99239064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.26710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.29, Y:101.30, Z:79.95 [[ 7.78156116e-02 -9.79653268e-01 -1.84997849e-01 1.28292433e+02] [ 6.63315331e-01 1.89403750e-01 -7.23974441e-01 1.01298516e+02] [ 7.44283214e-01 -6.63753957e-02 6.64557601e-01 7.99503712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.29710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.29, Y:101.32, Z:79.97 [[ 7.70951455e-02 -9.85449209e-01 -1.51480018e-01 1.28290268e+02] [ 6.61921569e-01 1.64207571e-01 -7.31365647e-01 1.01318912e+02] [ 7.45597864e-01 -4.38831504e-02 6.64949693e-01 7.99689175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.32710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.28, Y:101.34, Z:79.99 [[ 7.59367239e-02 -9.85619565e-01 -1.50955909e-01 1.28284509e+02] [ 6.62458145e-01 1.63019928e-01 -7.31145477e-01 1.01337154e+02] [ 7.45240109e-01 -4.44811790e-02 6.65310909e-01 7.99878645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.27, Y:101.36, Z:80.01 [[ 7.48093576e-02 -9.85753967e-01 -1.50640887e-01 1.28269452e+02] [ 6.61560192e-01 1.62093878e-01 -7.32163702e-01 1.01358796e+02] [ 7.46151240e-01 -4.48853183e-02 6.64261722e-01 8.00056757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.38710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.26, Y:101.38, Z:80.03 [[ 7.48142543e-02 -9.85817832e-01 -1.50219938e-01 1.28264482e+02] [ 6.61102122e-01 1.61811795e-01 -7.32639699e-01 1.01379004e+02] [ 7.46556637e-01 -4.44988272e-02 6.63832089e-01 8.00259530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.25, Y:101.40, Z:80.05 [[ 7.86890027e-02 -9.85557890e-01 -1.49945612e-01 1.28251896e+02] [ 6.59516738e-01 1.64257610e-01 -7.33523762e-01 1.01400380e+02] [ 7.47559839e-01 -4.11713875e-02 6.62917192e-01 8.00452786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.44710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.24, Y:101.43, Z:80.06 [[ 8.81599091e-02 -9.88198600e-01 -1.25265145e-01 1.28236274e+02] [ 6.57839925e-01 1.52189382e-01 -7.37621193e-01 1.01425414e+02] [ 7.47980256e-01 -1.73757965e-02 6.63493495e-01 8.00634600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:128.24, Y:101.44, Z:80.08 [[ 9.71723191e-02 -9.82558239e-01 -1.58546041e-01 1.28238340e+02] [ 6.59505548e-01 1.82873723e-01 -7.29115651e-01 1.01441067e+02] [ 7.45392495e-01 -3.37121351e-02 6.65772874e-01 8.00804558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.50710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.23, Y:101.46, Z:80.11 [[ 1.02588900e-01 -9.86658395e-01 -1.26414911e-01 1.28227296e+02] [ 6.55694012e-01 1.62642679e-01 -7.37300971e-01 1.01462305e+02] [ 7.48024653e-01 -7.25060492e-03 6.63631334e-01 8.01061415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.22, Y:101.48, Z:80.13 [[ 1.19696143e-01 -9.80657037e-01 -1.54869653e-01 1.28220980e+02] [ 6.52563995e-01 1.95272793e-01 -7.32139856e-01 1.01478394e+02] [ 7.48219931e-01 -1.34280424e-02 6.63314874e-01 8.01253706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.56710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.22, Y:101.50, Z:80.15 [[ 1.25007195e-01 -9.81475118e-01 -1.45188819e-01 1.28216765e+02] [ 6.50933940e-01 1.91570865e-01 -7.34564912e-01 1.01498609e+02] [ 7.48771131e-01 -2.68243119e-03 6.62823202e-01 8.01494087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.21, Y:101.51, Z:80.17 [[ 1.35183248e-01 -9.76109077e-01 -1.70107494e-01 1.28213749e+02] [ 6.46354950e-01 2.16999457e-01 -7.31530255e-01 1.01514895e+02] [ 7.50966556e-01 -1.10591850e-02 6.60247625e-01 8.01707677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.62710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:128.20, Y:101.53, Z:80.19 [[ 1.41859267e-01 -9.81252064e-01 -1.30462008e-01 1.28204225e+02] [ 6.43501105e-01 1.91561724e-01 -7.41087332e-01 1.01533471e+02] [ 7.52185001e-01 2.11776589e-02 6.58611593e-01 8.01882015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.21, Y:101.55, Z:80.21 [[ 1.41595931e-01 -9.80320406e-01 -1.37559057e-01 1.28207815e+02] [ 6.41794394e-01 1.96708023e-01 -7.41219205e-01 1.01554467e+02] [ 7.53691282e-01 1.66689917e-02 6.57017196e-01 8.02113703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.68710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.21, Y:101.57, Z:80.23 [[ 1.40558754e-01 -9.76318813e-01 -1.64453067e-01 1.28214517e+02] [ 6.39076082e-01 2.16332488e-01 -7.38093501e-01 1.01569599e+02] [ 7.56191113e-01 -1.35251939e-03 6.54349427e-01 8.02300485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.21, Y:101.59, Z:80.25 [[ 1.38687273e-01 -9.82720358e-01 -1.22582779e-01 1.28208528e+02] [ 6.35501054e-01 1.83244287e-01 -7.50039960e-01 1.01585318e+02] [ 7.59542132e-01 2.61195113e-02 6.49933474e-01 8.02527449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.74710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.22, Y:101.61, Z:80.27 [[ 1.35297890e-01 -9.76776221e-01 -1.66140589e-01 1.28218921e+02] [ 6.39053491e-01 2.14171653e-01 -7.38742945e-01 1.01606836e+02] [ 7.57169146e-01 -6.22236191e-03 6.53189227e-01 8.02716354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.77710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.22, Y:101.62, Z:80.29 [[ 1.34898005e-01 -9.79632739e-01 -1.48735419e-01 1.28218483e+02] [ 6.39955094e-01 2.00738494e-01 -7.41728747e-01 1.01623561e+02] [ 7.56478688e-01 4.87373947e-03 6.54000184e-01 8.02915710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.80710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.22, Y:101.64, Z:80.32 [[ 1.35258467e-01 -9.82190939e-01 -1.30407465e-01 1.28217541e+02] [ 6.36024912e-01 1.86990052e-01 -7.48670175e-01 1.01636973e+02] [ 7.59721961e-01 1.83215838e-02 6.49989893e-01 8.03150032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.83710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.23, Y:101.66, Z:80.33 [[ 1.34941924e-01 -9.77956778e-01 -1.59346219e-01 1.28227242e+02] [ 6.40259116e-01 2.08795099e-01 -7.39238034e-01 1.01657064e+02] [ 7.56213556e-01 -2.26866642e-03 6.54320955e-01 8.03338188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.86710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.23, Y:101.67, Z:80.36 [[ 1.33078790e-01 -9.80231478e-01 -1.46411356e-01 1.28231725e+02] [ 6.41378972e-01 1.97797213e-01 -7.41288930e-01 1.01674394e+02] [ 7.55594501e-01 4.74466902e-03 6.55022471e-01 8.03560615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.89710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.24, Y:101.69, Z:80.38 [[ 1.30709733e-01 -9.80461219e-01 -1.47006001e-01 1.28235316e+02] [ 6.42073529e-01 1.96697036e-01 -7.40980336e-01 1.01691384e+02] [ 7.55418128e-01 2.46468061e-03 6.55238412e-01 8.03760857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.92710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.24, Y:101.71, Z:80.40 [[ 1.30834984e-01 -9.82510376e-01 -1.32497429e-01 1.28236490e+02] [ 6.38578676e-01 1.85746614e-01 -7.46803502e-01 1.01706374e+02] [ 7.58353138e-01 1.30979915e-02 6.51712330e-01 8.03968640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.95710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.25, Y:101.73, Z:80.42 [[ 1.28571044e-01 -9.79929804e-01 -1.52338658e-01 1.28247606e+02] [ 6.41005963e-01 1.99328983e-01 -7.41201263e-01 1.01726669e+02] [ 7.56690718e-01 -2.35296745e-03 6.53768783e-01 8.04163549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.98710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.25, Y:101.74, Z:80.44 [[ 1.26894745e-01 -9.81058824e-01 -1.46360198e-01 1.28252596e+02] [ 6.39776198e-01 1.93708637e-01 -7.43749542e-01 1.01744165e+02] [ 7.58013285e-01 7.40137044e-04 6.52238692e-01 8.04361270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.01710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.26, Y:101.76, Z:80.46 [[ 1.22805386e-01 -9.81566669e-01 -1.46443543e-01 1.28260148e+02] [ 6.37048582e-01 1.91113471e-01 -7.46756148e-01 1.01761092e+02] [ 7.60978279e-01 -1.58597446e-03 6.48775419e-01 8.04557217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.27, Y:101.78, Z:80.48 [[ 1.21689887e-01 -9.81739985e-01 -1.46212764e-01 1.28265766e+02] [ 6.35687432e-01 1.90218231e-01 -7.48143378e-01 1.01779026e+02] [ 7.62294602e-01 -1.90413338e-03 6.47227405e-01 8.04752460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.07710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.27, Y:101.80, Z:80.50 [[ 1.23856231e-01 -9.83431167e-01 -1.32373618e-01 1.28270517e+02] [ 6.30294009e-01 1.81001896e-01 -7.54962103e-01 1.01795657e+02] [ 7.66413137e-01 1.00724619e-02 6.42268985e-01 8.04980953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.10710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.28, Y:101.81, Z:80.52 [[ 1.27595626e-01 -9.78679980e-01 -1.60949844e-01 1.28279072e+02] [ 6.32853280e-01 2.05285025e-01 -7.46561977e-01 1.01812128e+02] [ 7.63685853e-01 -6.59959425e-03 6.45554307e-01 8.05168637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.27, Y:101.83, Z:80.54 [[ 1.35620865e-01 -9.81391211e-01 -1.35934808e-01 1.28274480e+02] [ 6.31940292e-01 1.91355263e-01 -7.51022391e-01 1.01828485e+02] [ 7.63058614e-01 1.59516245e-02 6.46132414e-01 8.05404313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:128.28, Y:101.84, Z:80.56 [[ 1.43258203e-01 -9.79200375e-01 -1.43679202e-01 1.28280908e+02] [ 6.31234153e-01 2.02217712e-01 -7.48766613e-01 1.01842832e+02] [ 7.62247028e-01 1.65717397e-02 6.47074065e-01 8.05632391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.29, Y:101.86, Z:80.58 [[ 1.48477724e-01 -9.76097741e-01 -1.58705908e-01 1.28289551e+02] [ 6.36340044e-01 2.17149101e-01 -7.40214575e-01 1.01859537e+02] [ 7.56984619e-01 8.91445082e-03 6.53371884e-01 8.05838127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.22710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.29, Y:101.88, Z:80.60 [[ 1.49523914e-01 -9.78477191e-01 -1.42214574e-01 1.28290692e+02] [ 6.37874497e-01 2.05357035e-01 -7.42256434e-01 1.01875653e+02] [ 7.55485754e-01 2.02700375e-02 6.54851434e-01 8.06039653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25710568099996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:128.29, Y:101.90, Z:80.63 [[ 1.52066459e-01 -9.84795465e-01 -8.39862119e-02 1.28289566e+02] [ 6.39764345e-01 1.62846503e-01 -7.51120896e-01 1.01897038e+02] [ 7.53377313e-01 6.04889110e-02 6.54800516e-01 8.06250759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.28710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.31, Y:101.91, Z:80.64 [[ 1.53583350e-01 -9.67838052e-01 -1.99252756e-01 1.28313987e+02] [ 6.35043953e-01 2.51164964e-01 -7.30503483e-01 1.01910583e+02] [ 7.57054379e-01 -1.43410859e-02 6.53194459e-01 8.06440825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.31710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.31, Y:101.93, Z:80.66 [[ 1.61311631e-01 -9.76677762e-01 -1.41700765e-01 1.28310152e+02] [ 6.31697564e-01 2.12497121e-01 -7.45522073e-01 1.01929347e+02] [ 7.58245835e-01 3.07493534e-02 6.51243220e-01 8.06644160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.34710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.32, Y:101.95, Z:80.68 [[ 1.64703846e-01 -9.76149873e-01 -1.41435744e-01 1.28315199e+02] [ 6.29600931e-01 2.14427813e-01 -7.46741843e-01 1.01946440e+02] [ 7.59259713e-01 3.39431772e-02 6.49901954e-01 8.06849705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.37710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:128.32, Y:101.98, Z:80.70 [[ 1.69690023e-01 -9.82379793e-01 -7.83277621e-02 1.28316204e+02] [ 6.43250333e-01 1.70623619e-01 -7.46402431e-01 1.01975014e+02] [ 7.46615232e-01 7.62726865e-02 6.60869255e-01 8.06964284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.34, Y:101.99, Z:80.72 [[ 1.67816514e-01 -9.76835883e-01 -1.32775284e-01 1.28336921e+02] [ 6.38883007e-01 2.10339878e-01 -7.39990297e-01 1.01986972e+02] [ 7.50777012e-01 3.93547190e-02 6.59382351e-01 8.07181951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.43710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.34, Y:102.00, Z:80.74 [[ 1.63875724e-01 -9.78881381e-01 -1.22212884e-01 1.28342173e+02] [ 6.37553119e-01 1.99633062e-01 -7.44091837e-01 1.02004329e+02] [ 7.52775377e-01 4.40213831e-02 6.56803890e-01 8.07412504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.46710568099996 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:128.36, Y:102.02, Z:80.76 [[ 1.53505324e-01 -9.80441227e-01 -1.23171083e-01 1.28356648e+02] [ 6.42331199e-01 1.93726522e-01 -7.41539389e-01 1.02022317e+02] [ 7.50897294e-01 3.47136150e-02 6.59506041e-01 8.07582094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.49710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.37, Y:102.04, Z:80.78 [[ 1.47100263e-01 -9.81728028e-01 -1.20712849e-01 1.28365252e+02] [ 6.45190076e-01 1.87737577e-01 -7.40597305e-01 1.02042414e+02] [ 7.49727470e-01 3.10593262e-02 6.61017428e-01 8.07796132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.52710568099997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:128.38, Y:102.06, Z:80.80 [[ 1.36150577e-01 -9.82860090e-01 -1.24294260e-01 1.28378677e+02] [ 6.43832164e-01 1.83138650e-01 -7.42926901e-01 1.02057625e+02] [ 7.52956284e-01 2.11252837e-02 6.57731372e-01 8.08012649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.55710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.39, Y:102.07, Z:80.82 [[ 1.31320021e-01 -9.82788461e-01 -1.29930338e-01 1.28386887e+02] [ 6.41453847e-01 1.84168245e-01 -7.44727480e-01 1.02074461e+02] [ 7.55838616e-01 1.44533130e-02 6.54598417e-01 8.08232536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.58710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.40, Y:102.09, Z:80.84 [[ 1.23972134e-01 -9.83739063e-01 -1.29955249e-01 1.28396200e+02] [ 6.41430795e-01 1.79372133e-01 -7.45917002e-01 1.02090816e+02] [ 7.57098042e-01 9.11562391e-03 6.53237675e-01 8.08413819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.61710568099997 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:128.40, Y:102.11, Z:80.86 [[ 1.20099233e-01 -9.85251906e-01 -1.21880496e-01 1.28403533e+02] [ 6.40817536e-01 1.70703616e-01 -7.48473888e-01 1.02109202e+02] [ 7.58240766e-01 1.17879805e-02 6.51868073e-01 8.08632605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.64710568099997 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:128.41, Y:102.12, Z:80.88 [[ 1.18087265e-01 -9.85527445e-01 -1.21618474e-01 1.28407516e+02] [ 6.37711809e-01 1.69146738e-01 -7.51473905e-01 1.02123625e+02] [ 7.61169526e-01 1.11819614e-02 6.48456565e-01 8.08839708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.67710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.43, Y:102.12, Z:80.92 [[ 1.16609057e-01 -9.63851598e-01 -2.39567163e-01 1.28429202e+02] [ 6.28287160e-01 2.58402610e-01 -7.33814238e-01 1.02116303e+02] [ 7.69192806e-01 -6.49475861e-02 6.35707667e-01 8.09225340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.70710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:128.42, Y:102.14, Z:80.94 [[ 1.22092144e-01 -9.82761088e-01 -1.38831383e-01 1.28417037e+02] [ 6.27411483e-01 1.84805496e-01 -7.56440189e-01 1.02140024e+02] [ 7.69056786e-01 5.25100092e-03 6.39158890e-01 8.09398344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.42, Y:102.16, Z:80.96 [[ 1.24181537e-01 -9.82590232e-01 -1.38186042e-01 1.28420508e+02] [ 6.27991483e-01 1.85651397e-01 -7.55751451e-01 1.02157842e+02] [ 7.68248425e-01 7.07071916e-03 6.40112773e-01 8.09605091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.42, Y:102.17, Z:80.98 [[ 1.27299609e-01 -9.82261141e-01 -1.37687548e-01 1.28422032e+02] [ 6.27363169e-01 1.87259640e-01 -7.55876499e-01 1.02174162e+02] [ 7.68251432e-01 9.84268668e-03 6.40072541e-01 8.09808307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.79710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.42, Y:102.19, Z:81.00 [[ 1.28415413e-01 -9.82184983e-01 -1.37193806e-01 1.28423423e+02] [ 6.26962404e-01 1.87589513e-01 -7.56127184e-01 1.02192380e+02] [ 7.68392885e-01 1.10830264e-02 6.39882443e-01 8.10016582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.82710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.43, Y:102.21, Z:81.02 [[ 1.30051992e-01 -9.81629107e-01 -1.39609370e-01 1.28427320e+02] [ 6.30033236e-01 1.90539561e-01 -7.52829859e-01 1.02208401e+02] [ 7.65600811e-01 9.94847972e-03 6.43239012e-01 8.10242729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.85710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.43, Y:102.22, Z:81.05 [[ 1.31594159e-01 -9.84722994e-01 -1.14033341e-01 1.28428315e+02] [ 6.27443845e-01 1.71797782e-01 -7.59473333e-01 1.02223169e+02] [ 7.67461529e-01 2.83927366e-02 6.40465966e-01 8.10469347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.88710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.44, Y:102.24, Z:81.07 [[ 1.31447970e-01 -9.79588438e-01 -1.52078676e-01 1.28437660e+02] [ 6.33314962e-01 2.01004474e-01 -7.47334838e-01 1.02239177e+02] [ 7.62649061e-01 1.92194676e-03 6.46809645e-01 8.10675908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91710568099995 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:128.43, Y:102.27, Z:81.08 [[ 1.37303297e-01 -9.85465426e-01 -1.00028494e-01 1.28432662e+02] [ 6.47504530e-01 1.65716838e-01 -7.43825123e-01 1.02267804e+02] [ 7.49590347e-01 3.73607386e-02 6.60846796e-01 8.10752177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.94710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.44, Y:102.27, Z:81.11 [[ 1.37804754e-01 -9.83890884e-01 -1.13879668e-01 1.28436347e+02] [ 6.30308202e-01 1.75804757e-01 -7.56177398e-01 1.02272646e+02] [ 7.64016636e-01 3.24255520e-02 6.44381225e-01 8.11090124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97710568099995 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:128.44, Y:102.30, Z:81.11 [[ 1.46561987e-01 -9.82244572e-01 -1.17111846e-01 1.28441541e+02] [ 6.44883828e-01 1.84648786e-01 -7.41639855e-01 1.02302891e+02] [ 7.50096282e-01 3.31726752e-02 6.60496133e-01 8.11149261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.0071056809999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:128.45, Y:102.31, Z:81.15 [[ 1.45935694e-01 -9.77291142e-01 -1.53638527e-01 1.28452476e+02] [ 6.30057699e-01 2.11547242e-01 -7.47178065e-01 1.02308506e+02] [ 7.62712311e-01 1.22388127e-02 6.46622102e-01 8.11493231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.03710568099996 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:128.45, Y:102.34, Z:81.16 [[ 1.49242080e-01 -9.85796535e-01 -7.70194316e-02 1.28447522e+02] [ 6.30572194e-01 1.54882564e-01 -7.60519625e-01 1.02338022e+02] [ 7.61646578e-01 6.49352184e-02 6.44730880e-01 8.11586559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.06710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.46, Y:102.35, Z:81.18 [[ 1.48431195e-01 -9.80877600e-01 -1.25886118e-01 1.28458777e+02] [ 6.28964220e-01 1.91867748e-01 -7.53386207e-01 1.02353868e+02] [ 7.63133140e-01 3.26481512e-02 6.45416074e-01 8.11815126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.09710568099996 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:128.46, Y:102.37, Z:81.20 [[ 1.52840199e-01 -9.79051736e-01 -1.34527218e-01 1.28463260e+02] [ 6.32939186e-01 2.01521053e-01 -7.47514048e-01 1.02370870e+02] [ 7.58964993e-01 2.91026479e-02 6.50480726e-01 8.11975811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.12710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:128.46, Y:102.39, Z:81.22 [[ 1.56076536e-01 -9.83621512e-01 -9.01600599e-02 1.28459941e+02] [ 6.28403935e-01 1.69305129e-01 -7.59239269e-01 1.02390281e+02] [ 7.62068639e-01 6.18424986e-02 6.44536186e-01 8.12181819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.15710568099996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:128.47, Y:102.41, Z:81.24 [[ 1.55074491e-01 -9.80784337e-01 -1.18380683e-01 1.28469809e+02] [ 6.23687982e-01 1.90127567e-01 -7.58198397e-01 1.02406245e+02] [ 7.66136544e-01 4.37446211e-02 6.41187339e-01 8.12432278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.18710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.48, Y:102.42, Z:81.26 [[ 1.56364166e-01 -9.80901714e-01 -1.15680921e-01 1.28477913e+02] [ 6.22093700e-01 1.88777907e-01 -7.59843622e-01 1.02419557e+02] [ 7.67169913e-01 4.68479416e-02 6.39730877e-01 8.12636073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.21710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.48, Y:102.44, Z:81.29 [[ 1.56049751e-01 -9.80589498e-01 -1.18712728e-01 1.28481514e+02] [ 6.21072988e-01 1.90863416e-01 -7.60157550e-01 1.02436958e+02] [ 7.68060427e-01 4.48931271e-02 6.38801838e-01 8.12862150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.24710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.50, Y:102.44, Z:81.32 [[ 1.50259518e-01 -9.71063558e-01 -1.85627699e-01 1.28495656e+02] [ 6.18010649e-01 2.38811319e-01 -7.49020688e-01 1.02441441e+02] [ 7.71676691e-01 -2.17240665e-03 6.36011294e-01 8.13196679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.49, Y:102.46, Z:81.34 [[ 1.45760767e-01 -9.80260790e-01 -1.33576131e-01 1.28494411e+02] [ 6.24187855e-01 1.95875043e-01 -7.56321683e-01 1.02460812e+02] [ 7.67556721e-01 2.68654299e-02 6.40417777e-01 8.13387279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.30710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.49, Y:102.49, Z:81.35 [[ 1.43979675e-01 -9.85758596e-01 -8.68898318e-02 1.28494004e+02] [ 6.31458019e-01 1.59124597e-01 -7.58907196e-01 1.02488784e+02] [ 7.61925602e-01 5.43999306e-02 6.45375879e-01 8.13509694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.3371056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:128.51, Y:102.50, Z:81.37 [[ 1.39750537e-01 -9.82336092e-01 -1.24441113e-01 1.28510989e+02] [ 6.31859832e-01 1.85231989e-01 -7.52623587e-01 1.02500248e+02] [ 7.62379787e-01 2.65502091e-02 6.46584988e-01 8.13719846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.36710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.51, Y:102.51, Z:81.40 [[ 1.31692682e-01 -9.83452386e-01 -1.24412390e-01 1.28514702e+02] [ 6.20027853e-01 1.79644097e-01 -7.63736512e-01 1.02506803e+02] [ 7.73448446e-01 2.34393631e-02 6.33425684e-01 8.14018832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.3971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.52, Y:102.53, Z:81.41 [[ 1.29630620e-01 -9.86983672e-01 -9.51794837e-02 1.28521783e+02] [ 6.28919505e-01 1.56051736e-01 -7.61648286e-01 1.02531988e+02] [ 7.66587346e-01 3.88727055e-02 6.40962366e-01 8.14130992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.42710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:102.54, Z:81.45 [[ 1.19976738e-01 -9.76740599e-01 -1.77717145e-01 1.28539192e+02] [ 6.29512789e-01 2.13268408e-01 -7.47148068e-01 1.02535283e+02] [ 7.67671304e-01 -2.22348274e-02 6.40457946e-01 8.14482311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.4571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:102.56, Z:81.47 [[ 1.19494785e-01 -9.84214931e-01 -1.30544882e-01 1.28537786e+02] [ 6.30744933e-01 1.76798776e-01 -7.55581248e-01 1.02556762e+02] [ 7.66734521e-01 7.94749633e-03 6.41915112e-01 8.14662794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.48710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:102.57, Z:81.49 [[ 1.22260110e-01 -9.83952751e-01 -1.29959414e-01 1.28544104e+02] [ 6.30918323e-01 1.78130070e-01 -7.55123664e-01 1.02572502e+02] [ 7.66155686e-01 1.03277265e-02 6.42572021e-01 8.14874945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.5171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.55, Y:102.59, Z:81.51 [[ 1.24480959e-01 -9.83743838e-01 -1.29431653e-01 1.28547112e+02] [ 6.30794909e-01 1.79153218e-01 -7.54984707e-01 1.02589983e+02] [ 7.65899650e-01 1.23363923e-02 6.42841769e-01 8.15081951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.54710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:102.62, Z:81.52 [[ 1.29675522e-01 -9.88068196e-01 -8.30993283e-02 1.28544749e+02] [ 6.36584810e-01 1.47214317e-01 -7.57025577e-01 1.02620712e+02] [ 7.60226307e-01 4.52679169e-02 6.48079299e-01 8.15197342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.5771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.56, Y:102.62, Z:81.55 [[ 1.30372301e-01 -9.76467502e-01 -1.71797206e-01 1.28561145e+02] [ 6.30895202e-01 2.15373075e-01 -7.45376202e-01 1.02620756e+02] [ 7.64836131e-01 -1.12096225e-02 6.44127345e-01 8.15519609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.60710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.56, Y:102.65, Z:81.56 [[ 1.30069698e-01 -9.85849544e-01 -1.05747576e-01 1.28556871e+02] [ 6.34172619e-01 1.64703794e-01 -7.55445398e-01 1.02650920e+02] [ 7.62172528e-01 3.11983377e-02 6.46621760e-01 8.15628247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.6371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.57, Y:102.66, Z:81.59 [[ 1.27887676e-01 -9.80598470e-01 -1.48564409e-01 1.28567111e+02] [ 6.31296509e-01 1.96015091e-01 -7.50361781e-01 1.02658587e+02] [ 7.64924480e-01 2.17383084e-03 6.44116305e-01 8.15889505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.66710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.57, Y:102.68, Z:81.61 [[ 1.25957443e-01 -9.83837472e-01 -1.27273531e-01 1.28569708e+02] [ 6.31810215e-01 1.78467828e-01 -7.54297744e-01 1.02678120e+02] [ 7.64820616e-01 1.45966988e-02 6.44077916e-01 8.16083147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.6971056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.57, Y:102.69, Z:81.62 [[ 1.28788597e-01 -9.85010406e-01 -1.14751896e-01 1.28571450e+02] [ 6.27604156e-01 1.70552779e-01 -7.59621467e-01 1.02694377e+02] [ 7.67806304e-01 2.58118164e-02 6.40161877e-01 8.16249383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.72710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:128.57, Y:102.72, Z:81.64 [[ 1.26114612e-01 -9.87489464e-01 -9.46554943e-02 1.28570552e+02] [ 6.32647131e-01 1.53556689e-01 -7.59063865e-01 1.02722626e+02] [ 7.64102554e-01 3.58455179e-02 6.44098118e-01 8.16425238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.7571056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:128.58, Y:102.73, Z:81.67 [[ 1.23687479e-01 -9.80540020e-01 -1.52455493e-01 1.28583142e+02] [ 6.32146235e-01 1.96285166e-01 -7.49575394e-01 1.02727789e+02] [ 7.64913423e-01 -3.66107528e-03 6.44122699e-01 8.16695360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.78710568099996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:128.58, Y:102.75, Z:81.69 [[ 1.22016396e-01 -9.84601811e-01 -1.25184955e-01 1.28583792e+02] [ 6.34537745e-01 1.74368950e-01 -7.52965683e-01 1.02746954e+02] [ 7.63199744e-01 1.24395798e-02 6.46042883e-01 8.16885366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.81710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.59, Y:102.76, Z:81.70 [[ 1.20965516e-01 -9.87670475e-01 -9.93698935e-02 1.28587025e+02] [ 6.31014966e-01 1.53785535e-01 -7.60374988e-01 1.02758893e+02] [ 7.66281578e-01 2.92752631e-02 6.41837598e-01 8.17043554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.84710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:128.59, Y:102.78, Z:81.73 [[ 1.13198098e-01 -9.88663463e-01 -9.86445509e-02 1.28591786e+02] [ 6.31527683e-01 1.48241721e-01 -7.61050050e-01 1.02776244e+02] [ 7.67045616e-01 2.38526534e-02 6.41149027e-01 8.17251010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.87710568099993 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:128.60, Y:102.80, Z:81.75 [[ 1.06868708e-01 -9.85585701e-01 -1.31148410e-01 1.28599532e+02] [ 6.39590198e-01 1.69135503e-01 -7.49878363e-01 1.02795132e+02] [ 7.61251245e-01 -3.74270603e-03 6.48446246e-01 8.17490322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.90710568099996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:128.60, Y:102.81, Z:81.77 [[ 1.01185296e-01 -9.87149586e-01 -1.23681978e-01 1.28603191e+02] [ 6.41745610e-01 1.59761156e-01 -7.50092624e-01 1.02812183e+02] [ 7.60213199e-01 -3.47402258e-03 6.49664393e-01 8.17680984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.93710568099993 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:128.61, Y:102.83, Z:81.79 [[ 9.82560590e-02 -9.87513836e-01 -1.23134768e-01 1.28607505e+02] [ 6.42260070e-01 1.57440454e-01 -7.50142991e-01 1.02828846e+02] [ 7.60162976e-01 -5.37845056e-03 6.49710183e-01 8.17887820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.96710568099996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:128.61, Y:102.85, Z:81.81 [[ 9.60603943e-02 -9.89301797e-01 -1.09792332e-01 1.28610947e+02] [ 6.39961269e-01 1.45866645e-01 -7.54435217e-01 1.02845340e+02] [ 7.62379154e-01 2.20850442e-03 6.47126841e-01 8.18072880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.99710568099994 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:128.61, Y:102.86, Z:81.83 [[ 9.35187774e-02 -9.90052941e-01 -1.05116181e-01 1.28610423e+02] [ 6.37937401e-01 1.40645366e-01 -7.57135888e-01 1.02863089e+02] [ 7.64388717e-01 3.74887931e-03 6.44744783e-01 8.18290605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.0271056809999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:128.61, Y:102.88, Z:81.85 [[ 9.48239124e-02 -9.88528706e-01 -1.17556039e-01 1.28613787e+02] [ 6.38175234e-01 1.50994030e-01 -7.54939185e-01 1.02878175e+02] [ 7.64029316e-01 -3.43506580e-03 6.45172383e-01 8.18514498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05710568099994 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:128.61, Y:102.90, Z:81.87 [[ 1.00472912e-01 -9.88499037e-01 -1.13025873e-01 1.28613810e+02] [ 6.37805775e-01 1.51179660e-01 -7.55214210e-01 1.02895076e+02] [ 7.63615733e-01 3.79001659e-03 6.45659855e-01 8.18726952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.0871056809999 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:128.61, Y:102.91, Z:81.89 [[ 1.04345651e-01 -9.88220931e-01 -1.11943633e-01 1.28614582e+02] [ 6.34918948e-01 1.52827470e-01 -7.57312151e-01 1.02911817e+02] [ 7.65499781e-01 7.94709608e-03 6.43387076e-01 8.18942668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11710568099994 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:128.61, Y:102.93, Z:81.91 [[ 1.14648831e-01 -9.85102336e-01 -1.28175790e-01 1.28614854e+02] [ 6.33584594e-01 1.71888265e-01 -7.54337449e-01 1.02929659e+02] [ 7.65131497e-01 5.27370105e-03 6.43852452e-01 8.19139804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.1471056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:128.62, Y:102.95, Z:81.93 [[ 1.26499288e-01 -9.83577694e-01 -1.28735583e-01 1.28616938e+02] [ 6.33359345e-01 1.79966607e-01 -7.52640659e-01 1.02953820e+02] [ 7.63448669e-01 1.36726228e-02 6.45723771e-01 8.19327965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.62, Y:102.97, Z:81.95 [[ 1.30223632e-01 -9.81347942e-01 -1.41414364e-01 1.28619183e+02] [ 6.29537402e-01 1.92028487e-01 -7.52866336e-01 1.02966937e+02] [ 7.65979416e-01 9.01535731e-03 6.42801881e-01 8.19547401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.2071056809999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:128.61, Y:102.99, Z:81.97 [[ 1.36182747e-01 -9.86426962e-01 -9.17393510e-02 1.28613745e+02] [ 6.21774756e-01 1.57196414e-01 -7.67258392e-01 1.02989781e+02] [ 7.71265461e-01 4.74461426e-02 6.34742823e-01 8.19728656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.23710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.62, Y:103.00, Z:82.00 [[ 1.36400874e-01 -9.81208795e-01 -1.36470153e-01 1.28624275e+02] [ 6.24215841e-01 1.92097655e-01 -7.57266845e-01 1.03004452e+02] [ 7.69252485e-01 1.81050287e-02 6.38688361e-01 8.19974593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.2671056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.63, Y:103.02, Z:82.02 [[ 1.40252272e-01 -9.83568311e-01 -1.13677960e-01 1.28626325e+02] [ 6.21849780e-01 1.76847513e-01 -7.62907471e-01 1.03019984e+02] [ 7.70475276e-01 3.63088921e-02 6.36435003e-01 8.20172849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.29710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.64, Y:103.03, Z:82.04 [[ 1.47047354e-01 -9.78205309e-01 -1.46599622e-01 1.28637557e+02] [ 6.25719996e-01 2.06780790e-01 -7.52141071e-01 1.03033910e+02] [ 7.66062375e-01 1.88700394e-02 6.42489190e-01 8.20384923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.3271056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:128.63, Y:103.06, Z:82.06 [[ 1.47019059e-01 -9.84575301e-01 -9.48518446e-02 1.28634276e+02] [ 6.21410302e-01 1.66544696e-01 -7.65579585e-01 1.03058434e+02] [ 7.69567822e-01 5.36128772e-02 6.36310479e-01 8.20582695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.35710568099995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:128.64, Y:103.07, Z:82.08 [[ 1.49526957e-01 -9.82767380e-01 -1.08673669e-01 1.28644347e+02] [ 6.16297218e-01 1.78582981e-01 -7.66997951e-01 1.03071964e+02] [ 7.73187835e-01 4.77115896e-02 6.32379772e-01 8.20803843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.3871056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.65, Y:103.08, Z:82.10 [[ 1.50462142e-01 -9.78419204e-01 -1.41622755e-01 1.28654964e+02] [ 6.18539051e-01 2.04918794e-01 -7.58562938e-01 1.03084554e+02] [ 7.71213710e-01 2.65357999e-02 6.36023007e-01 8.21021928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.41710568099995 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:128.67, Y:103.10, Z:82.12 [[ 1.50444114e-01 -9.77141683e-01 -1.50202198e-01 1.28667949e+02] [ 6.23504376e-01 2.11685976e-01 -7.52616330e-01 1.03100369e+02] [ 7.67208486e-01 1.95749696e-02 6.41099025e-01 8.21217323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.4471056809999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:128.67, Y:103.12, Z:82.14 [[ 1.47173375e-01 -9.82284405e-01 -1.16005799e-01 1.28670045e+02] [ 6.25566557e-01 1.83285087e-01 -7.58335717e-01 1.03121300e+02] [ 7.66163482e-01 3.90374788e-02 6.41458958e-01 8.21394683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.47710568099995 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:128.68, Y:103.14, Z:82.16 [[ 1.39370361e-01 -9.83496138e-01 -1.15374383e-01 1.28681453e+02] [ 6.28074339e-01 1.77872546e-01 -7.57551307e-01 1.03136878e+02] [ 7.65570720e-01 3.31165099e-02 6.42498848e-01 8.21603821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.5071056809999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:128.69, Y:103.15, Z:82.18 [[ 1.33576794e-01 -9.84361508e-01 -1.14846251e-01 1.28691480e+02] [ 6.29402233e-01 1.73775679e-01 -7.57400055e-01 1.03152401e+02] [ 7.65512946e-01 2.88865842e-02 6.42771729e-01 8.21819756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.53710568099996 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:128.69, Y:103.18, Z:82.20 [[ 1.31283161e-01 -9.88562282e-01 -7.42249719e-02 1.28691655e+02] [ 6.29208686e-01 1.40950440e-01 -7.64349006e-01 1.03181156e+02] [ 7.66068640e-01 5.36431568e-02 6.40516394e-01 8.21974573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.56710568099993 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:128.71, Y:103.18, Z:82.23 [[ 1.28777969e-01 -9.79478794e-01 -1.55040401e-01 1.28711036e+02] [ 6.26293335e-01 2.01547207e-01 -7.53083914e-01 1.03181351e+02] [ 7.68877684e-01 -1.20152388e-04 6.39395881e-01 8.22290581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.59710568099996 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:128.71, Y:103.20, Z:82.25 [[ 1.29654790e-01 -9.84390760e-01 -1.19014563e-01 1.28711071e+02] [ 6.26003489e-01 1.74346461e-01 -7.60080879e-01 1.03203271e+02] [ 7.68966362e-01 2.40445953e-02 6.38836905e-01 8.22456561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.62710568099993 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:128.72, Y:103.23, Z:82.26 [[ 1.34085896e-01 -9.86835346e-01 -9.04266147e-02 1.28717481e+02] [ 6.26508864e-01 1.55117975e-01 -7.63822661e-01 1.03231681e+02] [ 7.67793993e-01 4.57647704e-02 6.39060224e-01 8.22599728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.65710568099996 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:128.73, Y:103.24, Z:82.29 [[ 1.35377605e-01 -9.81992254e-01 -1.31772973e-01 1.28728324e+02] [ 6.22705330e-01 1.87775331e-01 -7.59591007e-01 1.03241572e+02] [ 7.70656199e-01 2.07758786e-02 6.36912385e-01 8.22866766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.68710568099993 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:128.74, Y:103.24, Z:82.31 [[ 1.40214510e-01 -9.76196411e-01 -1.65470416e-01 1.28737031e+02] [ 6.18012419e-01 2.16856936e-01 -7.55667730e-01 1.03244236e+02] [ 7.73563534e-01 3.69280828e-03 6.33707995e-01 8.23140413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.71710568099996 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:128.73, Y:103.28, Z:82.32 [[ 1.44393877e-01 -9.86655014e-01 -7.52481990e-02 1.28728983e+02] [ 6.26946108e-01 1.50055030e-01 -7.64475026e-01 1.03283328e+02] [ 7.65564489e-01 6.32089477e-02 6.40246549e-01 8.23205281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.74710568099994 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:128.74, Y:103.29, Z:82.35 [[ 1.44089905e-01 -9.83133485e-01 -1.12635031e-01 1.28739401e+02] [ 6.24192255e-01 1.78620226e-01 -7.60577966e-01 1.03294134e+02] [ 7.67868562e-01 3.92856923e-02 6.39401679e-01 8.23482199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7771056809999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:128.75, Y:103.31, Z:82.37 [[ 1.45806956e-01 -9.82322493e-01 -1.17400389e-01 1.28746306e+02] [ 6.19840142e-01 1.83197201e-01 -7.63044549e-01 1.03309848e+02] [ 7.71063247e-01 3.84877288e-02 6.35594340e-01 8.23700033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.80710568099994 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:128.76, Y:103.31, Z:82.40 [[ 1.46229398e-01 -9.75440329e-01 -1.64721366e-01 1.28755712e+02] [ 6.14542651e-01 2.20056696e-01 -7.57570050e-01 1.03309734e+02] [ 7.75212418e-01 9.55070754e-03 6.31628444e-01 8.23984380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.8371056809999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:128.74, Y:103.36, Z:82.40 [[ 1.43915343e-01 -9.87781898e-01 -5.97937741e-02 1.28743361e+02] [ 6.26025473e-01 1.37671687e-01 -7.67553656e-01 1.03357275e+02] [ 7.66407517e-01 7.30303221e-02 6.38189698e-01 8.23970152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.86710568099994 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:128.76, Y:103.36, Z:82.43 [[ 1.39781881e-01 -9.83547905e-01 -1.14431395e-01 1.28757969e+02] [ 6.21834487e-01 1.77129848e-01 -7.62854435e-01 1.03361268e+02] [ 7.70573097e-01 3.54758396e-02 6.36363550e-01 8.24303120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.8971056809999 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:128.77, Y:103.36, Z:82.46 [[ 1.31717127e-01 -9.77708180e-01 -1.63515480e-01 1.28773946e+02] [ 6.22711919e-01 2.09952996e-01 -7.53756993e-01 1.03357413e+02] [ 7.71284944e-01 -2.54033267e-03 6.36484943e-01 8.24632215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.92710568099994 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:128.77, Y:103.38, Z:82.48 [[ 1.27329362e-01 -9.85777971e-01 -1.09676911e-01 1.28771853e+02] [ 6.26410013e-01 1.65655937e-01 -7.61687998e-01 1.03383186e+02] [ 7.69023881e-01 2.82825316e-02 6.38594056e-01 8.24770908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.9571056809999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:128.78, Y:103.40, Z:82.50 [[ 1.19213991e-01 -9.86858199e-01 -1.09082171e-01 1.28778066e+02] [ 6.28816240e-01 1.60067869e-01 -7.60899740e-01 1.03399994e+02] [ 7.68360697e-01 2.21172541e-02 6.39634791e-01 8.24970578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.98710568099995 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:128.78, Y:103.42, Z:82.52 [[ 1.14594508e-01 -9.87458802e-01 -1.08596562e-01 1.28783760e+02] [ 6.29493152e-01 1.56747638e-01 -7.61031241e-01 1.03418700e+02] [ 7.68509252e-01 1.88492084e-02 6.39560972e-01 8.25167213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.0171056809999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:128.79, Y:103.43, Z:82.54 [[ 1.12421316e-01 -9.87746263e-01 -1.08253254e-01 1.28788209e+02] [ 6.28707762e-01 1.55071848e-01 -7.62023144e-01 1.03434415e+02] [ 7.69472545e-01 1.76079831e-02 6.38437124e-01 8.25356863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.04710568099995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:128.79, Y:103.45, Z:82.56 [[ 1.11034323e-01 -9.87951518e-01 -1.07810838e-01 1.28793356e+02] [ 6.28011354e-01 1.53827609e-01 -7.62849137e-01 1.03451089e+02] [ 7.70242247e-01 1.69960074e-02 6.37524915e-01 8.25567797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.0771056809999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:128.80, Y:103.47, Z:82.58 [[ 1.11334220e-01 -9.87969249e-01 -1.07338037e-01 1.28795820e+02] [ 6.27809107e-01 1.53649603e-01 -7.63051456e-01 1.03467472e+02] [ 7.70363821e-01 1.75659418e-02 6.37362550e-01 8.25765051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.10710568099995 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:128.80, Y:103.49, Z:82.60 [[ 1.10960767e-01 -9.88052577e-01 -1.06957065e-01 1.28797974e+02] [ 6.27873960e-01 1.53118206e-01 -7.63104911e-01 1.03485179e+02] [ 7.70364848e-01 1.75191508e-02 6.37362598e-01 8.25977472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.1371056809999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:128.80, Y:103.50, Z:82.62 [[ 1.13231917e-01 -9.87821236e-01 -1.06713352e-01 1.28800772e+02] [ 6.25660516e-01 1.54325593e-01 -7.64678056e-01 1.03501887e+02] [ 7.71833824e-01 1.98196317e-02 6.35515327e-01 8.26189131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.16710568099995 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:128.80, Y:103.52, Z:82.64 [[ 1.14984683e-01 -9.87660914e-01 -1.06322351e-01 1.28802858e+02] [ 6.24605063e-01 1.55111120e-01 -7.65381641e-01 1.03519398e+02] [ 7.72429310e-01 2.15976869e-02 6.34733410e-01 8.26402373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.1971056809999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:128.80, Y:103.54, Z:82.66 [[ 1.17984980e-01 -9.87365441e-01 -1.05778212e-01 1.28803110e+02] [ 6.24724814e-01 1.56604954e-01 -7.64979605e-01 1.03537553e+02] [ 7.71879817e-01 2.41738299e-02 6.35308724e-01 8.26600541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.22710568099995 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:128.80, Y:103.55, Z:82.68 [[ 1.19120855e-01 -9.87288028e-01 -1.05226292e-01 1.28804775e+02] [ 6.25230438e-01 1.56918451e-01 -7.64502125e-01 1.03554967e+02] [ 7.71295742e-01 2.52774661e-02 6.35974785e-01 8.26814490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.2571056809999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:128.81, Y:103.57, Z:82.70 [[ 1.22076478e-01 -9.86993526e-01 -1.04599776e-01 1.28808437e+02] [ 6.26082557e-01 1.58352373e-01 -7.63508453e-01 1.03570773e+02] [ 7.70141523e-01 2.77183277e-02 6.37270530e-01 8.27025679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.28710568099996 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:128.81, Y:103.59, Z:82.72 [[ 1.24504271e-01 -9.86742103e-01 -1.04109114e-01 1.28812826e+02] [ 6.26788204e-01 1.59554973e-01 -7.62678673e-01 1.03585913e+02] [ 7.69178285e-01 2.97023876e-02 6.38343587e-01 8.27235160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.31710568099993 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:128.82, Y:103.60, Z:82.74 [[ 1.26401194e-01 -9.86579707e-01 -1.03359659e-01 1.28817174e+02] [ 6.28803061e-01 1.60275349e-01 -7.60866955e-01 1.03602378e+02] [ 7.67221903e-01 3.11816216e-02 6.40623335e-01 8.27436674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.34710568099996 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:128.82, Y:103.62, Z:82.76 [[ 1.27361493e-01 -9.86504964e-01 -1.02893174e-01 1.28821200e+02] [ 6.28261269e-01 1.60511337e-01 -7.61264664e-01 1.03618737e+02] [ 7.67506892e-01 3.23120082e-02 6.40225824e-01 8.27647202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.37710568099993 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:128.82, Y:103.65, Z:82.77 [[ 1.30237282e-01 -9.89081729e-01 -6.89607462e-02 1.28819963e+02] [ 6.31566880e-01 1.36375673e-01 -7.63233223e-01 1.03649015e+02] [ 7.64304603e-01 5.58480972e-02 6.42432458e-01 8.27731487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.40710568099996 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:128.83, Y:103.65, Z:82.81 [[ 1.32934405e-01 -9.82191576e-01 -1.32771054e-01 1.28832275e+02] [ 6.24020679e-01 1.87017438e-01 -7.58698010e-01 1.03645980e+02] [ 7.70017296e-01 1.80051859e-02 6.37768906e-01 8.28100791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.43710568099993 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:128.83, Y:103.69, Z:82.81 [[ 1.37454872e-01 -9.88199428e-01 -6.75873402e-02 1.28825172e+02] [ 6.29621898e-01 1.39845889e-01 -7.64211615e-01 1.03685191e+02] [ 7.64645293e-01 6.24901400e-02 6.41414498e-01 8.28122589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.46710568099996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:128.84, Y:103.68, Z:82.85 [[ 1.39592108e-01 -9.81364251e-01 -1.32053967e-01 1.28839293e+02] [ 6.21174769e-01 1.90642026e-01 -7.60129939e-01 1.03680018e+02] [ 7.71139385e-01 2.40795478e-02 6.36210834e-01 8.28498993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.49710568099994 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:128.84, Y:103.70, Z:82.87 [[ 1.42860978e-01 -9.84535547e-01 -1.01392791e-01 1.28841375e+02] [ 6.20297342e-01 1.68891725e-01 -7.65967880e-01 1.03700993e+02] [ 7.71247009e-01 4.65332419e-02 6.34832819e-01 8.28651283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.5271056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.84, Y:103.73, Z:82.87 [[ 1.42793889e-01 -9.87374942e-01 -6.85611337e-02 1.28839691e+02] [ 6.26297953e-01 1.43778997e-01 -7.66210464e-01 1.03732537e+02] [ 7.66394663e-01 6.64704744e-02 6.38921667e-01 8.28729148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55710568099994 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:128.85, Y:103.73, Z:82.91 [[ 1.42931218e-01 -9.81513121e-01 -1.27289669e-01 1.28853128e+02] [ 6.19785263e-01 1.89033305e-01 -7.61664387e-01 1.03729465e+02] [ 7.71645576e-01 2.99733575e-02 6.35346128e-01 8.29098408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.5871056809999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:128.86, Y:103.75, Z:82.92 [[ 1.41748594e-01 -9.84809600e-01 -1.00286533e-01 1.28855629e+02] [ 6.19602146e-01 1.67276910e-01 -7.66884356e-01 1.03751363e+02] [ 7.72010697e-01 4.65670287e-02 6.33901408e-01 8.29246978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61710568099994 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:128.86, Y:103.77, Z:82.94 [[ 1.39840194e-01 -9.85128761e-01 -9.98300748e-02 1.28860066e+02] [ 6.19511474e-01 1.65696393e-01 -7.67300618e-01 1.03768827e+02] [ 7.72431391e-01 4.54535901e-02 6.33469587e-01 8.29442466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.6471056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:128.87, Y:103.79, Z:82.96 [[ 1.33410470e-01 -9.86050981e-01 -9.95244153e-02 1.28867228e+02] [ 6.18955229e-01 1.61327824e-01 -7.68679229e-01 1.03786016e+02] [ 7.74012966e-01 4.09486999e-02 6.31844232e-01 8.29627953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67710568099994 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.87, Y:103.80, Z:82.98 [[ 1.29346494e-01 -9.86634490e-01 -9.91053406e-02 1.28872115e+02] [ 6.18885814e-01 1.58413784e-01 -7.69340901e-01 1.03803140e+02] [ 7.74757919e-01 3.81766592e-02 6.31104357e-01 8.29828814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.7071056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:128.88, Y:103.82, Z:83.00 [[ 1.17306689e-01 -9.88205735e-01 -9.84305095e-02 1.28881189e+02] [ 6.22825072e-01 1.50407214e-01 -7.67767282e-01 1.03818702e+02] [ 7.73516690e-01 2.87592483e-02 6.33123081e-01 8.30035838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:128.89, Y:103.83, Z:83.02 [[ 1.09689249e-01 -9.89139261e-01 -9.78355274e-02 1.28887159e+02] [ 6.25253353e-01 1.45180533e-01 -7.66799099e-01 1.03834094e+02] [ 7.72674908e-01 2.29376255e-02 6.34387383e-01 8.30246634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.7671056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.90, Y:103.85, Z:83.04 [[ 9.24541187e-02 -9.90952440e-01 -9.72907891e-02 1.28895174e+02] [ 6.28508737e-01 1.33863240e-01 -7.66196712e-01 1.03848779e+02] [ 7.72288161e-01 9.68993081e-03 6.35198474e-01 8.30441337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:128.90, Y:103.86, Z:83.06 [[ 7.76813095e-02 -9.92269287e-01 -9.67846853e-02 1.28901404e+02] [ 6.31153321e-01 1.24093012e-01 -7.65667297e-01 1.03863598e+02] [ 7.71758447e-01 -1.60793728e-03 6.35913764e-01 8.30631265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.8271056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:128.91, Y:103.88, Z:83.08 [[ 7.30770511e-02 -9.92661715e-01 -9.63455502e-02 1.28905031e+02] [ 6.31807462e-01 1.20824296e-01 -7.65650587e-01 1.03879046e+02] [ 7.71672907e-01 -4.92035051e-03 6.36000562e-01 8.30829876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.91, Y:103.90, Z:83.10 [[ 6.91143675e-02 -9.92992246e-01 -9.58624199e-02 1.28907039e+02] [ 6.32116721e-01 1.17930672e-01 -7.65846465e-01 1.03895704e+02] [ 7.71784721e-01 -7.66524444e-03 6.35837706e-01 8.31046970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.8871056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:128.90, Y:103.92, Z:83.12 [[ 6.76014402e-02 -9.94466958e-01 -8.04084219e-02 1.28904325e+02] [ 6.28222859e-01 1.05037651e-01 -7.70910586e-01 1.03916656e+02] [ 7.75091017e-01 1.60025718e-03 6.31847572e-01 8.31246647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:128.90, Y:103.93, Z:83.15 [[ 7.29410709e-02 -9.92387788e-01 -9.92274034e-02 1.28902483e+02] [ 6.27109808e-01 1.22999931e-01 -7.69158179e-01 1.03929148e+02] [ 7.75508148e-01 -6.12325667e-03 6.31307863e-01 8.31480107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.9471056809999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:128.90, Y:103.95, Z:83.17 [[ 8.24174856e-02 -9.90320505e-01 -1.11681045e-01 1.28898325e+02] [ 6.27789662e-01 1.38623599e-01 -7.65939709e-01 1.03945843e+02] [ 7.74007428e-01 -6.98538042e-03 6.33137984e-01 8.31701344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:128.90, Y:103.96, Z:83.19 [[ 8.88142272e-02 -9.90792734e-01 -1.02185083e-01 1.28895915e+02] [ 6.26678011e-01 1.35324664e-01 -7.67438536e-01 1.03963655e+02] [ 7.74200687e-01 4.12231623e-03 6.32926775e-01 8.31880087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.0071056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:128.89, Y:103.99, Z:83.21 [[ 1.00671734e-01 -9.92367131e-01 -7.12227405e-02 1.28886937e+02] [ 6.20986820e-01 1.18604185e-01 -7.74795726e-01 1.03987799e+02] [ 7.77329127e-01 3.37716460e-02 6.28186998e-01 8.32063398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.03710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:128.89, Y:104.01, Z:83.22 [[ 1.13337349e-01 -9.90551552e-01 -7.72157260e-02 1.28885994e+02] [ 6.30168299e-01 1.31751844e-01 -7.65198907e-01 1.04013791e+02] [ 7.68142279e-01 3.80667132e-02 6.39146591e-01 8.32232352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.06710568099993 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:128.89, Y:104.01, Z:83.26 [[ 1.15024394e-01 -9.84088010e-01 -1.35425913e-01 1.28892088e+02] [ 6.21930787e-01 1.77647262e-01 -7.62655588e-01 1.04008776e+02] [ 7.74578263e-01 3.49845220e-03 6.32468399e-01 8.32597714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.09710568099996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:128.88, Y:104.04, Z:83.27 [[ 1.17269717e-01 -9.88845910e-01 -9.18236322e-02 1.28884709e+02] [ 6.22848742e-01 1.45249968e-01 -7.68740458e-01 1.04038511e+02] [ 7.73503237e-01 3.29577423e-02 6.32934854e-01 8.32712549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.12710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.89, Y:104.06, Z:83.29 [[ 1.16651548e-01 -9.88951704e-01 -9.14709990e-02 1.28885769e+02] [ 6.21410775e-01 1.44521607e-01 -7.70040359e-01 1.04056647e+02] [ 7.74752261e-01 3.29853354e-02 6.31403914e-01 8.32912289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.15710568099996 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:128.89, Y:104.07, Z:83.31 [[ 1.13893594e-01 -9.89290984e-01 -9.12775915e-02 1.28886673e+02] [ 6.18591722e-01 1.42508204e-01 -7.72680848e-01 1.04074807e+02] [ 7.77414002e-01 3.15398363e-02 6.28197985e-01 8.33111576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.18710568099993 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:128.89, Y:104.09, Z:83.33 [[ 1.12863224e-01 -9.89451573e-01 -9.08156217e-02 1.28887978e+02] [ 6.18180730e-01 1.41480764e-01 -7.73198408e-01 1.04091184e+02] [ 7.77891045e-01 3.11251975e-02 6.27627871e-01 8.33315570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.21710568099996 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:128.88, Y:104.13, Z:83.34 [[ 1.12682443e-01 -9.92156004e-01 -5.41214530e-02 1.28883666e+02] [ 6.25013276e-01 1.13117363e-01 -7.72374823e-01 1.04125331e+02] [ 7.72438393e-01 5.32064555e-02 6.32857015e-01 8.33417390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.24710568099994 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:128.89, Y:104.12, Z:83.38 [[ 1.09632290e-01 -9.85593218e-01 -1.28789636e-01 1.28894051e+02] [ 6.18351216e-01 1.69073089e-01 -7.67499879e-01 1.04117769e+02] [ 7.78217537e-01 4.50554112e-03 6.27978634e-01 8.33803828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2771056809999 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:128.88, Y:104.16, Z:83.38 [[ 1.07761179e-01 -9.93090901e-01 -4.64541752e-02 1.28880315e+02] [ 6.30386147e-01 1.04386376e-01 -7.69231298e-01 1.04160251e+02] [ 7.68765786e-01 5.36092029e-02 6.37279546e-01 8.33810920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.30710568099994 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:128.89, Y:104.15, Z:83.42 [[ 1.05796301e-01 -9.86621564e-01 -1.24036415e-01 1.28894580e+02] [ 6.22749730e-01 1.62984870e-01 -7.65257281e-01 1.04150738e+02] [ 7.75235395e-01 3.71774622e-03 6.31661509e-01 8.34234759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.3371056809999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:128.89, Y:104.18, Z:83.44 [[ 1.05342185e-01 -9.90488281e-01 -8.85211209e-02 1.28891113e+02] [ 6.23494763e-01 1.35132281e-01 -7.70060743e-01 1.04175602e+02] [ 7.74698202e-01 2.59274262e-02 6.31799386e-01 8.34391570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.36710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:128.89, Y:104.21, Z:83.45 [[ 1.05702577e-01 -9.92797892e-01 -5.63853854e-02 1.28886858e+02] [ 6.26667916e-01 1.10532603e-01 -7.71407717e-01 1.04210440e+02] [ 7.72084379e-01 4.62048717e-02 6.33838167e-01 8.34492509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.3971056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.90, Y:104.21, Z:83.48 [[ 1.04705326e-01 -9.86875437e-01 -1.22937650e-01 1.28895306e+02] [ 6.17619792e-01 1.61415905e-01 -7.69734174e-01 1.04209439e+02] [ 7.79475841e-01 4.66654192e-03 6.26414908e-01 8.34818797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.42710568099994 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:128.89, Y:104.23, Z:83.50 [[ 1.04184003e-01 -9.90670052e-01 -8.78552338e-02 1.28891401e+02] [ 6.17692485e-01 1.33686442e-01 -7.74973502e-01 1.04233607e+02] [ 7.79488093e-01 2.64723242e-02 6.25857435e-01 8.34964853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.4571056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:128.89, Y:104.25, Z:83.52 [[ 1.02866141e-01 -9.90840486e-01 -8.74853660e-02 1.28893671e+02] [ 6.15937478e-01 1.32511407e-01 -7.76570506e-01 1.04250605e+02] [ 7.81050306e-01 2.59972955e-02 6.23926727e-01 8.35169640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.48710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:128.89, Y:104.27, Z:83.54 [[ 1.01914991e-01 -9.91992924e-01 -7.45880235e-02 1.28893092e+02] [ 6.13074862e-01 1.21679083e-01 -7.80598113e-01 1.04269521e+02] [ 7.83423607e-01 3.38266075e-02 6.20566848e-01 8.35368167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.5171056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.90, Y:104.28, Z:83.56 [[ 1.02056599e-01 -9.89844487e-01 -9.89562676e-02 1.28897780e+02] [ 6.17064801e-01 1.41016995e-01 -7.74173907e-01 1.04281021e+02] [ 7.80266289e-01 1.79471262e-02 6.25189906e-01 8.35622312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.54710568099995 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:128.90, Y:104.30, Z:83.58 [[ 1.05902912e-01 -9.90673494e-01 -8.57356531e-02 1.28895964e+02] [ 6.18139767e-01 1.33124958e-01 -7.74713479e-01 1.04299469e+02] [ 7.78901664e-01 2.90477971e-02 6.26473003e-01 8.35812021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.5771056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:128.90, Y:104.32, Z:83.60 [[ 1.07733814e-01 -9.90520171e-01 -8.52245005e-02 1.28896966e+02] [ 6.17845343e-01 1.33865567e-01 -7.74820716e-01 1.04316454e+02] [ 7.78884175e-01 3.08188305e-02 6.26410123e-01 8.36016520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.60710568099995 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:128.90, Y:104.33, Z:83.62 [[ 1.12040368e-01 -9.90086163e-01 -8.47133109e-02 1.28898426e+02] [ 6.17042795e-01 1.36141595e-01 -7.75063646e-01 1.04333154e+02] [ 7.78912797e-01 3.45666780e-02 6.26178888e-01 8.36214853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.6371056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.90, Y:104.35, Z:83.64 [[ 1.15307441e-01 -9.89756894e-01 -8.41753194e-02 1.28900688e+02] [ 6.16651173e-01 1.37758959e-01 -7.75089543e-01 1.04349837e+02] [ 7.78746123e-01 3.74667826e-02 6.26219383e-01 8.36426700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.66710568099995 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:128.90, Y:104.37, Z:83.66 [[ 1.16466052e-01 -9.89667750e-01 -8.36265691e-02 1.28903515e+02] [ 6.16966820e-01 1.38074682e-01 -7.74782115e-01 1.04366765e+02] [ 7.78323584e-01 3.86409959e-02 6.26673178e-01 8.36635222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.6971056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:128.91, Y:104.38, Z:83.68 [[ 1.16566035e-01 -9.89706593e-01 -8.30254182e-02 1.28906261e+02] [ 6.18065499e-01 1.37722155e-01 -7.73968764e-01 1.04383149e+02] [ 7.77436428e-01 3.89033238e-02 6.27757224e-01 8.36841268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.72710568099995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:128.91, Y:104.40, Z:83.71 [[ 1.16276089e-01 -9.89793557e-01 -8.23928779e-02 1.28908991e+02] [ 6.19323976e-01 1.37107525e-01 -7.73071368e-01 1.04400592e+02] [ 7.76477742e-01 3.88618304e-02 6.28945208e-01 8.37051774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.7571056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:128.92, Y:104.41, Z:83.73 [[ 1.15177423e-01 -9.89968450e-01 -8.18329324e-02 1.28915356e+02] [ 6.20279242e-01 1.36022373e-01 -7.72496975e-01 1.04414858e+02] [ 7.75878742e-01 3.82149419e-02 6.29723587e-01 8.37281337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.78710568099996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:128.92, Y:104.43, Z:83.75 [[ 1.13874930e-01 -9.90159406e-01 -8.13440317e-02 1.28919755e+02] [ 6.20494870e-01 1.34826568e-01 -7.72533438e-01 1.04430575e+02] [ 7.75898586e-01 3.74986369e-02 6.29742198e-01 8.37497242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.81710568099993 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:128.92, Y:104.45, Z:83.77 [[ 1.11320182e-01 -9.90484246e-01 -8.09245069e-02 1.28924099e+02] [ 6.19853422e-01 1.32852584e-01 -7.73389893e-01 1.04449639e+02] [ 7.76781534e-01 3.59325710e-02 6.28744223e-01 8.37691107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.84710568099996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:128.93, Y:104.47, Z:83.79 [[ 1.09272819e-01 -9.90751920e-01 -8.04368324e-02 1.28926309e+02] [ 6.19838381e-01 1.31177624e-01 -7.73687800e-01 1.04468619e+02] [ 7.77084186e-01 3.46852111e-02 6.28440215e-01 8.37889474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.87710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.93, Y:104.49, Z:83.81 [[ 1.04980994e-01 -9.91247040e-01 -8.00518345e-02 1.28932105e+02] [ 6.18877928e-01 1.28129416e-01 -7.74966427e-01 1.04486438e+02] [ 7.78440172e-01 3.18144325e-02 6.26912068e-01 8.38076257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.90710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:128.94, Y:104.50, Z:83.83 [[ 1.00490797e-01 -9.91747861e-01 -7.96101774e-02 1.28938459e+02] [ 6.18326994e-01 1.24938836e-01 -7.75926553e-01 1.04502111e+02] [ 7.79469902e-01 2.87483562e-02 6.25779677e-01 8.38285847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.93710568099993 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:128.94, Y:104.52, Z:83.85 [[ 9.41017540e-02 -9.92425334e-01 -7.89735109e-02 1.28942354e+02] [ 6.20479534e-01 1.20498300e-01 -7.74909870e-01 1.04518639e+02] [ 7.78556361e-01 2.39189307e-02 6.27118711e-01 8.38500556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.96710568099996 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:128.94, Y:104.53, Z:83.87 [[ 9.00135625e-02 -9.92855283e-01 -7.83322779e-02 1.28944972e+02] [ 6.22651590e-01 1.17486621e-01 -7.73629040e-01 1.04534862e+02] [ 7.77304674e-01 2.08633886e-02 6.28778310e-01 8.38710884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.99710568099994 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:128.95, Y:104.55, Z:83.89 [[ 8.00164343e-02 -9.93770406e-01 -7.75741557e-02 1.28947940e+02] [ 6.26671512e-01 1.10672982e-01 -7.71384669e-01 1.04550315e+02] [ 7.75164619e-01 1.31099373e-02 6.31623260e-01 8.38931983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.0271056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:128.95, Y:104.57, Z:83.91 [[ 7.96292096e-02 -9.93840619e-01 -7.70714796e-02 1.28949374e+02] [ 6.26721259e-01 1.10038725e-01 -7.71434989e-01 1.04568014e+02] [ 7.75164274e-01 1.31264237e-02 6.31623341e-01 8.39145339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05710568099994 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.95, Y:104.59, Z:83.93 [[ 7.33223139e-02 -9.95999960e-01 -5.10677734e-02 1.28947078e+02] [ 6.22901858e-01 8.57252424e-02 -7.77588875e-01 1.04588199e+02] [ 7.78856286e-01 2.52044047e-02 6.26695799e-01 8.39320163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.0871056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:128.96, Y:104.59, Z:83.96 [[ 6.51072258e-02 -9.92769461e-01 -1.00845660e-01 1.28956755e+02] [ 6.30551512e-01 1.19257373e-01 -7.66930551e-01 1.04594214e+02] [ 7.73411818e-01 -1.36556630e-02 6.33756801e-01 8.39609269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.95, Y:104.62, Z:83.97 [[ 6.33874324e-02 -9.96014217e-01 -6.27512036e-02 1.28952278e+02] [ 6.27080716e-01 8.86650686e-02 -7.73891647e-01 1.04616376e+02] [ 7.76370922e-01 9.70493472e-03 6.30201560e-01 8.39738462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.1471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.95, Y:104.64, Z:84.00 [[ 6.12610320e-02 -9.96431480e-01 -5.80636780e-02 1.28948820e+02] [ 6.26135219e-01 8.36679471e-02 -7.75212463e-01 1.04636029e+02] [ 7.77304171e-01 1.11346018e-02 6.29026428e-01 8.39959624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.95, Y:104.65, Z:84.02 [[ 6.26082069e-02 -9.95532285e-01 -7.06801319e-02 1.28949580e+02] [ 6.25396271e-01 9.43241470e-02 -7.74585347e-01 1.04650165e+02] [ 7.77791564e-01 4.29230882e-03 6.28507644e-01 8.40169058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.2071056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.95, Y:104.67, Z:84.04 [[ 6.56574623e-02 -9.93859862e-01 -8.90599405e-02 1.28950259e+02] [ 6.28479115e-01 1.10513328e-01 -7.69935586e-01 1.04666415e+02] [ 7.75050385e-01 -5.42029589e-03 6.31876191e-01 8.40385105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:128.95, Y:104.69, Z:84.06 [[ 6.89221706e-02 -9.94918226e-01 -7.33993119e-02 1.28945690e+02] [ 6.26825542e-01 1.00425277e-01 -7.72660665e-01 1.04686956e+02] [ 7.76105324e-01 7.24488668e-03 6.30561684e-01 8.40554100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.2671056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:128.95, Y:104.70, Z:84.08 [[ 7.03382179e-02 -9.94850298e-01 -7.29754683e-02 1.28945208e+02] [ 6.25416006e-01 1.00973988e-01 -7.73730620e-01 1.04704990e+02] [ 7.77114763e-01 8.78280711e-03 6.29297631e-01 8.40756607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29710568099995 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:128.94, Y:104.72, Z:84.09 [[ 7.42399742e-02 -9.95416313e-01 -6.02892242e-02 1.28941119e+02] [ 6.19382716e-01 9.34073256e-02 -7.79512747e-01 1.04723589e+02] [ 7.81571160e-01 2.05289028e-02 6.23478217e-01 8.40930903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.3271056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:128.94, Y:104.74, Z:84.12 [[ 7.61023705e-02 -9.93748113e-01 -8.16891448e-02 1.28944512e+02] [ 6.21582687e-01 1.11341398e-01 -7.75395419e-01 1.04737597e+02] [ 7.79643118e-01 8.23287131e-03 6.26169967e-01 8.41174330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35710568099995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.94, Y:104.76, Z:84.13 [[ 8.21140470e-02 -9.94752531e-01 -6.10302047e-02 1.28937488e+02] [ 6.17191475e-01 9.88377203e-02 -7.80580418e-01 1.04760163e+02] [ 7.82516432e-01 2.64292951e-02 6.22068747e-01 8.41344952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.3871056809999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:128.94, Y:104.78, Z:84.15 [[ 8.85352955e-02 -9.92743594e-01 -8.13735711e-02 1.28938066e+02] [ 6.17468928e-01 1.18803671e-01 -7.77571740e-01 1.04775993e+02] [ 7.81596843e-01 1.85968922e-02 6.23506640e-01 8.41549192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:128.94, Y:104.80, Z:84.17 [[ 9.16320304e-02 -9.93267861e-01 -7.08697903e-02 1.28936729e+02] [ 6.18065494e-01 1.12531045e-01 -7.78030725e-01 1.04795081e+02] [ 7.80767966e-01 2.74903631e-02 6.24216039e-01 8.41729807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.4471056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:128.94, Y:104.81, Z:84.20 [[ 9.75141659e-02 -9.92749052e-01 -7.02873141e-02 1.28938906e+02] [ 6.18103447e-01 1.15763463e-01 -7.77526173e-01 1.04811627e+02] [ 7.80025074e-01 3.23749850e-02 6.24910189e-01 8.41950112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47710568099995 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:128.94, Y:104.83, Z:84.22 [[ 1.01408159e-01 -9.92398569e-01 -6.97242070e-02 1.28941086e+02] [ 6.18489611e-01 1.17785026e-01 -7.76915239e-01 1.04826543e+02] [ 7.79222039e-01 3.56618463e-02 6.25732567e-01 8.42165347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.5071056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:128.94, Y:104.84, Z:84.24 [[ 1.02621311e-01 -9.92315058e-01 -6.91353108e-02 1.28942162e+02] [ 6.19261692e-01 1.18123403e-01 -7.76248554e-01 1.04842843e+02] [ 7.78449628e-01 3.68467951e-02 6.26624681e-01 8.42371636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.53710568099996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:128.95, Y:104.86, Z:84.26 [[ 1.04097750e-01 -9.92198958e-01 -6.85921682e-02 1.28945016e+02] [ 6.19586031e-01 1.18644425e-01 -7.75910208e-01 1.04860650e+02] [ 7.77995378e-01 3.82717575e-02 6.27103233e-01 8.42574143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.56710568099993 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:128.95, Y:104.88, Z:84.28 [[ 1.03344845e-01 -9.92309580e-01 -6.81288559e-02 1.28947468e+02] [ 6.19177975e-01 1.17787639e-01 -7.76366348e-01 1.04877834e+02] [ 7.78420502e-01 3.80495726e-02 6.26588982e-01 8.42767505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.59710568099996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:128.95, Y:104.90, Z:84.30 [[ 1.01221736e-01 -9.92563205e-01 -6.76198549e-02 1.28951031e+02] [ 6.19265603e-01 1.16056908e-01 -7.76557085e-01 1.04895412e+02] [ 7.78629740e-01 3.67298058e-02 6.26407734e-01 8.42965303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.62710568099993 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:128.95, Y:104.91, Z:84.32 [[ 9.95461915e-02 -9.92758933e-01 -6.72328541e-02 1.28953281e+02] [ 6.19566696e-01 1.14713576e-01 -7.76516519e-01 1.04913099e+02] [ 7.78606232e-01 3.56440248e-02 6.26499671e-01 8.43173287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.65710568099996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:128.96, Y:104.93, Z:84.34 [[ 9.76272012e-02 -9.92981594e-01 -6.67569006e-02 1.28957418e+02] [ 6.19270593e-01 1.13120776e-01 -7.76986243e-01 1.04928276e+02] [ 7.79084631e-01 3.45144069e-02 6.25967965e-01 8.43379741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.68710568099993 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:128.96, Y:104.94, Z:84.36 [[ 9.73990410e-02 -9.93037765e-01 -6.62527292e-02 1.28960402e+02] [ 6.18836846e-01 1.12563518e-01 -7.77412640e-01 1.04944732e+02] [ 7.79457751e-01 3.47196156e-02 6.25491937e-01 8.43594346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7171056809999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:128.96, Y:104.96, Z:84.38 [[ 9.80120919e-02 -9.93901703e-01 -5.05275716e-02 1.28960221e+02] [ 6.14919951e-01 1.00403119e-01 -7.82171763e-01 1.04963229e+02] [ 7.82474973e-01 4.55918788e-02 6.21010706e-01 8.43780374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.74710568099994 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:128.97, Y:104.97, Z:84.40 [[ 9.93204891e-02 -9.91752292e-01 -8.10113069e-02 1.28967796e+02] [ 6.16872524e-01 1.25249590e-01 -7.77033351e-01 1.04974935e+02] [ 7.80771240e-01 2.72016831e-02 6.24224590e-01 8.44025730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7771056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.97, Y:105.00, Z:84.42 [[ 9.98704732e-02 -9.92890105e-01 -6.47698115e-02 1.28967524e+02] [ 6.17664799e-01 1.12899233e-01 -7.78295548e-01 1.04995400e+02] [ 7.80074410e-01 3.77227120e-02 6.24548567e-01 8.44210369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.80710568099994 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:128.97, Y:105.01, Z:84.44 [[ 9.98663227e-02 -9.92926397e-01 -6.42175036e-02 1.28972521e+02] [ 6.18422836e-01 1.12500635e-01 -7.77751119e-01 1.05011706e+02] [ 7.79474126e-01 3.79575734e-02 6.25283383e-01 8.44423043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.8371056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:128.97, Y:105.05, Z:84.45 [[ 9.94473031e-02 -9.94977079e-01 -1.14388257e-02 1.28969656e+02] [ 6.27434542e-01 7.16257438e-02 -7.75368073e-01 1.05051715e+02] [ 7.72292775e-01 6.99311494e-02 6.31405975e-01 8.44475405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.86710568099994 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:128.98, Y:105.06, Z:84.48 [[ 9.92445794e-02 -9.92911101e-01 -6.54068719e-02 1.28981907e+02] [ 6.25659708e-01 1.13378934e-01 -7.71812896e-01 1.05056245e+02] [ 7.73757354e-01 3.56758019e-02 6.32476714e-01 8.44770074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.8971056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.99, Y:105.05, Z:84.52 [[ 1.01176326e-01 -9.88502105e-01 -1.12369658e-01 1.28993093e+02] [ 6.16618593e-01 1.50945823e-01 -7.72655725e-01 1.05050623e+02] [ 7.80733541e-01 8.88524681e-03 6.24800920e-01 8.45150543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.92710568099994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:128.99, Y:105.08, Z:84.53 [[ 1.02708982e-01 -9.92741376e-01 -6.25733668e-02 1.28988485e+02] [ 6.18562693e-01 1.13007172e-01 -7.77566444e-01 1.05078019e+02] [ 7.78993620e-01 4.11575079e-02 6.25679630e-01 8.45274289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.9571056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:128.99, Y:105.09, Z:84.55 [[ 1.04937985e-01 -9.92533233e-01 -6.21755630e-02 1.28993525e+02] [ 6.18431929e-01 1.14091148e-01 -7.77512160e-01 1.05093710e+02] [ 7.78800339e-01 4.31392057e-02 6.25786737e-01 8.45478001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.98710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:129.00, Y:105.11, Z:84.57 [[ 1.06179563e-01 -9.92434245e-01 -6.16455225e-02 1.28996265e+02] [ 6.18498516e-01 1.14461412e-01 -7.77404766e-01 1.05110453e+02] [ 7.78579146e-01 4.44168338e-02 6.25972571e-01 8.45686841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.0171056809999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:129.00, Y:105.13, Z:84.59 [[ 1.07256275e-01 -9.93350854e-01 -4.18350691e-02 1.28995939e+02] [ 6.16416475e-01 9.94537917e-02 -7.81114379e-01 1.05131895e+02] [ 7.80081291e-01 5.79915928e-02 6.22984875e-01 8.45868310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.04710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:129.01, Y:105.14, Z:84.61 [[ 1.07779994e-01 -9.90663390e-01 -8.34836532e-02 1.29005912e+02] [ 6.18877183e-01 1.32575002e-01 -7.74218898e-01 1.05140865e+02] [ 7.78058163e-01 3.17791797e-02 6.27387901e-01 8.46133700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.0771056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:129.01, Y:105.16, Z:84.63 [[ 1.08235424e-01 -9.92306761e-01 -6.01031152e-02 1.29005573e+02] [ 6.20234197e-01 1.14652926e-01 -7.75992427e-01 1.05162746e+02] [ 7.76913531e-01 4.67118620e-02 6.27872095e-01 8.46298487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.10710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.01, Y:105.18, Z:84.65 [[ 1.08331492e-01 -9.92322653e-01 -5.96660768e-02 1.29013311e+02] [ 6.21170874e-01 1.14428552e-01 -7.75275984e-01 1.05177377e+02] [ 7.76151424e-01 4.69239749e-02 6.28798145e-01 8.46528229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.1371056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.02, Y:105.19, Z:84.67 [[ 1.07689894e-01 -9.92419107e-01 -5.92216383e-02 1.29016359e+02] [ 6.20434702e-01 1.13630924e-01 -7.75982470e-01 1.05193938e+02] [ 7.76829239e-01 4.68223101e-02 6.27968155e-01 8.46733170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.16710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.02, Y:105.21, Z:84.69 [[ 1.07967800e-01 -9.92399791e-01 -5.90390535e-02 1.29018483e+02] [ 6.17120038e-01 1.13461937e-01 -7.78645778e-01 1.05214407e+02] [ 7.79426592e-01 4.76344885e-02 6.24680032e-01 8.46919080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.1971056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.02, Y:105.23, Z:84.71 [[ 1.08257629e-01 -9.92390892e-01 -5.86566624e-02 1.29020038e+02] [ 6.15330954e-01 1.13233562e-01 -7.80093570e-01 1.05234041e+02] [ 7.80799656e-01 4.83578206e-02 6.22907231e-01 8.47114447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.22710568099995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:129.02, Y:105.25, Z:84.73 [[ 1.07737074e-01 -9.92469557e-01 -5.82829331e-02 1.29023257e+02] [ 6.13283730e-01 1.12486759e-01 -7.81811867e-01 1.05251929e+02] [ 7.82480536e-01 4.84861488e-02 6.20784426e-01 8.47308040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.2571056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:129.03, Y:105.27, Z:84.75 [[ 1.06008112e-01 -9.92686523e-01 -5.77559250e-02 1.29026027e+02] [ 6.13605672e-01 1.11010916e-01 -7.81770207e-01 1.05268138e+02] [ 7.82464287e-01 4.74346207e-02 6.20886138e-01 8.47520772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.28710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:129.03, Y:105.29, Z:84.77 [[ 9.97653444e-02 -9.94016822e-01 -4.44683351e-02 1.29029119e+02] [ 6.12918840e-01 9.65989326e-02 -7.84218810e-01 1.05285502e+02] [ 7.83822283e-01 5.09823793e-02 6.18888864e-01 8.47731117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.03, Y:105.30, Z:84.80 [[ 9.13505830e-02 -9.94205549e-01 -5.66603657e-02 1.29034396e+02] [ 6.14729107e-01 1.01063289e-01 -7.82236752e-01 1.05299029e+02] [ 7.83430402e-01 3.66270073e-02 6.20399280e-01 8.47961219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.03, Y:105.32, Z:84.82 [[ 8.83032171e-02 -9.95038697e-01 -4.58315768e-02 1.29034253e+02] [ 6.12332286e-01 9.05161920e-02 -7.85401802e-01 1.05317277e+02] [ 7.85653685e-01 4.12893516e-02 6.17287191e-01 8.48153976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.37710568099993 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:129.04, Y:105.33, Z:84.84 [[ 8.27491944e-02 -9.94266870e-01 -6.77197319e-02 1.29040588e+02] [ 6.13922193e-01 1.04386251e-01 -7.82434056e-01 1.05329227e+02] [ 7.85017269e-01 2.31711416e-02 6.19040375e-01 8.48405862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:105.34, Z:84.86 [[ 8.14136053e-02 -9.93951501e-01 -7.37037265e-02 1.29043520e+02] [ 6.20715016e-01 1.08421634e-01 -7.76503457e-01 1.05344229e+02] [ 7.79797854e-01 1.74689362e-02 6.25787618e-01 8.48621066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.43710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:105.37, Z:84.88 [[ 8.06866623e-02 -9.95274868e-01 -5.40148128e-02 1.29041208e+02] [ 6.22694930e-01 9.26483164e-02 -7.76960304e-01 1.05365496e+02] [ 7.78293445e-01 2.90555837e-02 6.27228097e-01 8.48802546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.4671056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.04, Y:105.38, Z:84.90 [[ 8.28674467e-02 -9.95123385e-01 -5.35017256e-02 1.29042972e+02] [ 6.22827486e-01 9.36254627e-02 -7.76736889e-01 1.05382729e+02] [ 7.77958167e-01 3.10438576e-02 6.27548699e-01 8.49019029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.49710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:105.40, Z:84.92 [[ 8.31850580e-02 -9.95724755e-01 -4.01554380e-02 1.29040640e+02] [ 6.20349184e-01 8.32767250e-02 -7.79892221e-01 1.05402155e+02] [ 7.79902004e-01 3.99649865e-02 6.24624418e-01 8.49215082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.5271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:105.41, Z:84.95 [[ 8.85323833e-02 -9.93597138e-01 -7.01907702e-02 1.29044729e+02] [ 6.22765042e-01 1.10210858e-01 -7.74607816e-01 1.05412956e+02] [ 7.77383894e-01 2.48655181e-02 6.28534794e-01 8.49455532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.55710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.04, Y:105.43, Z:84.96 [[ 8.96611638e-02 -9.94619875e-01 -5.18862306e-02 1.29041155e+02] [ 6.22718179e-01 9.66409079e-02 -7.76455153e-01 1.05434750e+02] [ 7.77292060e-01 3.73073737e-02 6.28032813e-01 8.49615612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.5871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:105.45, Z:84.98 [[ 9.02815223e-02 -9.94588193e-01 -5.14156971e-02 1.29040792e+02] [ 6.21564326e-01 9.66082977e-02 -7.77383191e-01 1.05451926e+02] [ 7.78143326e-01 3.82251748e-02 6.26922484e-01 8.49806732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.61710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.04, Y:105.47, Z:85.00 [[ 8.99681163e-02 -9.94638782e-01 -5.09846133e-02 1.29041824e+02] [ 6.21790527e-01 9.60851197e-02 -7.77267129e-01 1.05468667e+02] [ 7.77998894e-01 3.82275099e-02 6.27101570e-01 8.50016924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.6471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:105.49, Z:85.02 [[ 8.94768442e-02 -9.94707159e-01 -5.05129946e-02 1.29041236e+02] [ 6.20949385e-01 9.53658603e-02 -7.78027772e-01 1.05486503e+02] [ 7.78727009e-01 3.82494568e-02 6.26195835e-01 8.50218318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.67710568099994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:129.04, Y:105.51, Z:85.04 [[ 8.99767474e-02 -9.94684232e-01 -5.00745811e-02 1.29037541e+02] [ 6.19379237e-01 9.52587944e-02 -7.79291423e-01 1.05507552e+02] [ 7.79918935e-01 3.91029517e-02 6.24657837e-01 8.50392593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.7071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.03, Y:105.53, Z:85.06 [[ 8.89437450e-02 -9.95449408e-01 -3.41977633e-02 1.29033191e+02] [ 6.15298424e-01 8.19116623e-02 -7.84026995e-01 1.05529322e+02] [ 7.83260403e-01 4.86924672e-02 6.19783982e-01 8.50569683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.73710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:105.54, Z:85.08 [[ 8.94411261e-02 -9.93489415e-01 -7.05625114e-02 1.29041221e+02] [ 6.17028521e-01 1.10884161e-01 -7.79089538e-01 1.05538063e+02] [ 7.81841474e-01 2.61435635e-02 6.22928908e-01 8.50823530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.7671056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:129.04, Y:105.56, Z:85.10 [[ 8.68804703e-02 -9.95019810e-01 -4.88606438e-02 1.29038500e+02] [ 6.17744781e-01 9.22870207e-02 -7.80944615e-01 1.05558124e+02] [ 7.81564565e-01 3.76654277e-02 6.22686234e-01 8.50993976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.79710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:129.04, Y:105.57, Z:85.12 [[ 8.47440024e-02 -9.95232494e-01 -4.82776973e-02 1.29038357e+02] [ 6.19093996e-01 9.05566153e-02 -7.80078281e-01 1.05574944e+02] [ 7.80731118e-01 3.62185231e-02 6.23816592e-01 8.51196782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.8271056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:129.04, Y:105.59, Z:85.14 [[ 7.98636110e-02 -9.95667184e-01 -4.76304700e-02 1.29036167e+02] [ 6.22378274e-01 8.71323459e-02 -7.77851682e-01 1.05592816e+02] [ 7.78631548e-01 3.24778745e-02 6.26640327e-01 8.51400905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.85710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:129.03, Y:105.61, Z:85.16 [[ 7.48682064e-02 -9.96081462e-01 -4.70794329e-02 1.29034794e+02] [ 6.23833860e-01 8.36170458e-02 -7.77071107e-01 1.05610105e+02] [ 7.77962767e-01 2.88081756e-02 6.27649602e-01 8.51598475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.8871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:105.63, Z:85.18 [[ 7.06225656e-02 -9.96415338e-01 -4.65717496e-02 1.29035347e+02] [ 6.23557425e-01 8.05409542e-02 -7.77617703e-01 1.05628162e+02] [ 7.78581139e-01 2.58771969e-02 6.27010192e-01 8.51821016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.91710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:105.64, Z:85.20 [[ 7.00569936e-02 -9.96229789e-01 -5.11685987e-02 1.29036758e+02] [ 6.23483811e-01 8.37704009e-02 -7.77335486e-01 1.05644153e+02] [ 7.78691181e-01 2.25549943e-02 6.27001847e-01 8.52038199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.9471056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:129.04, Y:105.66, Z:85.23 [[ 6.29859101e-02 -9.96344778e-01 -5.77049273e-02 1.29038245e+02] [ 6.27146217e-01 8.44914458e-02 -7.74305378e-01 1.05659190e+02] [ 7.76350692e-01 1.25809020e-02 6.30175629e-01 8.52259562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.97710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.04, Y:105.68, Z:85.25 [[ 5.82495894e-02 -9.96381352e-01 -6.18965884e-02 1.29038358e+02] [ 6.29785935e-01 8.47836537e-02 -7.72127844e-01 1.05675787e+02] [ 7.74581604e-01 5.99452907e-03 6.32445574e-01 8.52460741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.0071056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:129.03, Y:105.70, Z:85.26 [[ 4.85395527e-02 -9.98441050e-01 -2.75568791e-02 1.29029662e+02] [ 6.27151751e-01 5.19388350e-02 -7.77163457e-01 1.05701343e+02] [ 7.77383170e-01 2.04408215e-02 6.28695141e-01 8.52615782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.03710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:129.03, Y:105.71, Z:85.28 [[ 4.47716535e-02 -9.97803388e-01 -4.88251840e-02 1.29032463e+02] [ 6.26625035e-01 6.61135801e-02 -7.76511468e-01 1.05711992e+02] [ 7.78033781e-01 4.17061974e-03 6.28208597e-01 8.52839803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.06710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:129.03, Y:105.73, Z:85.30 [[ 3.85208983e-02 -9.98321477e-01 -4.32477711e-02 1.29026271e+02] [ 6.26428984e-01 5.78454559e-02 -7.77329166e-01 1.05732104e+02] [ 7.78526087e-01 2.85176049e-03 6.27605767e-01 8.53033406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.09710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:129.02, Y:105.75, Z:85.32 [[ 3.57793415e-02 -9.98445494e-01 -4.27368053e-02 1.29023448e+02] [ 6.26806746e-01 5.57275241e-02 -7.77179353e-01 1.05750082e+02] [ 7.78352839e-01 1.01924760e-03 6.27826265e-01 8.53245115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.12710568099993 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:129.02, Y:105.77, Z:85.35 [[ 3.16762816e-02 -9.98608035e-01 -4.21735075e-02 1.29017647e+02] [ 6.28427542e-01 5.27096430e-02 -7.76080227e-01 1.05767517e+02] [ 7.77222901e-01 -1.91965783e-03 6.29222438e-01 8.53461478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.15710568099996 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:129.01, Y:105.78, Z:85.37 [[ 2.89959211e-02 -9.98709633e-01 -4.16929897e-02 1.29008640e+02] [ 6.27883308e-01 5.06525883e-02 -7.76657497e-01 1.05784328e+02] [ 7.77767181e-01 -3.65843276e-03 6.28541826e-01 8.53661172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.18710568099993 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:129.00, Y:105.80, Z:85.38 [[ 2.83403398e-02 -9.98750410e-01 -4.11636305e-02 1.29003354e+02] [ 6.27790023e-01 4.98293869e-02 -7.76786148e-01 1.05801159e+02] [ 7.77866642e-01 -3.82773314e-03 6.28417725e-01 8.53848252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2171056809999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:129.00, Y:105.82, Z:85.41 [[ 3.11290091e-02 -9.98543250e-01 -4.40722549e-02 1.28995180e+02] [ 6.29144365e-01 5.38376532e-02 -7.75421740e-01 1.05817933e+02] [ 7.76664891e-01 -3.58970039e-03 6.29903771e-01 8.54071573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.24710568099994 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.99, Y:105.84, Z:85.43 [[ 3.55943871e-02 -9.98568578e-01 -3.99228472e-02 1.28990421e+02] [ 6.28376776e-01 5.34261789e-02 -7.76072336e-01 1.05835044e+02] [ 7.77094374e-01 2.53722917e-03 6.29378976e-01 8.54274867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2771056809999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:128.98, Y:105.85, Z:85.45 [[ 4.48757956e-02 -9.98217959e-01 -3.93327909e-02 1.28978487e+02] [ 6.28261888e-01 5.88119862e-02 -7.75775838e-01 1.05853499e+02] [ 7.76706613e-01 1.01022644e-02 6.29781535e-01 8.54468648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.30710568099994 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:128.97, Y:105.87, Z:85.47 [[ 4.98477542e-02 -9.97998088e-01 -3.89232283e-02 1.28973244e+02] [ 6.28296105e-01 6.16286344e-02 -7.75529442e-01 1.05870968e+02] [ 7.76375686e-01 1.42030883e-02 6.30110361e-01 8.54663712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.3371056809999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:128.97, Y:105.89, Z:85.49 [[ 5.91241801e-02 -9.97513207e-01 -3.83631774e-02 1.28965029e+02] [ 6.28531280e-01 6.70553300e-02 -7.74888387e-01 1.05889145e+02] [ 7.75533856e-01 2.17021836e-02 6.30932844e-01 8.54865461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.36710568099994 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:128.96, Y:105.91, Z:85.51 [[ 6.72500549e-02 -9.97017224e-01 -3.78693108e-02 1.28957373e+02] [ 6.28262077e-01 7.18014785e-02 -7.74681425e-01 1.05907897e+02] [ 7.75089796e-01 2.83055165e-02 6.31216766e-01 8.55063998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.3971056809999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:128.95, Y:105.93, Z:85.53 [[ 6.91524284e-02 -9.96986440e-01 -3.51564958e-02 1.28953621e+02] [ 6.28254574e-01 7.08972084e-02 -7.74770790e-01 1.05926625e+02] [ 7.74928469e-01 3.14900523e-02 6.31264005e-01 8.55254675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.42710568099994 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:128.95, Y:105.95, Z:85.55 [[ 7.08399945e-02 -9.96806051e-01 -3.68699421e-02 1.28950617e+02] [ 6.26770728e-01 7.32363680e-02 -7.75754400e-01 1.05945182e+02] [ 7.75976900e-01 3.18454370e-02 6.29956918e-01 8.55450722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.4571056809999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:128.94, Y:105.98, Z:85.55 [[ 6.84671132e-02 -9.97521111e-01 1.62445934e-02 1.28938057e+02] [ 6.35007688e-01 3.10151014e-02 -7.71882958e-01 1.05984487e+02] [ 7.69465718e-01 6.31640395e-02 6.35557089e-01 8.55522793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.48710568099995 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:128.96, Y:105.97, Z:85.59 [[ 6.56231393e-02 -9.93778382e-01 -8.99896192e-02 1.28956164e+02] [ 6.23653287e-01 1.11247202e-01 -7.73744556e-01 1.05972488e+02] [ 7.78941706e-01 -5.34677500e-03 6.27073545e-01 8.55946241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.5171056809999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:128.94, Y:106.00, Z:85.61 [[ 6.21745596e-02 -9.97854223e-01 -2.05249659e-02 1.28940997e+02] [ 6.23114075e-01 5.48732428e-02 -7.80203676e-01 1.06001612e+02] [ 7.79655805e-01 3.57194249e-02 6.25188731e-01 8.56084320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.54710568099995 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:128.95, Y:106.01, Z:85.63 [[ 6.06981505e-02 -9.96768333e-01 -5.26177309e-02 1.28947957e+02] [ 6.25445795e-01 7.90635068e-02 -7.76251582e-01 1.06013304e+02] [ 7.77903138e-01 1.42074969e-02 6.28223571e-01 8.56320405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.5771056809999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:128.95, Y:106.03, Z:85.65 [[ 5.83522153e-02 -9.97700991e-01 -3.44637579e-02 1.28946146e+02] [ 6.25392608e-01 6.34422908e-02 -7.77726920e-01 1.06032085e+02] [ 7.78125379e-01 2.38287093e-02 6.27656823e-01 8.56509920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.60710568099995 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:128.95, Y:106.05, Z:85.67 [[ 5.68384742e-02 -9.97807077e-01 -3.39179037e-02 1.28946500e+02] [ 6.25871758e-01 6.20792531e-02 -7.77451419e-01 1.06048893e+02] [ 7.77852126e-01 2.29608944e-02 6.28027760e-01 8.56722097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.6371056809999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:128.95, Y:106.07, Z:85.69 [[ 5.31784612e-02 -9.98026408e-01 -3.33967121e-02 1.28946013e+02] [ 6.26680025e-01 5.93926780e-02 -7.77010074e-01 1.06067771e+02] [ 7.77460094e-01 2.03911477e-02 6.28601626e-01 8.56917228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.66710568099995 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:128.95, Y:106.09, Z:85.71 [[ 5.11014608e-02 -9.98151235e-01 -3.29052090e-02 1.28946950e+02] [ 6.26616475e-01 5.77012516e-02 -7.77188754e-01 1.06086194e+02] [ 7.77650586e-01 1.90965346e-02 6.28406627e-01 8.57123722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.6971056809999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:128.95, Y:106.10, Z:85.73 [[ 4.74737074e-02 -9.98345197e-01 -3.24517388e-02 1.28948473e+02] [ 6.25288727e-01 5.50379161e-02 -7.78450279e-01 1.06103320e+02] [ 7.78948173e-01 1.66642143e-02 6.26866851e-01 8.57322377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.72710568099995 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:128.94, Y:106.14, Z:85.74 [[ 4.63749520e-02 -9.98656367e-01 2.31262890e-02 1.28941362e+02] [ 6.32751541e-01 1.14532153e-02 -7.74270180e-01 1.06140178e+02] [ 7.72964974e-01 5.05399374e-02 6.32432497e-01 8.57385804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.7571056809999 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:128.95, Y:106.15, Z:85.77 [[ 4.62451957e-02 -9.98640506e-01 -2.40524949e-02 1.28953565e+02] [ 6.31131518e-01 4.78732559e-02 -7.74197105e-01 1.06149690e+02] [ 7.74296060e-01 2.06226090e-02 6.32487407e-01 8.57671118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.78710568099996 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:128.95, Y:106.17, Z:85.79 [[ 4.78627868e-02 -9.98549007e-01 -2.46786089e-02 1.28954455e+02] [ 6.32239579e-01 4.94138383e-02 -7.73195569e-01 1.06166180e+02] [ 7.73293133e-01 2.14045014e-02 6.33687288e-01 8.57897876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.81710568099993 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:128.96, Y:106.18, Z:85.81 [[ 4.93006593e-02 -9.98366175e-01 -2.88864312e-02 1.28955857e+02] [ 6.35654314e-01 5.36714752e-02 -7.70105815e-01 1.06183011e+02] [ 7.70397974e-01 1.96049398e-02 6.37261805e-01 8.58119474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.84710568099996 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:128.96, Y:106.20, Z:85.83 [[ 5.48521269e-02 -9.98189341e-01 -2.46836565e-02 1.28957764e+02] [ 6.30953451e-01 5.38105441e-02 -7.73952303e-01 1.06199928e+02] [ 7.73879181e-01 2.68786917e-02 6.32762633e-01 8.58331439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.87710568099993 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:128.96, Y:106.22, Z:85.85 [[ 5.82344755e-02 -9.98001861e-01 -2.45159323e-02 1.28959191e+02] [ 6.32450882e-01 5.58826757e-02 -7.72582040e-01 1.06216862e+02] [ 7.72408330e-01 2.94857869e-02 6.34441456e-01 8.58541337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.90710568099996 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:128.97, Y:106.21, Z:85.89 [[ 6.04821039e-02 -9.95039167e-01 -7.89871650e-02 1.28971939e+02] [ 6.23135628e-01 9.94573666e-02 -7.75764282e-01 1.06211052e+02] [ 7.79771700e-01 -2.29986080e-03 6.26059747e-01 8.58937243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.93710568099993 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:128.95, Y:106.26, Z:85.89 [[ 6.01623321e-02 -9.97793799e-01 2.80718512e-02 1.28951792e+02] [ 6.34458454e-01 1.65135520e-02 -7.72780546e-01 1.06258248e+02] [ 7.70612071e-01 6.43027032e-02 6.34052205e-01 8.58924477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.9671056809999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:128.96, Y:106.27, Z:85.92 [[ 6.04554595e-02 -9.97942593e-01 -2.13475666e-02 1.28962992e+02] [ 6.30772307e-01 5.47700274e-02 -7.74032648e-01 1.06267740e+02] [ 7.73609355e-01 3.33290456e-02 6.32785699e-01 8.59205683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.99710568099994 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:128.97, Y:106.26, Z:85.96 [[ 5.94018107e-02 -9.95015442e-01 -8.00980402e-02 1.28974076e+02] [ 6.20386409e-01 9.96601997e-02 -7.77938653e-01 1.06262828e+02] [ 7.82043559e-01 -3.48077094e-03 6.23214053e-01 8.59592123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.0271056809999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:128.97, Y:106.29, Z:85.97 [[ 5.86032750e-02 -9.97891066e-01 -2.79119487e-02 1.28965168e+02] [ 6.21770380e-01 5.83607101e-02 -7.81022165e-01 1.06287930e+02] [ 7.81004002e-01 2.84156338e-02 6.23879236e-01 8.59724094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.05710568099994 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:128.97, Y:106.30, Z:85.99 [[ 5.66223190e-02 -9.98020813e-01 -2.73563428e-02 1.28966144e+02] [ 6.22177231e-01 5.67017299e-02 -7.80820343e-01 1.06304331e+02] [ 7.80826105e-01 2.71913649e-02 6.24156409e-01 8.59936453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.0871056809999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:128.96, Y:106.32, Z:86.01 [[ 5.60071131e-02 -9.98069137e-01 -2.68551840e-02 1.28964385e+02] [ 6.21752480e-01 5.59102067e-02 -7.81215657e-01 1.06322017e+02] [ 7.81208715e-01 2.70563564e-02 6.23683331e-01 8.60139375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.11710568099994 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:128.96, Y:106.34, Z:86.03 [[ 5.54312829e-02 -9.98114469e-01 -2.63605637e-02 1.28963330e+02] [ 6.21084090e-01 5.51401935e-02 -7.81801837e-01 1.06340088e+02] [ 7.81781252e-01 2.69641522e-02 6.22969508e-01 8.60345469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.1471056809999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:128.95, Y:106.37, Z:86.04 [[ 5.15836667e-02 -9.98537210e-01 1.62038706e-02 1.28953726e+02] [ 6.27923199e-01 1.98125772e-02 -7.78023084e-01 1.06374140e+02] [ 7.76563959e-01 5.03080697e-02 6.28026684e-01 8.60422383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.17710568099994 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:128.96, Y:106.38, Z:86.07 [[ 4.77350154e-02 -9.98550696e-01 -2.48571259e-02 1.28964512e+02] [ 6.26816000e-01 4.93215715e-02 -7.77604710e-01 1.06381962e+02] [ 7.77703717e-01 2.15381285e-02 6.28261919e-01 8.60702218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.2071056809999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:128.97, Y:106.38, Z:86.10 [[ 4.47136485e-02 -9.97143863e-01 -6.08671205e-02 1.28972276e+02] [ 6.20556877e-01 7.54709935e-02 -7.80521167e-01 1.06383341e+02] [ 7.82885593e-01 -2.87156106e-03 6.22159065e-01 8.61036369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.23710568099995 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:128.96, Y:106.42, Z:86.11 [[ 3.62666689e-02 -9.99222382e-01 1.54712983e-02 1.28955409e+02] [ 6.29702020e-01 1.08281090e-02 -7.76761301e-01 1.06422979e+02] [ 7.75989752e-01 3.79128527e-02 6.29605051e-01 8.61091900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.2671056809999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:128.96, Y:106.43, Z:86.13 [[ 3.21986276e-02 -9.99298975e-01 -1.90999037e-02 1.28961488e+02] [ 6.27176113e-01 3.50801905e-02 -7.78087080e-01 1.06433368e+02] [ 7.78211650e-01 1.30743328e-02 6.27865981e-01 8.61347497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.29710568099995 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:128.96, Y:106.45, Z:86.16 [[ 2.62178903e-02 -9.99379095e-01 -2.35381766e-02 1.28961726e+02] [ 6.26813977e-01 3.47772720e-02 -7.78392433e-01 1.06448313e+02] [ 7.78727719e-01 5.65374932e-03 6.27336572e-01 8.61579493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.3271056809999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:128.96, Y:106.46, Z:86.18 [[ 2.30427379e-02 -9.99513727e-01 -2.10081416e-02 1.28960595e+02] [ 6.25368745e-01 3.08056786e-02 -7.79721068e-01 1.06464520e+02] [ 7.79989080e-01 4.82907304e-03 6.25774492e-01 8.61799152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.35710568099995 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:128.96, Y:106.48, Z:86.20 [[ 1.77382426e-02 -9.99515081e-01 -2.55921222e-02 1.28958083e+02] [ 6.25721400e-01 3.10614754e-02 -7.79427941e-01 1.06481665e+02] [ 7.79844911e-01 -2.18785668e-03 6.25968952e-01 8.62000994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.3871056809999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:128.95, Y:106.50, Z:86.22 [[ 1.51637847e-02 -9.99745879e-01 -1.66804494e-02 1.28954156e+02] [ 6.21165756e-01 2.24916760e-02 -7.83356387e-01 1.06499013e+02] [ 7.83532490e-01 1.51732364e-03 6.21348963e-01 8.62234721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.41710568099995 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:128.96, Y:106.51, Z:86.25 [[ 1.36843569e-02 -9.99041054e-01 -4.15897970e-02 1.28955517e+02] [ 6.20806593e-01 4.10948139e-02 -7.82885937e-01 1.06511148e+02] [ 7.83844317e-01 -1.51059296e-02 6.20773629e-01 8.62458599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.4471056809999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:128.95, Y:106.53, Z:86.27 [[ 9.22655682e-03 -9.99754527e-01 -2.01433912e-02 1.28945354e+02] [ 6.22570819e-01 2.15069922e-02 -7.82267873e-01 1.06528473e+02] [ 7.82509071e-01 -5.32304856e-03 6.22616430e-01 8.62659652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.47710568099995 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:128.94, Y:106.55, Z:86.29 [[ 7.09885264e-03 -9.99866875e-01 -1.46914763e-02 1.28941614e+02] [ 6.22723388e-01 1.59155910e-02 -7.82280177e-01 1.06545462e+02] [ 7.82409859e-01 -3.59543421e-03 6.22753470e-01 8.62887059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.5071056809999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:128.94, Y:106.56, Z:86.31 [[ 2.10425424e-03 -9.99730214e-01 -2.31315951e-02 1.28936066e+02] [ 6.22825895e-01 1.94074965e-02 -7.82119718e-01 1.06560903e+02] [ 7.82357640e-01 -1.27611777e-02 6.22698704e-01 8.63133037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.53710568099996 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:128.93, Y:106.57, Z:86.34 [[-3.13374630e-03 -9.99556751e-01 -2.96054375e-02 1.28929860e+02] [ 6.21432110e-01 2.12483891e-02 -7.83179825e-01 1.06572994e+02] [ 7.83461749e-01 -2.08520564e-02 6.21090074e-01 8.63367276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.56710568099993 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:128.92, Y:106.59, Z:86.36 [[-4.93941324e-03 -9.99915176e-01 -1.20516652e-02 1.28923037e+02] [ 6.24254929e-01 6.33178509e-03 -7.81195041e-01 1.06594598e+02] [ 7.81205086e-01 -1.13819565e-02 6.24170702e-01 8.63557263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.59710568099996 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:128.92, Y:106.61, Z:86.38 [[-8.28978707e-03 -9.99796793e-01 -1.83753362e-02 1.28916452e+02] [ 6.23535653e-01 9.19764143e-03 -7.81740809e-01 1.06607417e+02] [ 7.81750963e-01 -1.79381421e-02 6.23332700e-01 8.63804228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.62710568099993 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:128.92, Y:106.62, Z:86.41 [[-9.70362430e-03 -9.99051644e-01 -4.24458843e-02 1.28916063e+02] [ 6.24078983e-01 2.71154805e-02 -7.80890629e-01 1.06618294e+02] [ 7.81301006e-01 -3.40670536e-02 6.23224015e-01 8.64050668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.65710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.90, Y:106.65, Z:86.42 [[-1.40564345e-02 -9.99900990e-01 6.53913876e-04 1.28897000e+02] [ 6.23748081e-01 -9.27967255e-03 -7.81570355e-01 1.06645531e+02] [ 7.81499039e-01 -1.05782150e-02 6.23816762e-01 8.64203557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.68710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.89, Y:106.66, Z:86.44 [[-1.86383909e-02 -9.99694084e-01 -1.62588210e-02 1.28887670e+02] [ 6.19963733e-01 1.20239278e-03 -7.84629546e-01 1.06662711e+02] [ 7.84409064e-01 -2.47041115e-02 6.19751666e-01 8.64414819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.89, Y:106.67, Z:86.47 [[-2.09420666e-02 -9.98713978e-01 -4.61716440e-02 1.28886729e+02] [ 6.20964913e-01 2.32007970e-02 -7.83494927e-01 1.06673076e+02] [ 7.83558554e-01 -4.50789738e-02 6.19680466e-01 8.64665592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.74710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.87, Y:106.70, Z:86.48 [[-2.13699179e-02 -9.99770232e-01 1.67623093e-03 1.28866687e+02] [ 6.22115307e-01 -1.46100456e-02 -7.82789302e-01 1.06696442e+02] [ 7.82633932e-01 -1.56853342e-02 6.22284580e-01 8.64841124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.87, Y:106.70, Z:86.51 [[-2.04941301e-02 -9.98982160e-01 -4.01825090e-02 1.28866943e+02] [ 6.21978768e-01 1.87274227e-02 -7.82810127e-01 1.06704231e+02] [ 7.82765867e-01 -4.10356800e-02 6.20961891e-01 8.65112447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.80710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.85, Y:106.72, Z:86.53 [[-1.53334513e-02 -9.99745732e-01 -1.65334753e-02 1.28848122e+02] [ 6.22735802e-01 3.38837435e-03 -7.82424846e-01 1.06723985e+02] [ 7.82281923e-01 -2.22932603e-02 6.22525505e-01 8.65302154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.8371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.85, Y:106.74, Z:86.55 [[-1.56404697e-02 -9.99749854e-01 -1.59876563e-02 1.28848131e+02] [ 6.22724699e-01 2.77030594e-03 -7.82436116e-01 1.06741328e+02] [ 7.82284683e-01 -2.21935768e-02 6.22525598e-01 8.65517931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.86710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.84, Y:106.76, Z:86.57 [[-1.18197680e-02 -9.99808458e-01 -1.55993574e-02 1.28840709e+02] [ 6.22823763e-01 4.84340855e-03 -7.82347174e-01 1.06758816e+02] [ 7.82272876e-01 -1.89628126e-02 6.22647219e-01 8.65719642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.8971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:106.78, Z:86.59 [[-2.51966418e-03 -9.99881492e-01 -1.51872559e-02 1.28828938e+02] [ 6.22157562e-01 1.03225436e-02 -7.82823999e-01 1.06776950e+02] [ 7.82887999e-01 -1.14213197e-02 6.22057822e-01 8.65927869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.92710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:106.79, Z:86.61 [[ 2.53626893e-03 -9.99889513e-01 -1.46468186e-02 1.28824269e+02] [ 6.21675803e-01 1.30490685e-02 -7.83165958e-01 1.06794156e+02] [ 7.83270556e-01 -7.11925321e-03 6.21640211e-01 8.66120844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.9571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:106.81, Z:86.63 [[ 1.41922333e-02 -9.99799663e-01 -1.41143472e-02 1.28815395e+02] [ 6.18658971e-01 1.98696592e-02 -7.85408349e-01 1.06811950e+02] [ 7.85531450e-01 2.41473103e-03 6.18817025e-01 8.66308927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.98710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:106.83, Z:86.65 [[ 2.63070734e-02 -9.99561446e-01 -1.35960979e-02 1.28805571e+02] [ 6.14998297e-01 2.69052719e-02 -7.88069287e-01 1.06831772e+02] [ 7.88089483e-01 1.23702196e-02 6.15436385e-01 8.66499592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.0171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:106.85, Z:86.67 [[ 3.07896628e-02 -9.99440550e-01 -1.30607398e-02 1.28802098e+02] [ 6.14710072e-01 2.92376925e-02 -7.88211066e-01 1.06848738e+02] [ 7.88151968e-01 1.62401846e-02 6.15266391e-01 8.66696829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.04710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:106.87, Z:86.69 [[ 3.63959308e-02 -9.99259343e-01 -1.24940945e-02 1.28799546e+02] [ 6.15159526e-01 3.22553238e-02 -7.87742567e-01 1.06865138e+02] [ 7.87562121e-01 2.09847627e-02 6.15877866e-01 8.66910309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.0771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:106.88, Z:86.71 [[ 3.80922933e-02 -9.99202551e-01 -1.19682853e-02 1.28798905e+02] [ 6.15017838e-01 3.28826035e-02 -7.87827261e-01 1.06880966e+02] [ 7.87592557e-01 2.26494382e-02 6.15779966e-01 8.67111021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.10710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:106.90, Z:86.73 [[ 3.93778994e-02 -9.99159722e-01 -1.13679485e-02 1.28797113e+02] [ 6.14476642e-01 3.31853191e-02 -7.88236761e-01 1.06897306e+02] [ 7.87951672e-01 2.40537691e-02 6.15267079e-01 8.67334226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.1371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:106.91, Z:86.76 [[ 3.89977915e-02 -9.99180502e-01 -1.08396135e-02 1.28795612e+02] [ 6.14732433e-01 3.25421859e-02 -7.88064111e-01 1.06914143e+02] [ 7.87771038e-01 2.40692979e-02 6.15497734e-01 8.67550706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.16710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.79, Y:106.93, Z:86.78 [[ 3.68186271e-02 -9.99268801e-01 -1.03078970e-02 1.28794063e+02] [ 6.14993614e-01 3.07876421e-02 -7.87930820e-01 1.06930195e+02] [ 7.87672041e-01 2.26712402e-02 6.15677489e-01 8.67759125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.1971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.79, Y:106.96, Z:86.79 [[ 3.56270557e-02 -9.99036818e-01 2.56154156e-02 1.28787884e+02] [ 6.20485583e-01 2.02002041e-03 -7.84215252e-01 1.06955420e+02] [ 7.83408166e-01 4.38332765e-02 6.19959909e-01 8.67916184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.22710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.80, Y:106.96, Z:86.82 [[ 2.96407763e-02 -9.98659558e-01 -4.24324310e-02 1.28804414e+02] [ 6.15706761e-01 5.16830173e-02 -7.86278608e-01 1.06962195e+02] [ 7.87417684e-01 -2.82002634e-03 6.16413367e-01 8.68207585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.2571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:106.98, Z:86.84 [[ 2.23779964e-02 -9.99710496e-01 -8.84019008e-03 1.28801388e+02] [ 6.17730247e-01 2.07789913e-02 -7.86115498e-01 1.06978425e+02] [ 7.86071605e-01 1.21308370e-02 6.18016404e-01 8.68397553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:106.99, Z:86.86 [[ 1.77614318e-02 -9.99808375e-01 -8.23068604e-03 1.28802578e+02] [ 6.18739876e-01 1.74574482e-02 -7.85401938e-01 1.06994551e+02] [ 7.85395122e-01 8.85720933e-03 6.18931379e-01 8.68604290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.31710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.81, Y:107.01, Z:86.88 [[ 8.60275113e-03 -9.99933756e-01 -7.64704241e-03 1.28805833e+02] [ 6.20499177e-01 1.13349893e-02 -7.84125175e-01 1.07009312e+02] [ 7.84159910e-01 2.00065021e-03 6.20555584e-01 8.68817192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:107.02, Z:86.90 [[ 4.32308646e-03 -9.99965674e-01 -7.06829826e-03 1.28806552e+02] [ 6.20675966e-01 8.22523394e-03 -7.84024037e-01 1.07024426e+02] [ 7.84055264e-01 -9.97719147e-04 6.20690219e-01 8.69016030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.37710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.81, Y:107.04, Z:86.92 [[-1.97818884e-03 -9.99976182e-01 -6.61229104e-03 1.28807692e+02] [ 6.20200261e-01 3.96012385e-03 -7.84433524e-01 1.07040150e+02] [ 7.84441026e-01 -5.65270227e-03 6.20177655e-01 8.69227332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:107.06, Z:86.94 [[-3.49944563e-03 -9.99975643e-01 -6.03886870e-03 1.28808748e+02] [ 6.19811860e-01 2.57004417e-03 -7.84746235e-01 1.07056034e+02] [ 7.84742641e-01 -6.48913923e-03 6.19787770e-01 8.69438357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.43710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:107.07, Z:86.97 [[-1.44598257e-03 -9.99984062e-01 -5.45753292e-03 1.28810773e+02] [ 6.20149658e-01 3.38463317e-03 -7.84476224e-01 1.07070820e+02] [ 7.84482193e-01 -4.51882612e-03 6.20134880e-01 8.69671168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.4671056809999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:128.81, Y:107.09, Z:86.99 [[ 5.03838931e-03 -9.99975227e-01 -4.91519429e-03 1.28807229e+02] [ 6.21514402e-01 6.98202821e-03 -7.83371623e-01 1.07085364e+02] [ 7.83386535e-01 8.92067169e-04 6.21534184e-01 8.69893878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.49710568099994 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:128.80, Y:107.10, Z:87.01 [[ 9.89562031e-03 -9.99941562e-01 -4.35314091e-03 1.28804268e+02] [ 6.21952270e-01 9.56365758e-03 -7.82996750e-01 1.07101437e+02] [ 7.82992625e-01 5.04079268e-03 6.22010562e-01 8.70105879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.5271056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:128.80, Y:107.12, Z:87.03 [[ 1.84549250e-02 -9.99508764e-01 2.53307355e-02 1.28795384e+02] [ 6.26265287e-01 -8.19335071e-03 -7.79566969e-01 1.07124619e+02] [ 7.79391561e-01 3.02506103e-02 6.25806435e-01 8.70262951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.81, Y:107.13, Z:87.05 [[ 2.71638060e-02 -9.99176634e-01 -3.01360473e-02 1.28805621e+02] [ 6.24544455e-01 4.05026106e-02 -7.79938307e-01 1.07131534e+02] [ 7.80516721e-01 2.36479162e-03 6.25130432e-01 8.70537913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.5871056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:128.80, Y:107.15, Z:87.07 [[ 3.12898870e-02 -9.99506794e-01 -2.66660822e-03 1.28800167e+02] [ 6.23941372e-01 2.16167966e-02 -7.81172118e-01 1.07149120e+02] [ 7.80844483e-01 2.27789801e-02 6.24310028e-01 8.70735204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.80, Y:107.17, Z:87.09 [[ 3.82963543e-02 -9.99264165e-01 -2.12538992e-03 1.28796722e+02] [ 6.18635418e-01 2.53791571e-02 -7.85268182e-01 1.07167911e+02] [ 7.84744295e-01 2.87580670e-02 6.19152134e-01 8.70908385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.6471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.79, Y:107.19, Z:87.11 [[ 4.00583975e-02 -9.99196132e-01 -1.55417174e-03 1.28794761e+02] [ 6.15443534e-01 2.58988081e-02 -7.87755360e-01 1.07186111e+02] [ 7.87162360e-01 3.05997124e-02 6.15986264e-01 8.71098474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:107.20, Z:87.13 [[ 4.15132786e-02 -9.99137441e-01 -1.01099024e-03 1.28795266e+02] [ 6.11696649e-01 2.62154933e-02 -7.90657927e-01 1.07203995e+02] [ 7.90002441e-01 3.22043835e-02 6.12257316e-01 8.71280192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.7071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.79, Y:107.23, Z:87.14 [[ 4.05673310e-02 -9.98462587e-01 3.77723900e-02 1.28788977e+02] [ 6.15853159e-01 -4.78267697e-03 -7.87846439e-01 1.07229484e+02] [ 7.86815847e-01 5.52230730e-02 6.14712318e-01 8.71433301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:107.23, Z:87.17 [[ 3.88659226e-02 -9.98566550e-01 -3.68006169e-02 1.28806888e+02] [ 6.11109173e-01 5.28914284e-02 -7.89777231e-01 1.07234667e+02] [ 7.90591562e-01 8.20622622e-03 6.12288853e-01 8.71729737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.7671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:107.23, Z:87.16 [[ 3.76339034e-02 -9.99291546e-01 3.09040502e-04 1.28802158e+02] [ 6.12830138e-01 2.28352616e-02 -7.89884658e-01 1.07229109e+02] [ 7.89318004e-01 2.99158322e-02 6.13255356e-01 8.71647133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:107.26, Z:87.18 [[ 3.52146972e-02 -9.99293301e-01 1.31462430e-02 1.28803907e+02] [ 6.30872538e-01 1.20257169e-02 -7.75793286e-01 1.07256579e+02] [ 7.75086941e-01 3.56129293e-02 6.30850183e-01 8.71815260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.8271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:107.22, Z:87.16 [[ 3.25144235e-02 -9.99424638e-01 -9.65424297e-03 1.28810518e+02] [ 6.15280381e-01 2.76272277e-02 -7.87824085e-01 1.07222762e+02] [ 7.87637521e-01 1.96755797e-02 6.15824656e-01 8.71623904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:107.22, Z:87.16 [[ 3.02591764e-02 -9.99536589e-01 3.31506828e-03 1.28810318e+02] [ 6.16647355e-01 1.60574725e-02 -7.87075725e-01 1.07219978e+02] [ 7.86657754e-01 2.58604913e-02 6.16847480e-01 8.71581418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.8871056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:128.82, Y:107.22, Z:87.16 [[ 2.53559297e-02 -9.99668898e-01 4.37845667e-03 1.28816784e+02] [ 6.16891855e-01 1.22002648e-02 -7.86953361e-01 1.07220167e+02] [ 7.86639381e-01 2.26549683e-02 6.16996950e-01 8.71590282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91710568099995 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:128.82, Y:107.24, Z:87.16 [[ 2.17248410e-02 -9.99510267e-01 2.25223612e-02 1.28815993e+02] [ 6.37992767e-01 -3.48440957e-03 -7.70034473e-01 1.07235486e+02] [ 7.69735839e-01 3.10979800e-02 6.37604622e-01 8.71554779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.9471056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:128.82, Y:107.24, Z:87.15 [[ 1.37269799e-02 -9.99874954e-01 7.85148306e-03 1.28822656e+02] [ 6.40835678e-01 2.76971258e-03 -7.67673083e-01 1.07235202e+02] [ 7.67555342e-01 1.55693434e-02 6.40793564e-01 8.71528954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:107.23, Z:87.17 [[ 5.62948793e-03 -9.99894621e-01 -1.33811893e-02 1.28830463e+02] [ 6.17376490e-01 1.40018725e-02 -7.86543208e-01 1.07226976e+02] [ 7.86647684e-01 -3.83339616e-03 6.17390255e-01 8.71704476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.0071056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.83, Y:107.23, Z:87.18 [[ 1.23507792e-03 -9.99970975e-01 7.51823865e-03 1.28828325e+02] [ 6.17404174e-01 -5.15167355e-03 -7.86629231e-01 1.07233468e+02] [ 7.86645130e-01 5.61334031e-03 6.17379891e-01 8.71781944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:107.23, Z:87.18 [[-3.11760509e-03 -9.99957822e-01 8.63915574e-03 1.28830099e+02] [ 6.16188352e-01 -8.72517135e-03 -7.87550497e-01 1.07230273e+02] [ 7.87592658e-01 2.86807570e-03 6.16189564e-01 8.71763375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.06710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.83, Y:107.23, Z:87.18 [[-2.77104178e-03 -9.99948606e-01 9.75230701e-03 1.28828965e+02] [ 6.16909377e-01 -9.38481737e-03 -7.86978237e-01 1.07230880e+02] [ 7.87029315e-01 3.83554006e-03 6.16903677e-01 8.71776478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.83, Y:107.22, Z:87.17 [[ 3.36924350e-03 -9.99935450e-01 1.08510251e-02 1.28825706e+02] [ 6.18993621e-01 -6.43694086e-03 -7.85369635e-01 1.07219359e+02] [ 7.85388786e-01 9.36281683e-03 6.18931977e-01 8.71669374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.12710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:107.20, Z:87.15 [[ 1.13214399e-02 -9.99864954e-01 1.19121109e-02 1.28822943e+02] [ 6.22913689e-01 -2.26671913e-03 -7.82287287e-01 1.07204266e+02] [ 7.82208643e-01 1.62768354e-02 6.22803904e-01 8.71509268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:107.21, Z:87.15 [[ 1.40196172e-02 -9.99817507e-01 1.29770238e-02 1.28822496e+02] [ 6.23852272e-01 -1.39616137e-03 -7.81541038e-01 1.07205915e+02] [ 7.81416530e-01 1.90526520e-02 6.23718849e-01 8.71538454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.18710568099993 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:128.82, Y:107.19, Z:87.13 [[ 1.57361416e-02 -9.99777652e-01 1.40364006e-02 1.28822675e+02] [ 6.24270298e-01 -1.14199075e-03 -7.81207585e-01 1.07186032e+02] [ 7.81049914e-01 2.10557011e-02 6.24113522e-01 8.71299785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:107.19, Z:87.14 [[ 1.92098019e-02 -9.99701599e-01 1.50896426e-02 1.28822015e+02] [ 6.23815094e-01 1.89779812e-04 -7.81571937e-01 1.07192334e+02] [ 7.81335851e-01 2.44269889e-02 6.23632592e-01 8.71356407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.24710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:107.19, Z:87.13 [[ 2.26880537e-02 -9.99612150e-01 1.61493596e-02 1.28819332e+02] [ 6.22210710e-01 1.47482122e-03 -7.82848425e-01 1.07192517e+02] [ 7.82520980e-01 2.78096116e-02 6.22002847e-01 8.71330699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:107.19, Z:87.13 [[ 2.35577658e-02 -9.99574691e-01 1.71892261e-02 1.28818711e+02] [ 6.22346601e-01 1.20689921e-03 -7.82740859e-01 1.07193048e+02] [ 7.82387206e-01 2.91372822e-02 6.22110343e-01 8.71323392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.30710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:107.19, Z:87.13 [[ 2.48716012e-02 -9.99524596e-01 1.82204451e-02 1.28819916e+02] [ 6.23045670e-01 1.24498616e-03 -7.82184468e-01 1.07191685e+02] [ 7.81789931e-01 3.08063496e-02 6.22780437e-01 8.71312838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.3371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:107.18, Z:87.12 [[ 2.31957426e-02 -9.99545244e-01 1.92681909e-02 1.28822707e+02] [ 6.22986631e-01 -6.21845313e-04 -7.82232236e-01 1.07182842e+02] [ 7.81888493e-01 3.01482830e-02 6.22688900e-01 8.71214958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.36710568099994 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:128.82, Y:107.19, Z:87.12 [[ 2.04691184e-02 -9.99584110e-01 2.03131289e-02 1.28824295e+02] [ 6.22676647e-01 -3.15014139e-03 -7.82472919e-01 1.07185053e+02] [ 7.82211486e-01 2.86650419e-02 6.22353201e-01 8.71244937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.3971056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.83, Y:107.18, Z:87.12 [[ 1.49474431e-02 -9.99660600e-01 2.13368124e-02 1.28828171e+02] [ 6.23156436e-01 -7.37462728e-03 -7.82062447e-01 1.07183567e+02] [ 7.81954366e-01 2.49860059e-02 6.22834704e-01 8.71217878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.42710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:107.19, Z:87.12 [[ 1.21957850e-02 -9.99674856e-01 2.23929721e-02 1.28829326e+02] [ 6.22403228e-01 -9.93802916e-03 -7.82633667e-01 1.07186242e+02] [ 7.82601740e-01 2.34822901e-02 6.22079656e-01 8.71239606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.4571056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:128.83, Y:107.19, Z:87.13 [[ 7.95070305e-03 -9.99693010e-01 2.34663856e-02 1.28829461e+02] [ 6.21155776e-01 -1.34530991e-02 -7.83571641e-01 1.07194472e+02] [ 7.83646788e-01 2.08062264e-02 6.20858126e-01 8.71307014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.48710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:128.83, Y:107.19, Z:87.13 [[ 5.80547237e-03 -9.99681846e-01 2.45459631e-02 1.28829598e+02] [ 6.20405091e-01 -1.56503469e-02 -7.84125366e-01 1.07193854e+02] [ 7.84260046e-01 1.97806586e-02 6.20116848e-01 8.71274709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.5171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:107.19, Z:87.12 [[ 6.19221714e-04 -9.99672399e-01 2.55873111e-02 1.28833926e+02] [ 6.21460885e-01 -1.96615612e-02 -7.83198437e-01 1.07192719e+02] [ 7.83444947e-01 1.63864865e-02 6.21245119e-01 8.71234926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.54710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.84, Y:107.19, Z:87.12 [[-7.49611858e-03 -9.99615960e-01 2.66784613e-02 1.28838278e+02] [ 6.20483141e-01 -2.55716872e-02 -7.83802757e-01 1.07190032e+02] [ 7.84183958e-01 1.06780570e-02 6.20436539e-01 8.71208066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.5771056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:128.84, Y:107.20, Z:87.13 [[-1.26269187e-02 -9.99535103e-01 2.77513769e-02 1.28837772e+02] [ 6.20174098e-01 -2.95991080e-02 -7.83905594e-01 1.07195717e+02] [ 7.84362575e-01 7.31237293e-03 6.20259527e-01 8.71267325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.60710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.84, Y:107.20, Z:87.13 [[-2.15060840e-02 -9.99353050e-01 2.88265417e-02 1.28835311e+02] [ 6.19910549e-01 -3.59507478e-02 -7.83848490e-01 1.07196934e+02] [ 7.84377715e-01 1.01236583e-03 6.20282658e-01 8.71259665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.6371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.84, Y:107.20, Z:87.14 [[-2.58173871e-02 -9.99217787e-01 2.99545729e-02 1.28835629e+02] [ 6.18436132e-01 -3.95068955e-02 -7.84841357e-01 1.07204499e+02] [ 7.85410856e-01 -1.73756293e-03 6.18972348e-01 8.71361606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.66710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:128.84, Y:107.21, Z:87.14 [[-3.52029090e-02 -9.98897743e-01 3.10492157e-02 1.28837508e+02] [ 6.18353656e-01 -4.61781651e-02 -7.84542117e-01 1.07207108e+02] [ 7.85111146e-01 -8.41876874e-03 6.19297677e-01 8.71424716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.6971056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.84, Y:107.20, Z:87.14 [[-4.09789347e-02 -9.98642261e-01 3.21614872e-02 1.28836542e+02] [ 6.18515276e-01 -5.06339435e-02 -7.84139693e-01 1.07202994e+02] [ 7.84703499e-01 -1.22408382e-02 6.19750419e-01 8.71392081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.72710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.84, Y:107.20, Z:87.14 [[-4.18705190e-02 -9.98568159e-01 3.32940194e-02 1.28836471e+02] [ 6.18455932e-01 -5.20752121e-02 -7.84092107e-01 1.07201542e+02] [ 7.84703205e-01 -1.22394597e-02 6.19750818e-01 8.71372441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.7571056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:128.83, Y:107.20, Z:87.14 [[-5.41848218e-02 -9.97941681e-01 3.42987923e-02 1.28832508e+02] [ 6.21238987e-01 -6.05832380e-02 -7.81275746e-01 1.07202256e+02] [ 7.81745563e-01 -2.10255401e-02 6.23242971e-01 8.71419688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:107.19, Z:87.13 [[-6.08245276e-02 -9.97521923e-01 3.53608464e-02 1.28831080e+02] [ 6.22678950e-01 -6.56083669e-02 -7.79722045e-01 1.07191518e+02] [ 7.80109802e-01 -2.54077704e-02 6.25126501e-01 8.71303605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.81710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:107.18, Z:87.12 [[-7.00492592e-02 -9.96881709e-01 3.63312579e-02 1.28826925e+02] [ 6.25977373e-01 -7.22852928e-02 -7.76483848e-01 1.07178602e+02] [ 7.76688760e-01 -3.16495729e-02 6.29088924e-01 8.71184548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.84710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.82, Y:107.17, Z:87.11 [[-7.25355415e-02 -9.96665006e-01 3.73826372e-02 1.28818433e+02] [ 6.26806544e-01 -7.47083197e-02 -7.75585085e-01 1.07171559e+02] [ 7.75791307e-01 -3.28258025e-02 6.30135156e-01 8.71108639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.87710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:107.16, Z:87.10 [[-7.19021538e-02 -9.96669462e-01 3.84716010e-02 1.28812802e+02] [ 6.26389563e-01 -7.51383697e-02 -7.75880365e-01 1.07163908e+02] [ 7.76186960e-01 -3.16892600e-02 6.29705959e-01 8.71004341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.90710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:107.17, Z:87.10 [[-6.67745455e-02 -9.96986096e-01 3.94953623e-02 1.28800198e+02] [ 6.27504574e-01 -7.27376727e-02 -7.75207869e-01 1.07167049e+02] [ 7.75744268e-01 -2.69806327e-02 6.30470361e-01 8.71041377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.93710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.79, Y:107.17, Z:87.11 [[-6.27916877e-02 -9.97204158e-01 4.05101362e-02 1.28794425e+02] [ 6.28648471e-01 -7.10451046e-02 -7.74437663e-01 1.07170517e+02] [ 7.75150504e-01 -2.31616127e-02 6.31351911e-01 8.71082736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.9671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.78, Y:107.17, Z:87.11 [[-5.39646780e-02 -9.97675651e-01 4.16066026e-02 1.28782380e+02] [ 6.28551117e-01 -6.63161509e-02 -7.74935908e-01 1.07171704e+02] [ 7.75893876e-01 -1.56672902e-02 6.30668875e-01 8.71071155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.99710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.77, Y:107.18, Z:87.11 [[-4.57470565e-02 -9.98036299e-01 4.27873043e-02 1.28771302e+02] [ 6.26757604e-01 -6.20287959e-02 -7.76741485e-01 1.07176708e+02] [ 7.77870242e-01 -8.71636829e-03 6.28364474e-01 8.71123607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.0271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.77, Y:107.18, Z:87.11 [[-4.23202444e-02 -9.98139965e-01 4.38817515e-02 1.28766193e+02] [ 6.26861237e-01 -6.07274954e-02 -7.76760685e-01 1.07177694e+02] [ 7.77980711e-01 -5.36493295e-03 6.28265255e-01 8.71134591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.76, Y:107.18, Z:87.11 [[-3.87570015e-02 -9.98236966e-01 4.49539063e-02 1.28761641e+02] [ 6.27714202e-01 -5.93252358e-02 -7.76180003e-01 1.07176203e+02] [ 7.77478473e-01 -1.86420411e-03 6.28906789e-01 8.71118542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.0871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.75, Y:107.18, Z:87.12 [[-3.13029955e-02 -9.98451323e-01 4.59899797e-02 1.28751921e+02] [ 6.29582560e-01 -5.54337640e-02 -7.74953481e-01 1.07182360e+02] [ 7.76302726e-01 4.69612384e-03 6.30342783e-01 8.71195999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.75, Y:107.17, Z:87.11 [[-2.54815441e-02 -9.98567139e-01 4.70569877e-02 1.28745871e+02] [ 6.30898836e-01 -5.25775593e-02 -7.74081559e-01 1.07171773e+02] [ 7.75446549e-01 9.96340537e-03 6.31334602e-01 8.71054407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.1471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.74, Y:107.17, Z:87.10 [[-2.34163560e-02 -9.98564972e-01 4.81629575e-02 1.28741343e+02] [ 6.31178445e-01 -5.21272477e-02 -7.73884048e-01 1.07171745e+02] [ 7.75284106e-01 1.22778763e-02 6.31493317e-01 8.71036330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.74, Y:107.17, Z:87.10 [[-2.41300127e-02 -9.98491843e-01 4.93130989e-02 1.28740443e+02] [ 6.30213194e-01 -5.34845460e-02 -7.74577778e-01 1.07170918e+02] [ 7.76047082e-01 1.23871939e-02 6.30553316e-01 8.71012305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.2071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.74, Y:107.18, Z:87.10 [[-2.60290406e-02 -9.98383269e-01 5.05305529e-02 1.28737788e+02] [ 6.28002037e-01 -5.56590376e-02 -7.76218728e-01 1.07177051e+02] [ 7.77776273e-01 1.15290614e-02 6.28435478e-01 8.71047788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:128.74, Y:107.17, Z:87.10 [[-2.77815050e-02 -9.98276725e-01 5.16891458e-02 1.28736572e+02] [ 6.27100672e-01 -5.76733257e-02 -7.76800190e-01 1.07174978e+02] [ 7.78442634e-01 1.08336197e-02 6.27622257e-01 8.71021431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.2671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.74, Y:107.17, Z:87.10 [[-3.00391472e-02 -9.98152863e-01 5.28063562e-02 1.28735513e+02] [ 6.27095703e-01 -5.99592317e-02 -7.76631103e-01 1.07170240e+02] [ 7.78362787e-01 9.78530310e-03 6.27738496e-01 8.70958994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.73, Y:107.17, Z:87.09 [[-3.04502081e-02 -9.98079182e-01 5.39511984e-02 1.28734849e+02] [ 6.26605872e-01 -6.11143169e-02 -7.76936369e-01 1.07167905e+02] [ 7.78741206e-01 1.01482636e-02 6.27263220e-01 8.70934217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.3271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.73, Y:107.17, Z:87.09 [[-2.82503308e-02 -9.98080949e-01 5.51029721e-02 1.28733171e+02] [ 6.26075494e-01 -6.06403142e-02 -7.77400944e-01 1.07168994e+02] [ 7.79250534e-01 1.25367866e-02 6.26587132e-01 8.70948809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.72, Y:107.23, Z:87.16 [[-3.03460720e-02 -9.96209795e-01 8.15178466e-02 1.28722665e+02] [ 6.56259810e-01 -8.13726639e-02 -7.50134355e-01 1.07233917e+02] [ 7.53924517e-01 3.07332554e-02 6.56241792e-01 8.71574580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.3871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.74, Y:107.16, Z:87.08 [[-1.64614862e-02 -9.99173555e-01 3.71648430e-02 1.28737853e+02] [ 6.25302880e-01 -3.92918821e-02 -7.79392364e-01 1.07161628e+02] [ 7.80208516e-01 1.04093267e-02 6.25432904e-01 8.70841559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.73, Y:107.17, Z:87.07 [[-1.01168692e-02 -9.97044094e-01 7.61624869e-02 1.28729884e+02] [ 6.50849181e-01 -6.43896459e-02 -7.56471623e-01 1.07165136e+02] [ 7.59139640e-01 4.19171678e-02 6.49576753e-01 8.70653086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.4471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.73, Y:107.17, Z:87.07 [[-5.05086775e-03 -9.98307187e-01 5.79417677e-02 1.28734759e+02] [ 6.46900556e-01 -4.74470263e-02 -7.61096873e-01 1.07171361e+02] [ 7.62557643e-01 3.36383621e-02 6.46045123e-01 8.70721074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.75, Y:107.15, Z:87.06 [[ 2.89361941e-03 -9.99073948e-01 4.29287011e-02 1.28747184e+02] [ 6.22354691e-01 -3.18026589e-02 -7.82089016e-01 1.07145190e+02] [ 7.82730008e-01 2.89799465e-02 6.21686334e-01 8.70604447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.5071056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.74, Y:107.15, Z:87.05 [[-5.15811962e-03 -9.97060100e-01 7.64496658e-02 1.28742060e+02] [ 6.49449604e-01 -6.14730687e-02 -7.57915743e-01 1.07153778e+02] [ 7.60387142e-01 4.57407852e-02 6.47857373e-01 8.70477092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.76, Y:107.15, Z:87.06 [[-5.35438086e-03 -9.98955662e-01 4.53752818e-02 1.28758087e+02] [ 6.25224654e-01 -3.87573766e-02 -7.79481878e-01 1.07145075e+02] [ 7.80426462e-01 2.41961020e-02 6.24779230e-01 8.70613824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.56710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.76, Y:107.14, Z:87.06 [[-9.15497699e-03 -9.98122397e-01 6.05629181e-02 1.28759147e+02] [ 6.25811518e-01 -5.29572382e-02 -7.78174450e-01 1.07143998e+02] [ 7.79920592e-01 3.07768025e-02 6.25121315e-01 8.70596411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.77, Y:107.14, Z:87.06 [[-1.26984832e-02 -9.98017551e-01 6.16418344e-02 1.28766336e+02] [ 6.25311553e-01 -5.60311919e-02 -7.78361078e-01 1.07143706e+02] [ 7.80271882e-01 2.86613461e-02 6.24783416e-01 8.70588267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.62710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.77, Y:107.14, Z:87.05 [[-1.53427982e-02 -9.97915316e-01 6.26866870e-02 1.28774028e+02] [ 6.25412235e-01 -5.84939612e-02 -7.78098961e-01 1.07140506e+02] [ 7.80143663e-01 2.72668056e-02 6.25005909e-01 8.70547433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.77, Y:107.21, Z:87.11 [[-2.14409432e-02 -9.96668189e-01 7.86943925e-02 1.28768323e+02] [ 6.50599259e-01 -7.36752231e-02 -7.55838981e-01 1.07206224e+02] [ 7.59118495e-01 3.49926128e-02 6.50011252e-01 8.71107555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.68710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.79, Y:107.14, Z:87.06 [[-2.17580171e-02 -9.98510547e-01 5.00327496e-02 1.28785541e+02] [ 6.25327119e-01 -5.26390467e-02 -7.78585336e-01 1.07144579e+02] [ 7.80059346e-01 1.43463622e-02 6.25541045e-01 8.70584710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.78, Y:107.15, Z:87.04 [[-2.97305144e-02 -9.96333315e-01 8.02248206e-02 1.28781281e+02] [ 6.51687855e-01 -8.01775845e-02 -7.54237691e-01 1.07148284e+02] [ 7.57904371e-01 2.98576667e-02 6.51682042e-01 8.70354679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.74710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.79, Y:107.15, Z:87.04 [[-3.69995244e-02 -9.96951325e-01 6.86956396e-02 1.28789560e+02] [ 6.52202221e-01 -7.61742054e-02 -7.54208031e-01 1.07148089e+02] [ 7.57141531e-01 1.68981103e-02 6.53032278e-01 8.70355892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.79, Y:107.14, Z:87.03 [[-3.78075397e-02 -9.97406903e-01 6.12377242e-02 1.28794300e+02] [ 6.48557907e-01 -7.11129411e-02 -7.57836124e-01 1.07141066e+02] [ 7.60225776e-01 1.10642909e-02 6.49564739e-01 8.70258044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.80710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.79, Y:107.15, Z:87.04 [[-4.22706609e-02 -9.95725307e-01 8.21237154e-02 1.28791429e+02] [ 6.59871684e-01 -8.95422262e-02 -7.46023827e-01 1.07153963e+02] [ 7.50188344e-01 2.26561942e-02 6.60835944e-01 8.70393308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.8371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:107.14, Z:87.02 [[-2.88699104e-02 -9.98079972e-01 5.47986985e-02 1.28801573e+02] [ 6.45795321e-01 -6.04681198e-02 -7.61112351e-01 1.07141195e+02] [ 7.62964568e-01 1.34154977e-02 6.46301085e-01 8.70238547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.86710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:107.14, Z:87.05 [[-2.38594972e-02 -9.98469938e-01 4.98849434e-02 1.28805544e+02] [ 6.18455012e-01 -5.39466817e-02 -7.83966296e-01 1.07138910e+02] [ 7.85457906e-01 1.21465516e-02 6.18795878e-01 8.70466282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.8971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:107.13, Z:87.03 [[-2.34491448e-02 -9.97417580e-01 6.78845223e-02 1.28804909e+02] [ 6.18809299e-01 -6.78126923e-02 -7.82608772e-01 1.07129492e+02] [ 7.85191180e-01 2.36560673e-02 6.18801424e-01 8.70335794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.92710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:107.14, Z:87.04 [[-2.44723386e-02 -9.97312808e-01 6.90526433e-02 1.28807282e+02] [ 6.17087862e-01 -6.94134180e-02 -7.83826733e-01 1.07138055e+02] [ 7.86513620e-01 2.34294748e-02 6.17128338e-01 8.70429168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.9571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:107.14, Z:87.04 [[-2.58964399e-02 -9.97197101e-01 7.01948421e-02 1.28807266e+02] [ 6.15757252e-01 -7.12281503e-02 -7.84709855e-01 1.07140508e+02] [ 7.87510242e-01 2.29017915e-02 6.15875903e-01 8.70445532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.98710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:107.14, Z:87.04 [[-2.65418382e-02 -9.97096138e-01 7.13780258e-02 1.28810185e+02] [ 6.14177288e-01 -7.26025955e-02 -7.85821304e-01 1.07139710e+02] [ 7.88721617e-01 2.29816204e-02 6.14320808e-01 8.70424859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.0171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:107.18, Z:87.10 [[-3.31734068e-02 -9.96408748e-01 7.79046299e-02 1.28807026e+02] [ 6.17231011e-01 -8.17315174e-02 -7.82525296e-01 1.07184757e+02] [ 7.86082314e-01 2.21261235e-02 6.17725692e-01 8.70990891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.04710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:107.17, Z:87.05 [[-2.71448403e-02 -9.95503545e-01 9.07515866e-02 1.28808296e+02] [ 6.47041561e-01 -8.66988594e-02 -7.57509423e-01 1.07168698e+02] [ 7.61971375e-01 3.81575759e-02 6.46485594e-01 8.70517811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.0771056809999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:128.82, Y:107.13, Z:87.04 [[-2.44877132e-02 -9.98202738e-01 5.46959424e-02 1.28817460e+02] [ 6.17463252e-01 -5.81309063e-02 -7.84448807e-01 1.07130390e+02] [ 7.86218472e-01 1.45633770e-02 6.17777001e-01 8.70357623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.10710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:107.13, Z:87.03 [[-2.33644764e-02 -9.97027693e-01 7.34158125e-02 1.28813268e+02] [ 6.17888980e-01 -7.21319373e-02 -7.82949674e-01 1.07126680e+02] [ 7.85918132e-01 2.70696123e-02 6.17737749e-01 8.70278657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.1371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:107.18, Z:87.06 [[-3.26149903e-02 -9.95463784e-01 8.93762664e-02 1.28809371e+02] [ 6.46748654e-01 -8.91981089e-02 -7.57469390e-01 1.07179100e+02] [ 7.62005539e-01 3.30991231e-02 6.46724057e-01 8.70631629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.16710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:107.13, Z:87.03 [[-2.83152519e-02 -9.97520781e-01 6.44246699e-02 1.28821530e+02] [ 6.19478175e-01 -6.80931374e-02 -7.82055059e-01 1.07125046e+02] [ 7.84503051e-01 1.77655909e-02 6.19870427e-01 8.70283139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.1971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:107.18, Z:87.09 [[-3.96799926e-02 -9.95682395e-01 8.39170240e-02 1.28814374e+02] [ 6.28305128e-01 -9.01651675e-02 -7.72724342e-01 1.07175530e+02] [ 7.76954416e-01 2.20638003e-02 6.29170107e-01 8.70918492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.22710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.82, Y:107.17, Z:87.09 [[-3.93990896e-02 -9.96220112e-01 7.74157682e-02 1.28817170e+02] [ 6.25861888e-01 -8.49992196e-02 -7.75288353e-01 1.07170021e+02] [ 7.78938129e-01 1.79059235e-02 6.26845091e-01 8.70864793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.2571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:107.18, Z:87.10 [[-4.31918042e-02 -9.96403860e-01 7.28959237e-02 1.28818963e+02] [ 6.21002696e-01 -8.39319723e-02 -7.79301659e-01 1.07181213e+02] [ 7.82617480e-01 1.16091204e-02 6.22394656e-01 8.70985945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:107.17, Z:87.08 [[-4.38614045e-02 -9.95493161e-01 8.40805839e-02 1.28818045e+02] [ 6.24212852e-01 -9.30191271e-02 -7.75696949e-01 1.07170276e+02] [ 7.80022110e-01 1.84610234e-02 6.25479575e-01 8.70833845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.31710568099993 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:128.82, Y:107.12, Z:87.02 [[-3.93725439e-02 -9.96370665e-01 7.54672115e-02 1.28824182e+02] [ 6.22568580e-01 -8.35358655e-02 -7.78093903e-01 1.07118819e+02] [ 7.81574159e-01 1.63479784e-02 6.23598090e-01 8.70192810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:107.12, Z:87.02 [[-3.35003814e-02 -9.96897525e-01 7.12253379e-02 1.28823971e+02] [ 6.19513309e-01 -7.66355160e-02 -7.81236365e-01 1.07118933e+02] [ 7.84270989e-01 1.79533285e-02 6.20158604e-01 8.70197230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.37710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:107.11, Z:87.01 [[-2.41623471e-02 -9.96508321e-01 7.99208815e-02 1.28823017e+02] [ 6.19817655e-01 -7.76571402e-02 -7.80894003e-01 1.07113844e+02] [ 7.84373799e-01 3.06681415e-02 6.19529829e-01 8.70104025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:107.10, Z:86.99 [[-2.06009276e-02 -9.96503676e-01 8.09692889e-02 1.28824564e+02] [ 6.20065702e-01 -7.62641760e-02 -7.80834362e-01 1.07101630e+02] [ 7.84279368e-01 3.41203668e-02 6.19468864e-01 8.69948429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.43710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:107.10, Z:86.99 [[-1.37614928e-02 -9.96532756e-01 8.20553950e-02 1.28825198e+02] [ 6.19856406e-01 -7.28945963e-02 -7.81322222e-01 1.07098935e+02] [ 7.84594582e-01 4.01104021e-02 6.18710351e-01 8.69891430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.4671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:107.10, Z:86.99 [[-1.25079913e-02 -9.96463973e-01 8.30848993e-02 1.28824688e+02] [ 6.19723659e-01 -7.29339162e-02 -7.81423848e-01 1.07098694e+02] [ 7.84720420e-01 4.17156351e-02 6.18444556e-01 8.69873019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.49710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:107.09, Z:86.97 [[-1.18519121e-02 -9.96386865e-01 8.40996285e-02 1.28826283e+02] [ 6.19697059e-01 -7.33256767e-02 -7.81408280e-01 1.07088991e+02] [ 7.84751608e-01 4.28551103e-02 6.18327060e-01 8.69735788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.5271056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:128.83, Y:107.09, Z:86.98 [[-1.06213655e-02 -9.96318573e-01 8.50675492e-02 1.28828435e+02] [ 6.20145616e-01 -7.32990593e-02 -7.81054840e-01 1.07094340e+02] [ 7.84414815e-01 4.44583988e-02 6.18641131e-01 8.69792601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.83, Y:107.09, Z:86.98 [[-1.05721018e-02 -9.96238981e-01 8.60007165e-02 1.28831234e+02] [ 6.20854835e-01 -7.39593487e-02 -7.80428913e-01 1.07091072e+02] [ 7.83854262e-01 4.51431868e-02 6.19301694e-01 8.69756826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.5871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.84, Y:107.09, Z:86.97 [[-1.12288811e-02 -9.96165802e-01 8.67617879e-02 1.28836620e+02] [ 6.23498628e-01 -7.48092705e-02 -7.78237132e-01 1.07085002e+02] [ 7.81743802e-01 4.53571236e-02 6.21948035e-01 8.69684052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.84, Y:107.09, Z:86.97 [[-1.26895596e-02 -9.96067934e-01 8.76792171e-02 1.28838182e+02] [ 6.24188813e-01 -7.63942530e-02 -7.77529577e-01 1.07086422e+02] [ 7.81170468e-01 4.48618785e-02 6.22703871e-01 8.69696002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.6471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.84, Y:107.08, Z:86.97 [[-1.34806355e-02 -9.95970561e-01 8.86618004e-02 1.28838233e+02] [ 6.24172410e-01 -7.76544153e-02 -7.77417902e-01 1.07084948e+02] [ 7.81170324e-01 4.48601623e-02 6.22704176e-01 8.69676408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.84, Y:107.09, Z:86.97 [[-1.69502211e-02 -9.95823694e-01 8.97098705e-02 1.28843528e+02] [ 6.23256649e-01 -8.06815932e-02 -7.77844220e-01 1.07086442e+02] [ 7.81833639e-01 4.27276418e-02 6.22021309e-01 8.69659003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.7071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.85, Y:107.08, Z:86.96 [[-1.99554979e-02 -9.95674282e-01 9.07441567e-02 1.28848692e+02] [ 6.22538369e-01 -8.33948468e-02 -7.78133202e-01 1.07084000e+02] [ 7.82334812e-01 4.09636837e-02 6.21509629e-01 8.69618891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.86, Y:107.09, Z:86.97 [[-2.53089917e-02 -9.95448762e-01 9.18760934e-02 1.28857586e+02] [ 6.20558399e-01 -8.76984463e-02 -7.79240820e-01 1.07091917e+02] [ 7.83751701e-01 3.72926820e-02 6.19953650e-01 8.69698902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.7671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.86, Y:107.09, Z:86.97 [[-2.76796088e-02 -9.95288838e-01 9.29191542e-02 1.28860948e+02] [ 6.19885622e-01 -9.00138786e-02 -7.79512230e-01 1.07091256e+02] [ 7.84203835e-01 3.60226541e-02 6.19456789e-01 8.69681177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.87, Y:107.09, Z:86.96 [[-2.67762491e-02 -9.95218509e-01 9.39316331e-02 1.28866504e+02] [ 6.19938397e-01 -9.02455315e-02 -7.79443473e-01 1.07087762e+02] [ 7.84193481e-01 3.73612535e-02 6.19390604e-01 8.69601541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.8271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.87, Y:107.07, Z:86.94 [[-2.24162867e-02 -9.95221750e-01 9.50325175e-02 1.28874482e+02] [ 6.19333497e-01 -8.84435379e-02 -7.80130605e-01 1.07073287e+02] [ 7.84807958e-01 4.13691901e-02 6.18356742e-01 8.69376082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.88, Y:107.06, Z:86.92 [[-1.96014214e-02 -9.95172721e-01 9.61615319e-02 1.28880200e+02] [ 6.18072144e-01 -8.76614237e-02 -7.81218471e-01 1.07057447e+02] [ 7.85876968e-01 4.41217718e-02 6.16806826e-01 8.69164515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.8871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.89, Y:107.07, Z:86.93 [[-1.30325713e-02 -9.95166283e-01 9.73356103e-02 1.28885424e+02] [ 6.16335385e-01 -8.46477016e-02 -7.82921107e-01 1.07067817e+02] [ 7.87375924e-01 4.97879057e-02 6.14459372e-01 8.69285958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91710568099995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.89, Y:107.06, Z:86.92 [[-8.48806661e-03 -9.95127090e-01 9.82345559e-02 1.28890017e+02] [ 6.17223861e-01 -8.25046834e-02 -7.82449796e-01 1.07061539e+02] [ 7.86741799e-01 5.39912259e-02 6.14916490e-01 8.69202606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.9471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.89, Y:107.05, Z:86.91 [[-7.89955902e-03 -9.95046031e-01 9.91009234e-02 1.28893320e+02] [ 6.18160223e-01 -8.27587237e-02 -7.81683396e-01 1.07050580e+02] [ 7.86012427e-01 5.50852948e-02 6.15751634e-01 8.69061409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.89, Y:107.11, Z:86.97 [[-9.18122173e-03 -9.94940881e-01 1.00041739e-01 1.28891543e+02] [ 6.18023096e-01 -8.42960501e-02 -7.81627551e-01 1.07106134e+02] [ 7.86106327e-01 5.46518093e-02 6.15670384e-01 8.69744888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.0071056809999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:128.90, Y:107.06, Z:86.91 [[-1.28744351e-02 -9.94800285e-01 1.01027926e-01 1.28900869e+02] [ 6.17744280e-01 -8.73618309e-02 -7.81511302e-01 1.07057826e+02] [ 7.86273651e-01 5.23479065e-02 6.15656920e-01 8.69119563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03710568099996 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:128.91, Y:107.06, Z:86.91 [[-1.98192455e-02 -9.94601450e-01 1.01858499e-01 1.28909499e+02] [ 6.18762251e-01 -9.22257805e-02 -7.80145936e-01 1.07058176e+02] [ 7.85328259e-01 4.75642902e-02 6.17249677e-01 8.69100803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.06710568099993 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:128.92, Y:107.06, Z:86.91 [[-3.07124449e-02 -9.94257851e-01 1.02508881e-01 1.28917400e+02] [ 6.20527444e-01 -9.93664341e-02 -7.77863743e-01 1.07058958e+02] [ 7.83583076e-01 3.97194768e-02 6.20016069e-01 8.69125795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09710568099996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:128.92, Y:107.05, Z:86.88 [[-3.61863649e-02 -9.92520475e-01 1.16591829e-01 1.28920441e+02] [ 6.36445681e-01 -1.12836917e-01 -7.63023411e-01 1.07048972e+02] [ 7.70472220e-01 4.65933224e-02 6.35768527e-01 8.68826731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.12710568099993 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:128.93, Y:107.06, Z:86.92 [[-4.16499117e-02 -9.95337820e-01 8.69937242e-02 1.28928933e+02] [ 6.18751355e-01 -9.40589688e-02 -7.79935684e-01 1.07060935e+02] [ 7.84482024e-01 2.13432324e-02 6.19784173e-01 8.69182989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15710568099996 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:128.93, Y:107.06, Z:86.92 [[-4.92245421e-02 -9.93273679e-01 1.04806214e-01 1.28930429e+02] [ 6.17074594e-01 -1.12755092e-01 -7.78784460e-01 1.07063808e+02] [ 7.85363540e-01 2.63379438e-02 6.18474270e-01 8.69164186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.18710568099993 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:128.93, Y:107.07, Z:86.92 [[-5.28588958e-02 -9.92981047e-01 1.05804430e-01 1.28930383e+02] [ 6.16283293e-01 -1.15806657e-01 -7.78963235e-01 1.07065945e+02] [ 7.85748586e-01 2.40303660e-02 6.18079042e-01 8.69156955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2171056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:128.93, Y:107.07, Z:86.92 [[-5.45203733e-02 -9.92790068e-01 1.06749288e-01 1.28931423e+02] [ 6.16256360e-01 -1.17574007e-01 -7.78719752e-01 1.07070189e+02] [ 7.85656177e-01 2.33288361e-02 6.18223372e-01 8.69208589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.24710568099994 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:128.93, Y:107.06, Z:86.89 [[-6.29389020e-02 -9.90257252e-01 1.24214608e-01 1.28931871e+02] [ 6.36788849e-01 -1.35680380e-01 -7.59006454e-01 1.07064948e+02] [ 7.68465131e-01 3.13274446e-02 6.39124350e-01 8.68930241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2771056809999 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:128.94, Y:107.07, Z:86.93 [[-5.94955636e-02 -9.93993515e-01 9.18540643e-02 1.28939628e+02] [ 6.15257399e-01 -1.08975419e-01 -7.80757767e-01 1.07071097e+02] [ 7.86077993e-01 1.00622693e-02 6.18045419e-01 8.69304371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.30710568099994 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:128.93, Y:107.07, Z:86.93 [[-6.37312501e-02 -9.92031504e-01 1.08682211e-01 1.28933271e+02] [ 6.16355514e-01 -1.24777923e-01 -7.77519357e-01 1.07072874e+02] [ 7.84884838e-01 1.74345995e-02 6.19396340e-01 8.69285927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.3371056809999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:128.93, Y:107.06, Z:86.91 [[-6.48411617e-02 -9.91846655e-01 1.09707964e-01 1.28934522e+02] [ 6.15921716e-01 -1.26277878e-01 -7.77620947e-01 1.07057085e+02] [ 7.85134424e-01 1.71496721e-02 6.19087898e-01 8.69082084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.36710568099994 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:128.93, Y:107.05, Z:86.88 [[-6.35927575e-02 -9.90229653e-01 1.24101554e-01 1.28933463e+02] [ 6.32943646e-01 -1.36162502e-01 -7.62129985e-01 1.07053417e+02] [ 7.71581689e-01 3.00833428e-02 6.35418516e-01 8.68830002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.3971056809999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:128.94, Y:107.07, Z:86.92 [[-5.93048216e-02 -9.93809601e-01 9.39436827e-02 1.28937020e+02] [ 6.14859643e-01 -1.10504712e-01 -7.80856150e-01 1.07067592e+02] [ 7.86403559e-01 1.14536445e-02 6.17606879e-01 8.69238794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.42710568099994 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:128.93, Y:107.07, Z:86.92 [[-5.73507981e-02 -9.92078723e-01 1.11761773e-01 1.28934085e+02] [ 6.16414753e-01 -1.23247131e-01 -7.77716528e-01 1.07066842e+02] [ 7.85330337e-01 2.42889420e-02 6.18600282e-01 8.69185891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.4571056809999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:128.94, Y:107.06, Z:86.91 [[-5.22902976e-02 -9.92258279e-01 1.12646498e-01 1.28935770e+02] [ 6.17977033e-01 -1.20760370e-01 -7.76866346e-01 1.07059571e+02] [ 7.84455296e-01 2.89903764e-02 6.19507423e-01 8.69113750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.48710568099995 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:128.93, Y:107.10, Z:86.96 [[-4.75165817e-02 -9.91697150e-01 1.19494510e-01 1.28927983e+02] [ 6.21858666e-01 -1.22988206e-01 -7.73411728e-01 1.07100684e+02] [ 7.81686621e-01 3.75588150e-02 6.22539446e-01 8.69593286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.5171056809999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:128.94, Y:107.04, Z:86.87 [[-4.45160984e-02 -9.91859095e-01 1.19305712e-01 1.28937626e+02] [ 6.34849855e-01 -1.20296062e-01 -7.63213286e-01 1.07043943e+02] [ 7.71352046e-01 4.17659360e-02 6.35036714e-01 8.68727717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.54710568099995 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:128.94, Y:107.04, Z:86.87 [[-4.18888384e-02 -9.92974678e-01 1.10664417e-01 1.28942067e+02] [ 6.33489404e-01 -1.12047489e-01 -7.65595543e-01 1.07040848e+02] [ 7.72616658e-01 3.80348274e-02 6.33732476e-01 8.68705950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.5771056809999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:128.94, Y:107.04, Z:86.87 [[-4.13284765e-02 -9.92917863e-01 1.11382562e-01 1.28943178e+02] [ 6.33080309e-01 -1.12267426e-01 -7.65901656e-01 1.07039141e+02] [ 7.72982069e-01 3.88605579e-02 6.33236589e-01 8.68695499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.60710568099995 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:128.94, Y:107.03, Z:86.86 [[-3.98515201e-02 -9.92121970e-01 1.18768066e-01 1.28943436e+02] [ 6.37414527e-01 -1.16778098e-01 -7.61620376e-01 1.07030563e+02] [ 7.69489817e-01 4.53527606e-02 6.37046740e-01 8.68582090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.6371056809999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:128.94, Y:107.03, Z:86.86 [[-3.98176759e-02 -9.93098958e-01 1.10313245e-01 1.28943688e+02] [ 6.36231340e-01 -1.10326405e-01 -7.63569097e-01 1.07031351e+02] [ 7.70470139e-01 3.97811969e-02 6.36233622e-01 8.68578347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.66710568099995 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:128.94, Y:107.03, Z:86.86 [[-3.77735536e-02 -9.92798099e-01 1.13688584e-01 1.28943638e+02] [ 6.35614541e-01 -1.11659037e-01 -7.63889007e-01 1.07029321e+02] [ 7.71081912e-01 4.34073149e-02 6.35254666e-01 8.68572201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.6971056809999 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:128.95, Y:107.03, Z:86.86 [[-3.89083434e-02 -9.92565165e-01 1.15327945e-01 1.28947031e+02] [ 6.37720998e-01 -1.13520001e-01 -7.61856376e-01 1.07027568e+02] [ 7.69284128e-01 4.39044829e-02 6.37396523e-01 8.68569742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.72710568099995 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:128.94, Y:107.07, Z:86.93 [[-3.84552340e-02 -9.93283066e-01 1.09132700e-01 1.28941174e+02] [ 6.24407809e-01 -1.09151898e-01 -7.73434387e-01 1.07073816e+02] [ 7.80151321e-01 3.84007099e-02 6.24411165e-01 8.69293587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.7571056809999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:128.95, Y:107.03, Z:86.86 [[-3.48122477e-02 -9.92269553e-01 1.19118607e-01 1.28947860e+02] [ 6.30876291e-01 -1.14259993e-01 -7.67424106e-01 1.07028959e+02] [ 7.75102066e-01 4.84333467e-02 6.29976982e-01 8.68575167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.78710568099996 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:128.95, Y:107.03, Z:86.87 [[-3.58656145e-02 -9.93557722e-01 1.07502140e-01 1.28950849e+02] [ 6.18704753e-01 -1.06552495e-01 -7.78364307e-01 1.07030754e+02] [ 7.84804489e-01 3.85955707e-02 6.18540456e-01 8.68715239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.81710568099993 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:128.95, Y:107.03, Z:86.86 [[-3.11689697e-02 -9.90758887e-01 1.32005010e-01 1.28949823e+02] [ 6.28686479e-01 -1.22105430e-01 -7.68012744e-01 1.07033846e+02] [ 7.77033980e-01 5.90515993e-02 6.26682617e-01 8.68562533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.84710568099996 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:128.96, Y:107.02, Z:86.86 [[-3.68916919e-02 -9.93979509e-01 1.03168500e-01 1.28960178e+02] [ 6.16582069e-01 -1.03885568e-01 -7.80406523e-01 1.07019890e+02] [ 7.86425810e-01 3.48213302e-02 6.16702457e-01 8.68552795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.87710568099993 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:128.95, Y:107.07, Z:86.91 [[-3.77139411e-02 -9.90563068e-01 1.31766711e-01 1.28948423e+02] [ 6.22732924e-01 -1.26422878e-01 -7.72153457e-01 1.07070795e+02] [ 7.81525024e-01 5.29345194e-02 6.21624141e-01 8.69136270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.90710568099996 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:128.97, Y:107.00, Z:86.83 [[-3.72195137e-02 -9.93261602e-01 1.09754713e-01 1.28967869e+02] [ 6.17793592e-01 -1.09198129e-01 -7.78721289e-01 1.07004108e+02] [ 7.85458965e-01 3.88221305e-02 6.17694954e-01 8.68321604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.93710568099993 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:128.97, Y:107.02, Z:86.86 [[-4.41911386e-02 -9.92196312e-01 1.16591691e-01 1.28965112e+02] [ 6.16552121e-01 -1.18915315e-01 -7.78281845e-01 1.07023897e+02] [ 7.86072914e-01 3.74916936e-02 6.16995744e-01 8.68554793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.9671056809999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:128.97, Y:107.02, Z:86.85 [[-4.58031321e-02 -9.91300843e-01 1.23388458e-01 1.28965639e+02] [ 6.17889513e-01 -1.25168937e-01 -7.76237906e-01 1.07022358e+02] [ 7.84929693e-01 4.06863067e-02 6.18247525e-01 8.68515600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.99710568099994 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:128.97, Y:107.00, Z:86.82 [[-4.68845171e-02 -9.90799358e-01 1.26958556e-01 1.28974561e+02] [ 6.20812836e-01 -1.28473244e-01 -7.73360232e-01 1.06997857e+02] [ 7.82555599e-01 4.25588799e-02 6.21124365e-01 8.68219833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.0271056809999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:128.97, Y:107.02, Z:86.86 [[-5.07600442e-02 -9.91619311e-01 1.18804711e-01 1.28974431e+02] [ 6.17793023e-01 -1.24643685e-01 -7.76399210e-01 1.07023770e+02] [ 7.84700707e-01 3.39866632e-02 6.18942411e-01 8.68599462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05710568099994 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:128.93, Y:107.27, Z:87.16 [[-5.79042942e-02 -9.90446542e-01 1.25150873e-01 1.28934603e+02] [ 6.18702305e-01 -1.33986804e-01 -7.74115621e-01 1.07266092e+02] [ 7.83488705e-01 3.26065152e-02 6.20549969e-01 8.71641574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.0871056809999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:128.62, Y:106.70, Z:87.14 [[-2.25732642e-01 9.67112115e-01 -1.17213187e-01 1.28617531e+02] [ 5.98065351e-01 2.32549593e-01 7.66967093e-01 1.06703924e+02] [ 7.69001047e-01 1.03028363e-01 -6.30890281e-01 8.71382528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11710568099994 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:128.66, Y:106.65, Z:87.08 [[-2.90868562e-01 9.42157993e-01 -1.66534671e-01 1.28662924e+02] [ 5.76304285e-01 3.11470555e-01 7.55552423e-01 1.06650365e+02] [ 7.63720401e-01 1.23791802e-01 -6.33566681e-01 8.70797579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.1471056809999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:128.72, Y:106.63, Z:87.09 [[-3.56696293e-01 8.82084604e-01 -3.07724725e-01 1.28717109e+02] [ 5.39375794e-01 4.63393752e-01 7.03093155e-01 1.06634861e+02] [ 7.62785361e-01 8.48114545e-02 -6.41065917e-01 8.70896256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17710568099994 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:128.75, Y:106.64, Z:87.11 [[-4.11175431e-01 8.23824384e-01 -3.90189890e-01 1.28747505e+02] [ 5.01983585e-01 5.61933455e-01 6.57452107e-01 1.06644685e+02] [ 7.60885830e-01 7.44592340e-02 -6.44599548e-01 8.71125202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.2071056809999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:128.79, Y:106.65, Z:87.12 [[-4.58698492e-01 7.56010943e-01 -4.66950904e-01 1.28785068e+02] [ 4.59320460e-01 6.51573549e-01 6.03718995e-01 1.06648134e+02] [ 7.60671025e-01 6.24448890e-02 -6.46127099e-01 8.71173646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23710568099995 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:128.83, Y:106.66, Z:87.12 [[-5.08057203e-01 6.74661845e-01 -5.35452401e-01 1.28827004e+02] [ 4.07242737e-01 7.35943376e-01 5.40870317e-01 1.06655256e+02] [ 7.58967214e-01 5.67339593e-02 -6.48652469e-01 8.71203616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.2671056809999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:128.86, Y:106.68, Z:87.14 [[-5.49752294e-01 5.86257093e-01 -5.95042046e-01 1.28861866e+02] [ 3.53366178e-01 8.08685887e-01 4.70275962e-01 1.06675055e+02] [ 7.56904723e-01 4.82675552e-02 -6.51740350e-01 8.71387575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29710568099995 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:128.89, Y:106.69, Z:87.15 [[-5.88922779e-01 4.87072363e-01 -6.44926720e-01 1.28894796e+02] [ 2.90428562e-01 8.72229509e-01 3.93531364e-01 1.06694597e+02] [ 7.54202367e-01 4.44544448e-02 -6.55135552e-01 8.71498990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.3271056809999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:128.93, Y:106.72, Z:87.16 [[-6.19282478e-01 3.84082641e-01 -6.84813651e-01 1.28925411e+02] [ 2.27353163e-01 9.22540614e-01 3.11816221e-01 1.06720711e+02] [ 7.51531604e-01 3.74077720e-02 -6.58635641e-01 8.71603174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35710568099995 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:128.95, Y:106.75, Z:87.18 [[-6.43263548e-01 2.73152035e-01 -7.15262171e-01 1.28945856e+02] [ 1.55909543e-01 9.61353784e-01 2.26916540e-01 1.06749568e+02] [ 7.49602710e-01 3.44509407e-02 -6.60990855e-01 8.71753987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.3871056809999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:128.99, Y:106.78, Z:87.16 [[-6.58297378e-01 1.61222271e-01 -7.35290379e-01 1.28986821e+02] [ 8.55577503e-02 9.86490312e-01 1.39702312e-01 1.06784280e+02] [ 7.47879959e-01 2.90558750e-02 -6.63197800e-01 8.71637313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41710568099995 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:128.99, Y:106.83, Z:87.19 [[-6.67709716e-01 4.46417651e-02 -7.43081993e-01 1.28991149e+02] [ 9.65884196e-03 9.98635787e-01 5.13154160e-02 1.06826164e+02] [ 7.44359082e-01 2.70864903e-02 -6.67230005e-01 8.71893361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.4471056809999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:129.02, Y:106.87, Z:87.18 [[-6.67487754e-01 -7.34264085e-02 -7.40991674e-01 1.29019729e+02] [-6.89099805e-02 9.96947043e-01 -3.67152205e-02 1.06866035e+02] [ 7.41425325e-01 2.65547618e-02 -6.70509755e-01 8.71787799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47710568099995 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:129.00, Y:106.90, Z:87.21 [[-6.52205076e-01 -1.78283770e-01 -7.36779096e-01 1.28996690e+02] [-1.50729826e-01 9.83041983e-01 -1.04446060e-01 1.06903707e+02] [ 7.42905821e-01 4.29343345e-02 -6.68017653e-01 8.72148864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.5071056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:129.03, Y:106.93, Z:87.17 [[-6.39776922e-01 -2.19789563e-01 -7.36463195e-01 1.29025274e+02] [-2.30723935e-01 9.68963911e-01 -8.87434785e-02 1.06934983e+02] [ 7.33111148e-01 1.13143657e-01 -6.70631462e-01 8.71733786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53710568099996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:129.04, Y:106.99, Z:87.19 [[-6.13632843e-01 -4.16422433e-01 -6.70855493e-01 1.29036457e+02] [-3.06360576e-01 9.08629478e-01 -2.83788071e-01 1.06992820e+02] [ 7.27734795e-01 3.13819944e-02 -6.85140306e-01 8.71876332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.56710568099993 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:129.03, Y:107.04, Z:87.19 [[-5.71539628e-01 -5.23016359e-01 -6.32294505e-01 1.29030382e+02] [-3.82506844e-01 8.51523461e-01 -3.58603276e-01 1.07044065e+02] [ 7.25968985e-01 3.69009925e-02 -6.86736739e-01 8.71852148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.02, Y:107.09, Z:87.18 [[-5.23326340e-01 -6.19692725e-01 -5.84902102e-01 1.29021558e+02] [-4.50444906e-01 7.83835842e-01 -4.27435094e-01 1.07086522e+02] [ 7.23345650e-01 3.97781293e-02 -6.89339373e-01 8.71818587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.62710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.98, Y:107.09, Z:87.24 [[-4.44359819e-01 -6.96377182e-01 -5.63562926e-01 1.28979908e+02] [-5.09450800e-01 7.13889979e-01 -4.80438321e-01 1.07094559e+02] [ 7.36888210e-01 7.36200987e-02 -6.71993934e-01 8.72440252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.00, Y:107.13, Z:87.17 [[ -0.41423296 -0.67099663 -0.61495901 128.99800966] [ -0.57306015 0.71719086 -0.39653414 107.13471405] [ 0.70711605 0.18815099 -0.68160552 87.16990988] [ 0. 0. 0. 1. ]] SLAMing on 269.68710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.94, Y:107.16, Z:87.26 [[-3.26339141e-01 -8.38093014e-01 -4.37153138e-01 1.28937998e+02] [-6.11223343e-01 5.39874220e-01 -5.78741611e-01 1.07158881e+02] [ 7.21047010e-01 7.83321620e-02 -6.88444102e-01 8.72552946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.94, Y:107.19, Z:87.20 [[ -0.28891517 -0.79395316 -0.53494524 128.94151009] [ -0.66535364 0.56829078 -0.48409722 107.18730863] [ 0.68835496 0.21606473 -0.69244745 87.1976652 ] [ 0. 0. 0. 1. ]] SLAMing on 269.74710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.90, Y:107.24, Z:87.20 [[-2.20080238e-01 -9.14939548e-01 -3.38305059e-01 1.28896968e+02] [-7.03094110e-01 3.89181336e-01 -5.95144150e-01 1.07238355e+02] [ 6.76182934e-01 1.06880828e-01 -7.28939728e-01 8.72040429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.85, Y:107.27, Z:87.21 [[-1.44382110e-01 -9.72186182e-01 -1.84412129e-01 1.28851622e+02] [-7.25634554e-01 2.30729888e-01 -6.48242403e-01 1.07265330e+02] [ 6.72761697e-01 4.02212071e-02 -7.38765154e-01 8.72075403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.80710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:107.29, Z:87.19 [[-6.92318450e-02 -9.91165100e-01 -1.13131326e-01 1.28815197e+02] [-7.36272585e-01 1.27285814e-01 -6.64605900e-01 1.07292067e+02] [ 6.73134186e-01 3.72836015e-02 -7.38579922e-01 8.71927927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.8371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.78, Y:107.29, Z:87.20 [[ 1.03922057e-02 -9.99118510e-01 -4.06719188e-02 1.28781676e+02] [-7.41441376e-01 1.95919988e-02 -6.70731570e-01 1.07292500e+02] [ 6.70937171e-01 3.71262239e-02 -7.40584199e-01 8.71980002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.86710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.74, Y:107.00, Z:86.93 [[ 5.68196426e-02 9.91808540e-01 -1.14399952e-01 1.28739942e+02] [-7.16003064e-01 1.20335593e-01 6.87647408e-01 1.07002940e+02] [ 6.95780958e-01 4.28388361e-02 7.16975378e-01 8.69344373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.8971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.74, Y:106.99, Z:86.96 [[ 4.08433871e-02 9.98386806e-01 -3.94411335e-02 1.28735792e+02] [-7.17965782e-01 5.67783846e-02 6.93758856e-01 1.06988855e+02] [ 6.94879093e-01 -1.80772728e-05 7.19126586e-01 8.69619695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.92710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.74, Y:106.98, Z:86.99 [[ 3.33465830e-02 9.99441125e-01 -2.33319048e-03 1.28735395e+02] [-7.09092310e-01 2.53040569e-02 7.04661479e-01 1.06977338e+02] [ 7.04326701e-01 -2.18436051e-02 7.09539820e-01 8.69928733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.9571056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:128.76, Y:106.95, Z:87.00 [[ 1.42454966e-02 9.97531948e-01 -6.87537519e-02 1.28759916e+02] [-7.15796367e-01 5.81848935e-02 6.95880794e-01 1.06952796e+02] [ 6.98163754e-01 3.93005183e-02 7.14858617e-01 8.69995870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.98710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.75, Y:106.94, Z:87.03 [[ 6.48192096e-03 9.99925702e-01 1.03235193e-02 1.28746051e+02] [-7.10758766e-01 -2.65499683e-03 7.03430826e-01 1.06937208e+02] [ 7.03405972e-01 -1.18971149e-02 7.10688749e-01 8.70258725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.0171056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:128.77, Y:106.91, Z:87.04 [[ 7.74885047e-04 9.96804378e-01 -7.98776030e-02 1.28771783e+02] [-7.20246357e-01 5.59688847e-02 6.91456918e-01 1.06909347e+02] [ 6.93717943e-01 5.69957530e-02 7.17988091e-01 8.70373186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.04710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.77, Y:106.89, Z:87.06 [[-2.05485293e-04 9.98463832e-01 -5.54069817e-02 1.28770054e+02] [-7.17008947e-01 3.84751018e-02 6.96001319e-01 1.06891006e+02] [ 6.97063933e-01 3.98703197e-02 7.15899595e-01 8.70586488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.0771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.76, Y:106.88, Z:87.09 [[ 1.18582867e-03 9.99825604e-01 1.86374878e-02 1.28756246e+02] [-7.11579475e-01 -1.22511380e-02 7.02498798e-01 1.06878550e+02] [ 7.02604615e-01 -1.40950970e-02 7.11440850e-01 8.70903472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.10710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.78, Y:107.12, Z:87.38 [[ 1.43851971e-01 -9.85817784e-01 -8.64286222e-02 1.28782362e+02] [-7.23692287e-01 -4.52278576e-02 -6.88639176e-01 1.07122640e+02] [ 6.74963765e-01 1.61609830e-01 -7.19934843e-01 8.73817767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.1371056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.95, Y:107.04, Z:87.32 [[ 0.16615889 -0.55421215 -0.81562253 128.94902931] [ -0.77341245 0.43987083 -0.45645026 107.036981 ] [ 0.61173884 0.70665589 -0.35554613 87.31986377] [ 0. 0. 0. 1. ]] SLAMing on 270.16710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.85, Y:106.81, Z:87.13 [[ 1.23022127e-01 9.74416489e-01 -1.88090567e-01 1.28849934e+02] [-7.57649916e-01 2.14630322e-01 6.16360632e-01 1.06809801e+02] [ 6.40961903e-01 6.66808058e-02 7.64670850e-01 8.71260735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.1971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.85, Y:106.78, Z:87.14 [[ 1.24143663e-01 9.80003689e-01 -1.55502798e-01 1.28849090e+02] [-7.59473492e-01 1.94700608e-01 6.20718687e-01 1.06784731e+02] [ 6.38583092e-01 4.10419619e-02 7.68457671e-01 8.71389248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.22710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.85, Y:106.76, Z:87.16 [[ 1.22162297e-01 9.82314613e-01 -1.41895649e-01 1.28850377e+02] [-7.58013804e-01 1.84630366e-01 6.25561109e-01 1.06762520e+02] [ 6.40696064e-01 3.11388786e-02 7.67162906e-01 8.71569547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.2571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.85, Y:106.74, Z:87.17 [[ 1.21566351e-01 9.81576150e-01 -1.47410598e-01 1.28854863e+02] [-7.61463760e-01 1.87490933e-01 6.20499873e-01 1.06739409e+02] [ 6.36706027e-01 3.68159229e-02 7.70227254e-01 8.71655700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.85, Y:106.72, Z:87.20 [[ 1.17813740e-01 9.86580354e-01 -1.13044808e-01 1.28849356e+02] [-7.51012904e-01 1.62999006e-01 6.39852282e-01 1.06720526e+02] [ 6.49691882e-01 9.51471946e-03 7.60138098e-01 8.71958330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.31710568099993 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:128.86, Y:106.70, Z:87.21 [[ 1.17776357e-01 9.82101409e-01 -1.46988270e-01 1.28856361e+02] [-7.50458694e-01 1.84962127e-01 6.34508283e-01 1.06699093e+02] [ 6.50338742e-01 3.55785507e-02 7.58810706e-01 8.72084524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.34710568099996 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:128.86, Y:106.68, Z:87.23 [[ 1.18746405e-01 9.81869858e-01 -1.47752743e-01 1.28857893e+02] [-7.47126490e-01 1.86366639e-01 6.38019971e-01 1.06679047e+02] [ 6.53988761e-01 3.46274101e-02 7.55711349e-01 8.72278239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.37710568099993 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:128.86, Y:106.66, Z:87.25 [[ 1.25071829e-01 9.83667817e-01 -1.29439803e-01 1.28855068e+02] [-7.45972671e-01 1.79250417e-01 6.41400080e-01 1.06656229e+02] [ 6.54126756e-01 1.63374744e-02 7.56208486e-01 8.72467176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.40710568099996 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:128.87, Y:106.64, Z:87.27 [[ 1.29601645e-01 9.77718642e-01 -1.65135312e-01 1.28865060e+02] [-7.41613576e-01 2.06125222e-01 6.38374261e-01 1.06635660e+02] [ 6.58188968e-01 3.97322350e-02 7.51803586e-01 8.72688300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.43710568099993 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:128.85, Y:106.61, Z:87.29 [[ 1.42122967e-01 9.85585680e-01 -9.17710709e-02 1.28850364e+02] [-7.43713597e-01 1.67504962e-01 6.47172445e-01 1.06610162e+02] [ 6.53216004e-01 -2.37266749e-02 7.56799773e-01 8.72880860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.4671056809999 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:128.88, Y:106.84, Z:87.60 [[ 2.32957101e-01 -9.72021936e-01 3.00723180e-02 1.28876903e+02] [-7.46641712e-01 -1.98584227e-01 -6.34894053e-01 1.06844093e+02] [ 6.23102835e-01 1.25449831e-01 -7.72013729e-01 8.75951862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.49710568099994 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:129.00, Y:106.81, Z:87.56 [[ 2.81657475e-01 -8.47917274e-01 -4.49116202e-01 1.28995370e+02] [-7.54683043e-01 9.32923601e-02 -6.49422852e-01 1.06810382e+02] [ 5.92555965e-01 5.21855183e-01 -6.13632298e-01 8.75619686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.5271056809999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:128.94, Y:106.80, Z:87.62 [[ 3.58028979e-01 -9.30052177e-01 8.25723786e-02 1.28938772e+02] [-7.31822573e-01 -3.34437568e-01 -5.93790565e-01 1.06803013e+02] [ 5.79871513e-01 1.52165899e-01 -8.00371518e-01 8.76181079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55710568099994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:129.13, Y:106.71, Z:87.47 [[ 3.73052309e-01 -3.15942775e-01 -8.72360096e-01 1.29133451e+02] [-7.46485015e-01 4.56163663e-01 -4.84432488e-01 1.06709697e+02] [ 5.50991922e-01 8.31922397e-01 -6.56736396e-02 8.74693066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.5871056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:129.01, Y:106.51, Z:87.34 [[ 4.17313053e-01 8.74442511e-01 -2.47386562e-01 1.29008270e+02] [-7.32469010e-01 4.84785094e-01 4.77988035e-01 1.06512029e+02] [ 5.37902375e-01 -1.82676557e-02 8.42809188e-01 8.73351541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.02, Y:106.49, Z:87.35 [[ 4.24751638e-01 8.70783652e-01 -2.47632545e-01 1.29022625e+02] [-7.28246451e-01 4.91143366e-01 4.77949057e-01 1.06493557e+02] [ 5.37813307e-01 -2.26721230e-02 8.42759053e-01 8.73492885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.6471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.01, Y:106.68, Z:87.66 [[ 4.28244347e-01 -8.82381043e-01 1.94962750e-01 1.29007696e+02] [-7.39325918e-01 -4.66171632e-01 -4.85881875e-01 1.06679861e+02] [ 5.19619059e-01 6.39351523e-02 -8.52002541e-01 8.76648846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.07, Y:106.69, Z:87.68 [[ 4.92520173e-01 -8.68861002e-01 5.00443536e-02 1.29072275e+02] [-6.98751906e-01 -4.29061986e-01 -5.72408583e-01 1.06690054e+02] [ 5.18815625e-01 2.46954187e-01 -8.18439965e-01 8.76794768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.7071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.17, Y:106.48, Z:87.37 [[ 5.66052331e-01 7.21369708e-01 -3.99011908e-01 1.29172888e+02] [-6.55149039e-01 6.87434950e-01 3.13389416e-01 1.06481782e+02] [ 5.00364363e-01 8.40174582e-02 8.61728827e-01 8.73660397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.16, Y:106.45, Z:87.39 [[ 5.68280824e-01 7.79500521e-01 -2.63506816e-01 1.29161185e+02] [-6.50963228e-01 6.21781835e-01 4.35470121e-01 1.06450782e+02] [ 5.03292938e-01 -7.59360718e-02 8.60772869e-01 8.73908923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.7671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.20, Y:106.44, Z:87.40 [[ 5.69304618e-01 7.42845837e-01 -3.52239002e-01 1.29199766e+02] [-6.50366974e-01 6.69022512e-01 3.59766142e-01 1.06442558e+02] [ 5.02906603e-01 2.42680880e-02 8.64000005e-01 8.73950796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.21, Y:106.42, Z:87.41 [[ 5.68724970e-01 7.62318267e-01 -3.08905759e-01 1.29210132e+02] [-6.50493502e-01 6.46696579e-01 3.98298555e-01 1.06420751e+02] [ 5.03398562e-01 -2.55811444e-02 8.63675572e-01 8.74080823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.8271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.23, Y:106.40, Z:87.43 [[ 5.73314814e-01 7.61663541e-01 -3.01958232e-01 1.29230437e+02] [-6.47094165e-01 6.46980401e-01 4.03342911e-01 1.06400099e+02] [ 5.02572647e-01 -3.58470559e-02 8.63791481e-01 8.74261446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.25, Y:106.39, Z:87.44 [[ 5.73806461e-01 7.56741722e-01 -3.13190216e-01 1.29253774e+02] [-6.45746833e-01 6.53251229e-01 3.95314887e-01 1.06388488e+02] [ 5.03743162e-01 -2.45926465e-02 8.63503346e-01 8.74416970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.8871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.26, Y:106.38, Z:87.46 [[ 5.71103034e-01 7.70866920e-01 -2.82144496e-01 1.29262810e+02] [-6.40646974e-01 6.33455384e-01 4.33942084e-01 1.06378849e+02] [ 5.13237547e-01 -6.70706234e-02 8.55621851e-01 8.74616812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.29, Y:106.36, Z:87.48 [[ 5.74382106e-01 7.59043073e-01 -3.06494387e-01 1.29290792e+02] [-6.38975349e-01 6.49770807e-01 4.11713980e-01 1.06364567e+02] [ 5.11659750e-01 -4.06387854e-02 8.58226537e-01 8.74781313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.9471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.13, Y:106.45, Z:87.82 [[ 5.42951906e-01 -7.82856822e-01 3.03872382e-01 1.29133288e+02] [-6.76321643e-01 -6.22142337e-01 -3.94370317e-01 1.06448755e+02] [ 4.97787367e-01 8.60864683e-03 -8.67256380e-01 8.78163723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.36, Y:106.37, Z:87.50 [[ 6.24909572e-01 6.94068213e-01 -3.57431592e-01 1.29358581e+02] [-5.88159181e-01 7.19619818e-01 3.69074647e-01 1.06371458e+02] [ 5.13377837e-01 -2.04116077e-02 8.57919904e-01 8.75029080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.0071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.39, Y:106.36, Z:87.52 [[ 6.26362905e-01 6.96055230e-01 -3.50965281e-01 1.29389478e+02] [-5.85069977e-01 7.17289036e-01 3.78403965e-01 1.06359052e+02] [ 5.15133607e-01 -3.16789583e-02 8.56524262e-01 8.75171389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.41, Y:106.35, Z:87.53 [[ 6.25963247e-01 6.95744954e-01 -3.52291034e-01 1.29412303e+02] [-5.84424342e-01 7.17609980e-01 3.78792958e-01 1.06346744e+02] [ 5.16350851e-01 -3.12230142e-02 8.55807760e-01 8.75300053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.06710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.44, Y:106.34, Z:87.54 [[ 6.26253289e-01 6.95030540e-01 -3.53184608e-01 1.29439135e+02] [-5.83171256e-01 7.18282637e-01 3.79448731e-01 1.06339665e+02] [ 5.17414828e-01 -3.16639042e-02 8.55148696e-01 8.75434074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:129.46, Y:106.33, Z:87.56 [[ 6.28421782e-01 6.93142263e-01 -3.53043719e-01 1.29460896e+02] [-5.81187676e-01 7.20040992e-01 3.79159407e-01 1.06327416e+02] [ 5.17017359e-01 -3.30873714e-02 8.55335184e-01 8.75584229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.12710568099993 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:129.49, Y:106.32, Z:87.57 [[ 6.34726333e-01 6.87949574e-01 -3.51920254e-01 1.29488355e+02] [-5.76206065e-01 7.24818270e-01 3.77657314e-01 1.06321400e+02] [ 5.14887418e-01 -3.69304574e-02 8.56461960e-01 8.75727562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:129.51, Y:106.31, Z:87.59 [[ 6.38171909e-01 6.85105868e-01 -3.51235766e-01 1.29508974e+02] [-5.73514761e-01 7.27397671e-01 3.76793641e-01 1.06309105e+02] [ 5.13631613e-01 -3.90202212e-02 8.57123089e-01 8.75864689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.18710568099993 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:129.53, Y:106.30, Z:87.60 [[ 6.44195688e-01 6.79940243e-01 -3.50275865e-01 1.29534721e+02] [-5.68379481e-01 7.32011845e-01 3.75637359e-01 1.06302181e+02] [ 5.11817039e-01 -4.28943523e-02 8.58022956e-01 8.76015473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2171056809999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:129.56, Y:106.29, Z:87.61 [[ 6.46650958e-01 6.66578411e-01 -3.70831175e-01 1.29563835e+02] [-5.69060442e-01 7.45310536e-01 3.47393751e-01 1.06289051e+02] [ 5.07949556e-01 -1.36171494e-02 8.61279177e-01 8.76131006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.24710568099994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:129.58, Y:106.28, Z:87.63 [[ 6.48903059e-01 6.90149898e-01 -3.20340347e-01 1.29582326e+02] [-5.67532293e-01 7.19450651e-01 4.00372148e-01 1.06276447e+02] [ 5.06785869e-01 -7.79992200e-02 8.58536082e-01 8.76258237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2771056809999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:129.60, Y:106.28, Z:87.64 [[ 6.44223252e-01 6.82577839e-01 -3.45056367e-01 1.29603774e+02] [-5.71571611e-01 7.29433490e-01 3.75809362e-01 1.06275017e+02] [ 5.08214812e-01 -4.48807059e-02 8.60060130e-01 8.76413104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.30710568099994 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:129.64, Y:106.27, Z:87.66 [[ 6.41664895e-01 6.78309652e-01 -3.57997456e-01 1.29638613e+02] [-5.74442581e-01 7.34300535e-01 3.61688327e-01 1.06270835e+02] [ 5.08214407e-01 -2.64337201e-02 8.60824823e-01 8.76626467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.3371056809999 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:129.67, Y:106.26, Z:87.67 [[ 6.38630253e-01 6.87817212e-01 -3.45049104e-01 1.29665347e+02] [-5.81499341e-01 7.25038525e-01 3.69022566e-01 1.06260289e+02] [ 5.03993965e-01 -3.50231479e-02 8.62996792e-01 8.76740035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.36710568099994 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:129.68, Y:106.25, Z:87.69 [[ 6.33602257e-01 6.87733870e-01 -3.54359005e-01 1.29683727e+02] [-5.85214608e-01 7.25631453e-01 3.61915539e-01 1.06251717e+02] [ 5.06035614e-01 -2.19344360e-02 8.62233633e-01 8.76896108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.3971056809999 meters Centerline goodness : 0.997972 Centerline is valid? [True, True] Translation: X:129.71, Y:106.24, Z:87.70 [[ 6.31544183e-01 6.95382495e-01 -3.42921463e-01 1.29713734e+02] [-5.88787209e-01 7.17897254e-01 3.71420457e-01 1.06237687e+02] [ 5.04461661e-01 -3.26606580e-02 8.62816153e-01 8.77012835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.42710568099994 meters Centerline goodness : 0.997756 Centerline is valid? [True, True] Translation: X:129.73, Y:106.23, Z:87.72 [[ 6.24649594e-01 6.94053543e-01 -3.57914186e-01 1.29734027e+02] [-5.91577460e-01 7.19763054e-01 3.63286739e-01 1.06228980e+02] [ 5.09753856e-01 -1.51929488e-02 8.60186132e-01 8.77173516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.4571056809999 meters Centerline goodness : 0.997756 Centerline is valid? [True, True] Translation: X:129.75, Y:106.21, Z:87.73 [[ 6.24847451e-01 6.96456094e-01 -3.52866225e-01 1.29750460e+02] [-5.91473363e-01 7.17278999e-01 3.68334222e-01 1.06209617e+02] [ 5.09632146e-01 -2.14417268e-02 8.60125182e-01 8.77304186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.48710568099995 meters Centerline goodness : 0.997435 Centerline is valid? [True, True] Translation: X:129.77, Y:106.21, Z:87.75 [[ 6.12329374e-01 6.97762718e-01 -3.71725608e-01 1.29772082e+02] [-5.99360262e-01 7.16317697e-01 3.57290126e-01 1.06206661e+02] [ 5.15577361e-01 4.01831867e-03 8.56833612e-01 8.77452794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.5171056809999 meters Centerline goodness : 0.997026 Centerline is valid? [True, True] Translation: X:129.80, Y:106.18, Z:87.75 [[ 6.07206527e-01 7.21324050e-01 -3.33154392e-01 1.29799798e+02] [-6.11009631e-01 6.91950502e-01 3.84540938e-01 1.06183174e+02] [ 5.07904976e-01 -2.99352252e-02 8.60892803e-01 8.77487837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.54710568099995 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:129.83, Y:106.18, Z:87.77 [[ 6.04714351e-01 7.14719506e-01 -3.51420804e-01 1.29825511e+02] [-6.13962946e-01 6.99389393e-01 3.65928926e-01 1.06175177e+02] [ 5.07316524e-01 -5.52312090e-03 8.61742096e-01 8.77700894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.5771056809999 meters Centerline goodness : 0.996694 Centerline is valid? [True, True] Translation: X:129.85, Y:106.16, Z:87.78 [[ 6.00921250e-01 7.19885410e-01 -3.47359537e-01 1.29846833e+02] [-6.17861515e-01 6.94053204e-01 3.69509538e-01 1.06160141e+02] [ 5.07090525e-01 -7.42604352e-03 8.61860809e-01 8.77822045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.60710568099995 meters Centerline goodness : 0.995661 Centerline is valid? [True, True] Translation: X:129.87, Y:106.15, Z:87.80 [[ 5.90447262e-01 7.20758628e-01 -3.63151526e-01 1.29868476e+02] [-6.24022648e-01 6.93054571e-01 3.60930874e-01 1.06153251e+02] [ 5.11827867e-01 1.35041306e-02 8.58981882e-01 8.77981946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.6371056809999 meters Centerline goodness : 0.994464 Centerline is valid? [True, True] Translation: X:129.89, Y:106.14, Z:87.81 [[ 5.86364255e-01 7.27488928e-01 -3.56281938e-01 1.29889848e+02] [-6.27289475e-01 6.86079426e-01 3.68514500e-01 1.06136960e+02] [ 5.12527927e-01 7.40817948e-03 8.58638599e-01 8.78078671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.66710568099995 meters Centerline goodness : 0.994997 Centerline is valid? [True, True] Translation: X:129.91, Y:106.11, Z:87.82 [[ 5.90874291e-01 7.30210541e-01 -3.43016235e-01 1.29912044e+02] [-6.25978600e-01 6.83181269e-01 3.76050723e-01 1.06114485e+02] [ 5.08938469e-01 -7.47788190e-03 8.60770420e-01 8.78185140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.6971056809999 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:129.93, Y:106.10, Z:87.83 [[ 5.94040452e-01 7.24776614e-01 -3.49019771e-01 1.29930099e+02] [-6.22869752e-01 6.88978422e-01 3.70596825e-01 1.06099670e+02] [ 5.09067003e-01 -2.75564713e-03 8.60722483e-01 8.78346339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.72710568099995 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:129.95, Y:106.08, Z:87.85 [[ 5.95986646e-01 7.23010202e-01 -3.49365375e-01 1.29945346e+02] [-6.20794831e-01 6.90825703e-01 3.70639483e-01 1.06083421e+02] [ 5.09326708e-01 -4.01196339e-03 8.60563890e-01 8.78489217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.7571056809999 meters Centerline goodness : 0.994335 Centerline is valid? [True, True] Translation: X:129.96, Y:106.07, Z:87.86 [[ 5.98987955e-01 7.20202679e-01 -3.50030756e-01 1.29962194e+02] [-6.17227659e-01 6.93735361e-01 3.71162047e-01 1.06066884e+02] [ 5.10140614e-01 -6.27293155e-03 8.60068139e-01 8.78642092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.78710568099996 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:129.98, Y:106.05, Z:87.88 [[ 6.00909831e-01 7.18719669e-01 -3.49784810e-01 1.29978077e+02] [-6.15853552e-01 6.95261917e-01 3.70587735e-01 1.06050633e+02] [ 5.09540751e-01 -7.27359522e-03 8.60415782e-01 8.78788475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.81710568099993 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:129.99, Y:106.03, Z:87.89 [[ 6.04653345e-01 7.16128696e-01 -3.48645987e-01 1.29993009e+02] [-6.13687375e-01 6.97906525e-01 3.69207650e-01 1.06032564e+02] [ 5.07722501e-01 -9.28299995e-03 8.61470654e-01 8.78912977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.84710568099996 meters Centerline goodness : 0.995013 Centerline is valid? [True, True] Translation: X:130.01, Y:106.01, Z:87.90 [[ 6.08097669e-01 7.13000522e-01 -3.49066584e-01 1.30008517e+02] [-6.09901049e-01 7.01064278e-01 3.69499105e-01 1.06013176e+02] [ 5.08171168e-01 -1.17954686e-02 8.61175320e-01 8.79037952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.87710568099993 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:130.02, Y:105.99, Z:87.92 [[ 6.12116336e-01 7.08763284e-01 -3.50668217e-01 1.30023619e+02] [-6.04165860e-01 7.05283353e-01 3.70889479e-01 1.05993052e+02] [ 5.10193301e-01 -1.51657443e-02 8.59926041e-01 8.79164014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.90710568099996 meters Centerline goodness : 0.994967 Centerline is valid? [True, True] Translation: X:130.04, Y:105.98, Z:87.93 [[ 6.14085626e-01 7.06630815e-01 -3.51527715e-01 1.30038572e+02] [-6.01341257e-01 7.07384593e-01 3.71477765e-01 1.05975465e+02] [ 5.11162926e-01 -1.67310383e-02 8.59320974e-01 8.79297071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.93710568099993 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:130.05, Y:105.96, Z:87.95 [[ 6.16049402e-01 7.04470358e-01 -3.52426800e-01 1.30052823e+02] [-5.98349014e-01 7.09492950e-01 3.72287807e-01 1.05959023e+02] [ 5.12310055e-01 -1.84734522e-02 8.58601851e-01 8.79453768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.9671056809999 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:130.07, Y:105.94, Z:87.96 [[ 6.15666204e-01 7.04434677e-01 -3.53166973e-01 1.30069220e+02] [-5.97923706e-01 7.09529892e-01 3.72900219e-01 1.05942372e+02] [ 5.13266370e-01 -1.84151573e-02 8.58031769e-01 8.79607057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.99710568099994 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:130.09, Y:105.93, Z:87.98 [[ 6.14180116e-01 7.05235992e-01 -3.54153893e-01 1.30086237e+02] [-5.98377324e-01 7.08754937e-01 3.73645578e-01 1.05926465e+02] [ 5.14516630e-01 -1.75680254e-02 8.57300415e-01 8.79761307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.0271056809999 meters Centerline goodness : 0.994192 Centerline is valid? [True, True] Translation: X:130.10, Y:105.91, Z:87.99 [[ 6.08025674e-01 7.10580707e-01 -3.54090156e-01 1.30104038e+02] [-6.04784498e-01 7.03499182e-01 3.73262123e-01 1.05912893e+02] [ 5.14334999e-01 -1.28047172e-02 8.57493760e-01 8.79921704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05710568099994 meters Centerline goodness : 0.994078 Centerline is valid? [True, True] Translation: X:130.12, Y:105.90, Z:88.01 [[ 6.01575902e-01 7.16807662e-01 -3.52552421e-01 1.30121196e+02] [-6.13092674e-01 6.97232573e-01 3.71462127e-01 1.05896632e+02] [ 5.12077931e-01 -7.31535794e-03 8.58907840e-01 8.80066476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.0871056809999 meters Centerline goodness : 0.993724 Centerline is valid? [True, True] Translation: X:130.14, Y:105.88, Z:88.02 [[ 5.98356071e-01 7.19721074e-01 -3.52095993e-01 1.30137510e+02] [-6.16948078e-01 6.94248317e-01 3.70667429e-01 1.05878933e+02] [ 5.11219210e-01 -4.56615994e-03 8.59438229e-01 8.80200259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11710568099994 meters Centerline goodness : 0.993525 Centerline is valid? [True, True] Translation: X:130.15, Y:105.86, Z:88.04 [[ 5.90167103e-01 7.26354768e-01 -3.52294679e-01 1.30154379e+02] [-6.24721973e-01 6.87318565e-01 3.70561259e-01 1.05863755e+02] [ 5.11297611e-01 1.39316149e-03 8.59402590e-01 8.80354839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.1471056809999 meters Centerline goodness : 0.993105 Centerline is valid? [True, True] Translation: X:130.17, Y:105.85, Z:88.05 [[ 5.85409516e-01 7.30067146e-01 -3.52558733e-01 1.30171026e+02] [-6.28991994e-01 6.83358785e-01 3.70661358e-01 1.05849128e+02] [ 5.11531788e-01 4.76793413e-03 8.59251126e-01 8.80502196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17710568099994 meters Centerline goodness : 0.993543 Centerline is valid? [True, True] Translation: X:130.19, Y:105.83, Z:88.07 [[ 5.77549003e-01 7.36597562e-01 -3.51939171e-01 1.30188378e+02] [-6.37109636e-01 6.76247851e-01 3.69838013e-01 1.05834460e+02] [ 5.10419887e-01 1.06242608e-02 8.59859677e-01 8.80655398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.2071056809999 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:130.20, Y:105.82, Z:88.08 [[ 5.74071926e-01 7.39500579e-01 -3.51539924e-01 1.30204852e+02] [-6.40853943e-01 6.73024312e-01 3.69248561e-01 1.05816723e+02] [ 5.09654440e-01 1.33105141e-02 8.60276224e-01 8.80792529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23710568099995 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:130.22, Y:105.80, Z:88.09 [[ 5.68390688e-01 7.44103327e-01 -3.51058778e-01 1.30218622e+02] [-6.46728603e-01 6.67831984e-01 3.68432564e-01 1.05797732e+02] [ 5.08600177e-01 1.76261148e-02 8.60822386e-01 8.80931661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.2671056809999 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:130.23, Y:105.78, Z:88.11 [[ 5.65136574e-01 7.46890348e-01 -3.50393295e-01 1.30230586e+02] [-6.50524731e-01 6.64639131e-01 3.67521972e-01 1.05776542e+02] [ 5.07383709e-01 2.02393962e-02 8.61482524e-01 8.81073186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29710568099995 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:130.24, Y:105.76, Z:88.12 [[ 5.63972090e-01 7.47841250e-01 -3.50241270e-01 1.30244386e+02] [-6.51918902e-01 6.63535010e-01 3.67046367e-01 1.05757092e+02] [ 5.06889759e-01 2.13249974e-02 8.61747072e-01 8.81207990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.3271056809999 meters Centerline goodness : 0.995870 Centerline is valid? [True, True] Translation: X:130.25, Y:105.73, Z:88.13 [[ 5.62647127e-01 7.48589770e-01 -3.50772813e-01 1.30254497e+02] [-6.52593697e-01 6.62662285e-01 3.67423683e-01 1.05734852e+02] [ 5.07493524e-01 2.21822466e-02 8.61369997e-01 8.81346555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35710568099995 meters Centerline goodness : 0.996399 Centerline is valid? [True, True] Translation: X:130.26, Y:105.71, Z:88.15 [[ 5.65319057e-01 7.45934810e-01 -3.52130122e-01 1.30263281e+02] [-6.48770444e-01 6.65717527e-01 3.68669344e-01 1.05711605e+02] [ 5.09422491e-01 2.00358094e-02 8.60283263e-01 8.81480618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.3871056809999 meters Centerline goodness : 0.996945 Centerline is valid? [True, True] Translation: X:130.28, Y:105.69, Z:88.16 [[ 5.69175603e-01 7.42908515e-01 -3.52315301e-01 1.30275766e+02] [-6.45203546e-01 6.69165032e-01 3.68687597e-01 1.05690512e+02] [ 5.09658235e-01 1.74670960e-02 8.60199619e-01 8.81617123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41710568099995 meters Centerline goodness : 0.997187 Centerline is valid? [True, True] Translation: X:130.28, Y:105.67, Z:88.18 [[ 5.76290530e-01 7.37315165e-01 -3.52499039e-01 1.30283514e+02] [-6.38708164e-01 6.75428829e-01 3.68575337e-01 1.05665527e+02] [ 5.09844199e-01 1.27375380e-02 8.60172453e-01 8.81763097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.4471056809999 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:130.30, Y:105.64, Z:88.19 [[ 5.79619177e-01 7.34635383e-01 -3.52636448e-01 1.30295333e+02] [-6.35665259e-01 6.78379052e-01 3.68417618e-01 1.05644553e+02] [ 5.09873797e-01 1.06168219e-02 8.60183698e-01 8.81896389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47710568099995 meters Centerline goodness : 0.997446 Centerline is valid? [True, True] Translation: X:130.31, Y:105.62, Z:88.20 [[ 5.85298152e-01 7.29957783e-01 -3.52969840e-01 1.30305405e+02] [-6.30116424e-01 6.83459448e-01 3.68560002e-01 1.05619506e+02] [ 5.10273814e-01 6.69460551e-03 8.59985940e-01 8.82029922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.5071056809999 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:130.32, Y:105.60, Z:88.22 [[ 5.87901366e-01 7.27582733e-01 -3.53546815e-01 1.30319846e+02] [-6.27165702e-01 6.86002629e-01 3.68867965e-01 1.05600346e+02] [ 5.10916006e-01 4.87445621e-03 8.59616818e-01 8.82177808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53710568099996 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:130.33, Y:105.58, Z:88.23 [[ 5.90128997e-01 7.25282503e-01 -3.54560373e-01 1.30334875e+02] [-6.24033929e-01 6.88444264e-01 3.69629748e-01 1.05581386e+02] [ 5.12181044e-01 3.12846999e-03 8.58871813e-01 8.82315546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.56710568099993 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:130.35, Y:105.56, Z:88.24 [[ 5.93113999e-01 7.21550136e-01 -3.57185086e-01 1.30347222e+02] [-6.18223546e-01 6.92362175e-01 3.72067555e-01 1.05559462e+02] [ 5.15766838e-01 1.41754648e-04 8.56728982e-01 8.82434393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59710568099996 meters Centerline goodness : 0.998099 Centerline is valid? [True, True] Translation: X:130.36, Y:105.54, Z:88.26 [[ 5.94843065e-01 7.19929593e-01 -3.57579515e-01 1.30359324e+02] [-6.16207501e-01 6.94046229e-01 3.72274291e-01 1.05539016e+02] [ 5.16187992e-01 -1.10160126e-03 8.56474602e-01 8.82591467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.62710568099993 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:130.37, Y:105.52, Z:88.28 [[ 5.94513602e-01 7.20357812e-01 -3.57264886e-01 1.30373583e+02] [-6.17079917e-01 6.93602464e-01 3.71655752e-01 1.05521964e+02] [ 5.15524930e-01 -4.93413624e-04 8.56874438e-01 8.82757768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65710568099996 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:130.39, Y:105.50, Z:88.29 [[ 5.90211124e-01 7.24332959e-01 -3.56360201e-01 1.30386116e+02] [-6.22465734e-01 6.89442904e-01 3.70411786e-01 1.05503267e+02] [ 5.13991477e-01 3.20085754e-03 8.57789319e-01 8.82914916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.68710568099993 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:130.40, Y:105.48, Z:88.31 [[ 5.87733455e-01 7.26772587e-01 -3.55486979e-01 1.30401263e+02] [-6.25956520e-01 6.86856536e-01 3.69332553e-01 1.05483982e+02] [ 5.12589330e-01 5.45029432e-03 8.58616604e-01 8.83060088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7171056809999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:130.41, Y:105.47, Z:88.32 [[ 5.82298180e-01 7.31619439e-01 -3.54488119e-01 1.30414455e+02] [-6.32409693e-01 6.81641438e-01 3.67998547e-01 1.05467256e+02] [ 5.10868681e-01 9.89683839e-03 8.59601793e-01 8.83229185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.74710568099994 meters Centerline goodness : 0.998120 Centerline is valid? [True, True] Translation: X:130.06, Y:105.33, Z:88.65 [[ 6.77287256e-01 -6.76016863e-01 2.90315645e-01 1.30063856e+02] [-5.57301445e-01 -7.29021184e-01 -3.97420700e-01 1.05330705e+02] [ 4.80309351e-01 1.07374647e-01 -8.70501932e-01 8.86537745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7771056809999 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:130.47, Y:105.48, Z:88.35 [[ 6.38442775e-01 6.60239855e-01 -3.95568145e-01 1.30465398e+02] [-5.88296271e-01 7.50005112e-01 3.02324047e-01 1.05477097e+02] [ 4.96284516e-01 3.96946611e-02 8.67251989e-01 8.83513097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.80710568099994 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:130.48, Y:105.45, Z:88.36 [[ 6.37904970e-01 6.72700261e-01 -3.74902132e-01 1.30478491e+02] [-5.89028266e-01 7.39794013e-01 3.25193050e-01 1.05451083e+02] [ 4.96107802e-01 1.33856900e-02 8.68157746e-01 8.83586823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.8371056809999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:130.49, Y:105.43, Z:88.37 [[ 6.38675142e-01 6.71995566e-01 -3.74854668e-01 1.30494382e+02] [-5.88304991e-01 7.40442073e-01 3.25027343e-01 1.05434131e+02] [ 4.95975101e-01 1.29419882e-02 8.68240292e-01 8.83722770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.86710568099994 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:130.51, Y:105.41, Z:88.39 [[ 6.41763227e-01 6.68906861e-01 -3.75104747e-01 1.30508966e+02] [-5.84715847e-01 7.43268876e-01 3.25051929e-01 1.05413946e+02] [ 4.96233149e-01 1.07233153e-02 8.68123074e-01 8.83865848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.8971056809999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:130.53, Y:105.40, Z:88.40 [[ 6.43976140e-01 6.66434722e-01 -3.75711982e-01 1.30525841e+02] [-5.81722184e-01 7.45508121e-01 3.25295163e-01 1.05395846e+02] [ 4.96884325e-01 9.07767093e-03 8.67769303e-01 8.84001102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.92710568099994 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:130.54, Y:105.38, Z:88.41 [[ 6.48945343e-01 6.60991910e-01 -3.76775313e-01 1.30541165e+02] [-5.75068729e-01 7.50375296e-01 3.25933847e-01 1.05375892e+02] [ 4.98162523e-01 5.15844838e-03 8.67068331e-01 8.84138893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.9571056809999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:130.56, Y:105.36, Z:88.43 [[ 6.46871532e-01 6.46854931e-01 -4.03900878e-01 1.30557000e+02] [-5.69805589e-01 7.61979807e-01 3.07747242e-01 1.05364863e+02] [ 5.06832134e-01 3.10720484e-02 8.61484600e-01 8.84341385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.98710568099995 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:130.57, Y:105.33, Z:88.44 [[ 6.52391990e-01 6.66601587e-01 -3.60592588e-01 1.30570260e+02] [-5.68333372e-01 7.45064883e-01 3.49106715e-01 1.05331018e+02] [ 5.01379965e-01 -2.28176232e-02 8.64926290e-01 8.84363161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.0171056809999 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:130.59, Y:105.32, Z:88.45 [[ 6.50194809e-01 6.57841413e-01 -3.80120226e-01 1.30588414e+02] [-5.70172440e-01 7.53148869e-01 3.28131332e-01 1.05317021e+02] [ 5.02145497e-01 3.38478805e-03 8.64776528e-01 8.84532470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.04710568099995 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:130.61, Y:105.30, Z:88.47 [[ 6.48152604e-01 6.59556645e-01 -3.80635304e-01 1.30606033e+02] [-5.72062197e-01 7.51638529e-01 3.28305291e-01 1.05299848e+02] [ 5.02636096e-01 4.95513882e-03 8.64483893e-01 8.84670862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.0771056809999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:130.62, Y:105.28, Z:88.48 [[ 6.41895269e-01 6.65611434e-01 -3.80699202e-01 1.30621372e+02] [-5.79223385e-01 7.46232596e-01 3.28081060e-01 1.05280566e+02] [ 5.02464659e-01 9.91620044e-03 8.64540882e-01 8.84807631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.10710568099995 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:130.64, Y:105.26, Z:88.49 [[ 6.38033070e-01 6.69244146e-01 -3.80822891e-01 1.30637536e+02] [-5.83554651e-01 7.42928546e-01 3.27904171e-01 1.05263966e+02] [ 5.02372144e-01 1.30172643e-02 8.64553515e-01 8.84940896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.1371056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:130.65, Y:105.25, Z:88.51 [[ 6.29504525e-01 6.69173464e-01 -3.94880904e-01 1.30653492e+02] [-5.90985027e-01 7.42301427e-01 3.15793112e-01 1.05249687e+02] [ 5.04441029e-01 3.45755091e-02 8.62753605e-01 8.85136597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.16710568099995 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:130.67, Y:105.22, Z:88.52 [[ 6.29874626e-01 6.83873168e-01 -3.68205711e-01 1.30669777e+02] [-5.94124924e-01 7.29580834e-01 3.38714306e-01 1.05224568e+02] [ 5.00273455e-01 5.41264304e-03 8.65850549e-01 8.85229415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.1971056809999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:130.69, Y:105.21, Z:88.54 [[ 6.28738191e-01 6.78825501e-01 -3.79320744e-01 1.30687069e+02] [-5.95706872e-01 7.34002114e-01 3.26150609e-01 1.05209060e+02] [ 4.99821578e-01 2.09006302e-02 8.65876177e-01 8.85382953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.22710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:130.43, Y:105.13, Z:88.87 [[ 7.36507576e-01 -5.67175646e-01 3.68603278e-01 1.30426869e+02] [-4.73679995e-01 -8.21461676e-01 -3.17534212e-01 1.05128237e+02] [ 4.82891139e-01 5.92663541e-02 -8.73672506e-01 8.88674800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.2571056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:130.48, Y:105.15, Z:88.88 [[ 7.81478698e-01 -5.21264239e-01 3.42891584e-01 1.30483654e+02] [-4.15532287e-01 -8.44770422e-01 -3.37188157e-01 1.05151198e+02] [ 4.65428796e-01 1.21022838e-01 -8.76772210e-01 8.88806229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.76, Y:105.23, Z:88.58 [[ 7.36882667e-01 5.14255839e-01 -4.38799347e-01 1.30761651e+02] [-4.70452986e-01 8.56226439e-01 2.13425100e-01 1.05229123e+02] [ 4.85466706e-01 4.91652062e-02 8.72871617e-01 8.85788293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.78, Y:105.21, Z:88.59 [[ 7.38912565e-01 5.27334373e-01 -4.19436145e-01 1.30778548e+02] [-4.66722441e-01 8.49541066e-01 2.45866101e-01 1.05206891e+02] [ 4.85981876e-01 1.40867103e-02 8.73855355e-01 8.85895499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.80, Y:105.19, Z:88.60 [[ 7.39031244e-01 5.27089005e-01 -4.19535460e-01 1.30800143e+02] [-4.66536479e-01 8.49692253e-01 2.45696536e-01 1.05194513e+02] [ 4.85979973e-01 1.41511793e-02 8.73855371e-01 8.86033680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.37710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.82, Y:105.18, Z:88.62 [[ 7.43266132e-01 5.14416360e-01 -4.27704648e-01 1.30815172e+02] [-4.57003382e-01 8.57322354e-01 2.36952086e-01 1.05178262e+02] [ 4.88572785e-01 1.93440106e-02 8.72308686e-01 8.86188469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.83, Y:105.16, Z:88.63 [[ 7.46566257e-01 5.13162032e-01 -4.23442502e-01 1.30834939e+02] [-4.51139802e-01 8.58251158e-01 2.44699467e-01 1.05160434e+02] [ 4.88990494e-01 8.34740179e-03 8.72249172e-01 8.86328146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.43710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:130.86, Y:105.14, Z:88.65 [[ 7.51036358e-01 5.12874352e-01 -4.15817614e-01 1.30855881e+02] [-4.46497053e-01 8.58454894e-01 2.52379826e-01 1.05142314e+02] [ 4.86399806e-01 -3.88508643e-03 8.73727724e-01 8.86455717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.4671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.87, Y:105.13, Z:88.66 [[ 7.57358099e-01 5.01369460e-01 -4.18374682e-01 1.30873888e+02] [-4.37675475e-01 8.65230711e-01 2.44573089e-01 1.05127748e+02] [ 4.84612101e-01 -2.11707239e-03 8.74726603e-01 8.86608111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.49710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.89, Y:105.11, Z:88.68 [[ 7.64005712e-01 4.91835685e-01 -4.17603798e-01 1.30893681e+02] [-4.27108591e-01 8.70650634e-01 2.44019927e-01 1.05113977e+02] [ 4.83604719e-01 -8.07044867e-03 8.75249304e-01 8.86753313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.5271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.91, Y:105.10, Z:88.69 [[ 7.68516628e-01 4.83199559e-01 -4.19404790e-01 1.30914217e+02] [-4.16795641e-01 8.75408465e-01 2.44829355e-01 1.05100418e+02] [ 4.85451940e-01 -1.33493420e-02 8.74161432e-01 8.86875825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.93, Y:105.09, Z:88.70 [[ 7.67882937e-01 4.73969836e-01 -4.30938963e-01 1.30933738e+02] [-4.13323458e-01 8.80541081e-01 2.31972250e-01 1.05090966e+02] [ 4.89407310e-01 -1.03499851e-05 8.72055322e-01 8.87029795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.5871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.96, Y:105.07, Z:88.71 [[ 7.75267411e-01 4.78430543e-01 -4.12388963e-01 1.30955996e+02] [-4.06341702e-01 8.77627700e-01 2.54275522e-01 1.05073099e+02] [ 4.83577154e-01 -2.95606924e-02 8.74802436e-01 8.87130390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:105.06, Z:88.73 [[ 7.75758958e-01 4.71066306e-01 -4.19874475e-01 1.30978985e+02] [-4.03047630e-01 8.81857168e-01 2.44705014e-01 1.05063479e+02] [ 4.85541603e-01 -2.06026944e-02 8.73970755e-01 8.87264252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.6471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.00, Y:105.06, Z:88.74 [[ 7.74123464e-01 4.62081275e-01 -4.32682052e-01 1.31002774e+02] [-3.97266501e-01 8.86769289e-01 2.36261623e-01 1.05056655e+02] [ 4.92861227e-01 -1.10055810e-02 8.70038326e-01 8.87394175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:105.04, Z:88.75 [[ 7.78188729e-01 4.68631584e-01 -4.18098961e-01 1.31025817e+02] [-3.94422878e-01 8.82747711e-01 2.55317592e-01 1.05042163e+02] [ 4.88725788e-01 -3.37774773e-02 8.71783337e-01 8.87492065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.7071056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.05, Y:105.04, Z:88.76 [[ 7.80275076e-01 4.61170427e-01 -4.22483897e-01 1.31049996e+02] [-3.91176094e-01 8.86917819e-01 2.45678744e-01 1.05036039e+02] [ 4.88008268e-01 -2.64314001e-02 8.72438715e-01 8.87634524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:105.03, Z:88.78 [[ 7.80448811e-01 4.60552593e-01 -4.22836805e-01 1.31071504e+02] [-3.90478933e-01 8.87233564e-01 2.45647726e-01 1.05027191e+02] [ 4.88288702e-01 -2.66066115e-02 8.72276465e-01 8.87765125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.7671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.10, Y:105.02, Z:88.79 [[ 7.79010115e-01 4.60789374e-01 -4.25225110e-01 1.31096812e+02] [-3.89943992e-01 8.87112356e-01 2.46931875e-01 1.05022566e+02] [ 4.91006033e-01 -2.65484511e-02 8.70751546e-01 8.87887519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:105.02, Z:88.80 [[ 7.74402871e-01 4.65906455e-01 -4.28055333e-01 1.31123049e+02] [-3.94815851e-01 8.84524169e-01 2.48470195e-01 1.05017362e+02] [ 4.94389155e-01 -2.34130016e-02 8.68925310e-01 8.88011914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.8271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.15, Y:105.01, Z:88.82 [[ 7.70715893e-01 4.71349656e-01 -4.28749943e-01 1.31146911e+02] [-4.00926220e-01 8.81725767e-01 2.48631933e-01 1.05009854e+02] [ 4.95232448e-01 -1.97274887e-02 8.68536498e-01 8.88151176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85710568099995 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:131.17, Y:105.01, Z:88.83 [[ 7.61870716e-01 4.86175193e-01 -4.28003148e-01 1.31173850e+02] [-4.18305437e-01 8.73805533e-01 2.47960585e-01 1.05011241e+02] [ 4.94543804e-01 -9.87786503e-03 8.69096573e-01 8.88299212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.8871056809999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:131.20, Y:105.01, Z:88.84 [[ 7.56936491e-01 4.93903352e-01 -4.27909603e-01 1.31199072e+02] [-4.27341980e-01 8.69504603e-01 2.47670299e-01 1.05005877e+02] [ 4.94394560e-01 -4.60694970e-03 8.69225399e-01 8.88441499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91710568099995 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:131.23, Y:105.00, Z:88.86 [[ 7.48966061e-01 5.06006582e-01 -4.27793383e-01 1.31225872e+02] [-4.41438638e-01 8.62522188e-01 2.47360877e-01 1.05004002e+02] [ 4.94147517e-01 3.57962668e-03 8.69370702e-01 8.88552059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.9471056809999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:131.25, Y:105.00, Z:88.87 [[ 7.44704295e-01 5.09285502e-01 -4.31327939e-01 1.31246125e+02] [-4.48302473e-01 8.60497325e-01 2.42010837e-01 1.04996924e+02] [ 4.94409149e-01 1.31388718e-02 8.69130004e-01 8.88674214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97710568099995 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:131.27, Y:104.99, Z:88.88 [[ 7.46170476e-01 5.12687596e-01 -4.24712902e-01 1.31273740e+02] [-4.51378306e-01 8.58515338e-01 2.43329078e-01 1.04987357e+02] [ 4.89374340e-01 1.01412167e-02 8.72014857e-01 8.88807945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.0071056809999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:131.29, Y:104.98, Z:88.90 [[ 7.40716811e-01 5.08322602e-01 -4.39257030e-01 1.31292118e+02] [-4.54158771e-01 8.60677972e-01 2.30159161e-01 1.04982760e+02] [ 4.95053953e-01 2.90096724e-02 8.68377811e-01 8.88964303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03710568099996 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:131.32, Y:104.97, Z:88.91 [[ 7.42274469e-01 5.14833553e-01 -4.28923101e-01 1.31315285e+02] [-4.52138054e-01 8.57219749e-01 2.46465986e-01 1.04967246e+02] [ 4.94570312e-01 1.09870477e-02 8.69068174e-01 8.89060112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.06710568099993 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:131.34, Y:104.95, Z:88.92 [[ 7.47206505e-01 5.10308842e-01 -4.25755005e-01 1.31339603e+02] [-4.46029255e-01 8.59978875e-01 2.47980320e-01 1.04952390e+02] [ 4.92686860e-01 4.60667958e-03 8.70194482e-01 8.89192778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09710568099996 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:131.36, Y:104.94, Z:88.93 [[ 7.49710048e-01 5.06655289e-01 -4.25717350e-01 1.31359139e+02] [-4.43285462e-01 8.62135707e-01 2.45397682e-01 1.04939668e+02] [ 4.91358162e-01 4.73720366e-03 8.70944726e-01 8.89342712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.12710568099993 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:131.38, Y:104.92, Z:88.95 [[ 7.54153475e-01 5.02899575e-01 -4.22308600e-01 1.31375873e+02] [-4.40189406e-01 8.64341280e-01 2.43202466e-01 1.04924045e+02] [ 4.87325172e-01 2.48378713e-03 8.73217045e-01 8.89491754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15710568099996 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:131.40, Y:104.91, Z:88.96 [[ 7.55925725e-01 5.00960298e-01 -4.21444040e-01 1.31395709e+02] [-4.38298813e-01 8.65469248e-01 2.42604887e-01 1.04909718e+02] [ 4.86282273e-01 1.32714786e-03 8.73800772e-01 8.89633976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.18710568099993 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:131.41, Y:104.89, Z:88.98 [[ 7.56671803e-01 4.99654270e-01 -4.21655537e-01 1.31413863e+02] [-4.36861297e-01 8.66224627e-01 2.42501757e-01 1.04894916e+02] [ 4.86415449e-01 7.10743583e-04 8.73727364e-01 8.89763337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2171056809999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:131.43, Y:104.88, Z:88.99 [[ 7.57044908e-01 4.98826393e-01 -4.21965920e-01 1.31434664e+02] [-4.35868670e-01 8.66701883e-01 2.42582663e-01 1.04882760e+02] [ 4.86725292e-01 2.75754273e-04 8.73555043e-01 8.89895315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.24710568099994 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:131.46, Y:104.87, Z:89.00 [[ 7.55799607e-01 4.98269762e-01 -4.24846088e-01 1.31456485e+02] [-4.34430866e-01 8.67022044e-01 2.44013521e-01 1.04869472e+02] [ 4.89935483e-01 1.40931048e-04 8.71758684e-01 8.90008266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2771056809999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:131.48, Y:104.85, Z:89.01 [[ 7.51108126e-01 5.02009096e-01 -4.28746370e-01 1.31477302e+02] [-4.37596872e-01 8.64857730e-01 2.46028627e-01 1.04854784e+02] [ 4.94313221e-01 2.82396973e-03 8.69279279e-01 8.90119433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.30710568099994 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:131.50, Y:104.84, Z:89.02 [[ 7.48797570e-01 5.04270147e-01 -4.30132326e-01 1.31498357e+02] [-4.39884117e-01 8.63533940e-01 2.46599063e-01 1.04841776e+02] [ 4.95786408e-01 4.55559921e-03 8.68432544e-01 8.90246085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.3371056809999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:131.52, Y:104.83, Z:89.04 [[ 7.43910933e-01 5.11479268e-01 -4.30099387e-01 1.31516459e+02] [-4.46274801e-01 8.59274767e-01 2.49971352e-01 1.04828567e+02] [ 4.97428714e-01 5.98609674e-03 8.67484202e-01 8.90377236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.36710568099994 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:131.54, Y:104.82, Z:89.05 [[ 7.43323707e-01 5.07463734e-01 -4.35833025e-01 1.31539935e+02] [-4.46818573e-01 8.61532867e-01 2.41069039e-01 1.04817799e+02] [ 4.97818270e-01 1.55459585e-02 8.67142026e-01 8.90536847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.3971056809999 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:131.56, Y:104.80, Z:89.07 [[ 7.41839717e-01 5.15076734e-01 -4.29383037e-01 1.31559133e+02] [-4.52907971e-01 8.57056373e-01 2.45619101e-01 1.04801520e+02] [ 4.94518153e-01 1.22609955e-02 8.69080816e-01 8.90674284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.42710568099994 meters Centerline goodness : 0.998416 Centerline is valid? [True, True] Translation: X:131.57, Y:104.78, Z:89.08 [[ 7.39704234e-01 5.25080689e-01 -4.20865675e-01 1.31572241e+02] [-4.62109454e-01 8.50994735e-01 2.49525176e-01 1.04784185e+02] [ 4.89175324e-01 9.91117782e-03 8.72129159e-01 8.90789422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.4571056809999 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:131.60, Y:104.77, Z:89.10 [[ 7.40019747e-01 5.16940845e-01 -4.30282392e-01 1.31595882e+02] [-4.62555884e-01 8.55593279e-01 2.32383724e-01 1.04772531e+02] [ 4.88275361e-01 2.70611074e-02 8.72269952e-01 8.90966613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.48710568099995 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:131.62, Y:104.76, Z:89.11 [[ 7.38859954e-01 5.19220414e-01 -4.29530129e-01 1.31616715e+02] [-4.63346733e-01 8.54276839e-01 2.35628705e-01 1.04757122e+02] [ 4.89280874e-01 2.49247674e-02 8.71770028e-01 8.91108203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.5171056809999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:131.63, Y:104.74, Z:89.12 [[ 7.35327258e-01 5.26782148e-01 -4.26373535e-01 1.31634077e+02] [-4.67697927e-01 8.49752321e-01 2.43268661e-01 1.04738666e+02] [ 4.90461489e-01 2.05319415e-02 8.71220963e-01 8.91219567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.54710568099995 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:131.65, Y:104.72, Z:89.13 [[ 7.32446507e-01 5.29366847e-01 -4.28127149e-01 1.31652919e+02] [-4.70235507e-01 8.48094960e-01 2.44158775e-01 1.04720133e+02] [ 4.92342038e-01 2.24873449e-02 8.70111279e-01 8.91338116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.5771056809999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:131.67, Y:104.70, Z:89.15 [[ 7.31905608e-01 5.30229932e-01 -4.27984113e-01 1.31671043e+02] [-4.70773987e-01 8.47563407e-01 2.44965557e-01 1.04704084e+02] [ 4.92631744e-01 2.21921222e-02 8.69954869e-01 8.91471282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.60710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.69, Y:104.68, Z:89.16 [[ 7.36210213e-01 5.24842400e-01 -4.27241122e-01 1.31687633e+02] [-4.65244869e-01 8.50979021e-01 2.43684052e-01 1.04683842e+02] [ 4.91468955e-01 1.93690519e-02 8.70679681e-01 8.91613662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.6371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.71, Y:104.67, Z:89.18 [[ 7.39273167e-01 5.16813661e-01 -4.31716139e-01 1.31708628e+02] [-4.59408564e-01 8.55801238e-01 2.37798260e-01 1.04668331e+02] [ 4.92360595e-01 2.25362187e-02 8.70099513e-01 8.91758222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.66710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.72, Y:104.65, Z:89.19 [[ 7.46469308e-01 5.09199588e-01 -4.28368242e-01 1.31723908e+02] [-4.47198425e-01 8.60594372e-01 2.43702475e-01 1.04645893e+02] [ 4.92744498e-01 9.64918556e-03 8.70120540e-01 8.91890129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.6971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.74, Y:104.63, Z:89.20 [[ 7.54251163e-01 4.99336730e-01 -4.26342601e-01 1.31740044e+02] [-4.37005886e-01 8.66398430e-01 2.41618740e-01 1.04627620e+02] [ 4.90031672e-01 4.07301065e-03 8.71695114e-01 8.92037224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.72710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.76, Y:104.61, Z:89.22 [[ 7.57078641e-01 4.94706790e-01 -4.26728396e-01 1.31761810e+02] [-4.32285658e-01 8.69056783e-01 2.40560634e-01 1.04612512e+02] [ 4.89858186e-01 2.34524738e-03 8.71798978e-01 8.92184079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.7571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.78, Y:104.59, Z:89.23 [[ 7.58208982e-01 4.91381064e-01 -4.28560136e-01 1.31778897e+02] [-4.26956005e-01 8.70943480e-01 2.43240673e-01 1.04592019e+02] [ 4.92775517e-01 -1.45093920e-03 8.70155265e-01 8.92292973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.80, Y:104.58, Z:89.24 [[ 7.57998538e-01 4.90765665e-01 -4.29636216e-01 1.31798573e+02] [-4.25960774e-01 8.71289849e-01 2.43744577e-01 1.04576457e+02] [ 4.93959143e-01 -1.74985765e-03 8.69483354e-01 8.92420637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.81710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.82, Y:104.56, Z:89.26 [[ 7.55824689e-01 4.92226281e-01 -4.31789680e-01 1.31817454e+02] [-4.27078611e-01 8.70467100e-01 2.44726147e-01 1.04561046e+02] [ 4.96319352e-01 -5.61927374e-04 8.68139842e-01 8.92551496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.84710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.84, Y:104.55, Z:89.27 [[ 7.54847378e-01 4.93381704e-01 -4.32180437e-01 1.31837658e+02] [-4.28343030e-01 8.69812855e-01 2.44842493e-01 1.04549469e+02] [ 4.96716906e-01 3.02763742e-04 8.67912567e-01 8.92680392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.87710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:104.54, Z:89.28 [[ 7.54298457e-01 4.95042872e-01 -4.31238208e-01 1.31857508e+02] [-4.30621278e-01 8.68867256e-01 2.44202795e-01 1.04537037e+02] [ 4.95579612e-01 1.49855676e-03 8.68561226e-01 8.92824785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.90710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:104.52, Z:89.30 [[ 7.55226436e-01 4.93813749e-01 -4.31023214e-01 1.31878075e+02] [-4.29408341e-01 8.69567206e-01 2.43846985e-01 1.04524210e+02] [ 4.95218646e-01 9.25273840e-04 8.68767884e-01 8.92967872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.93710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.90, Y:104.51, Z:89.31 [[ 7.60068953e-01 4.88086204e-01 -4.29030353e-01 1.31896170e+02] [-4.23602173e-01 8.72791666e-01 2.42478674e-01 1.04509955e+02] [ 4.92804612e-01 -2.56232241e-03 8.70136224e-01 8.93114229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.9671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:104.49, Z:89.33 [[ 7.67131862e-01 4.80110836e-01 -4.25443641e-01 1.31915238e+02] [-4.15687937e-01 8.77175550e-01 2.40346818e-01 1.04494708e+02] [ 4.88581871e-01 -7.52591327e-03 8.72485596e-01 8.93265274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.99710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:104.48, Z:89.34 [[ 7.70166113e-01 4.76277072e-01 -4.24269147e-01 1.31936771e+02] [-4.11825294e-01 8.79241895e-01 2.39444395e-01 1.04483005e+02] [ 4.87077084e-01 -9.68719260e-03 8.73305257e-01 8.93408547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.96, Y:104.47, Z:89.35 [[ 7.74851188e-01 4.69018693e-01 -4.23824378e-01 1.31958697e+02] [-4.03830083e-01 8.83077345e-01 2.38946998e-01 1.04473710e+02] [ 4.86340315e-01 -1.39953320e-02 8.73657387e-01 8.93546851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:131.98, Y:104.46, Z:89.37 [[ 7.78066807e-01 4.62603039e-01 -4.24982907e-01 1.31980451e+02] [-3.96191209e-01 8.86383445e-01 2.39493035e-01 1.04463598e+02] [ 4.87488019e-01 -1.79670896e-02 8.72944795e-01 8.93686719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:104.45, Z:89.38 [[ 7.79628890e-01 4.60091324e-01 -4.24846758e-01 1.32002844e+02] [-3.93511197e-01 8.87662108e-01 2.39175503e-01 1.04453567e+02] [ 4.87162942e-01 -1.92861753e-02 8.73098111e-01 8.93820419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11710568099994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:132.03, Y:104.45, Z:89.40 [[ 7.83308341e-01 4.55131114e-01 -4.23419074e-01 1.32026488e+02] [-3.88489321e-01 8.90151732e-01 2.38130095e-01 1.04447435e+02] [ 4.85287638e-01 -2.20355009e-02 8.74076853e-01 8.93972106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.1471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.05, Y:104.44, Z:89.41 [[ 7.84698178e-01 4.52450833e-01 -4.23718081e-01 1.32049114e+02] [-3.85476052e-01 8.91480479e-01 2.38056231e-01 1.04439939e+02] [ 4.85445138e-01 -2.34691177e-02 8.73952069e-01 8.94110915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:104.44, Z:89.43 [[ 7.84198215e-01 4.41500034e-01 -4.36017064e-01 1.32075633e+02] [-3.79831743e-01 8.97192703e-01 2.25328873e-01 1.04439695e+02] [ 4.90674033e-01 -1.10893791e-02 8.71272643e-01 8.94265796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.2071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.10, Y:104.43, Z:89.44 [[ 7.87716101e-01 4.54551620e-01 -4.15795825e-01 1.32097463e+02] [-3.80148109e-01 8.89782602e-01 2.52535813e-01 1.04425192e+02] [ 4.84758454e-01 -4.08625292e-02 8.73693021e-01 8.94365586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.12, Y:104.42, Z:89.45 [[ 7.88685886e-01 4.46615874e-01 -4.22503058e-01 1.32124272e+02] [-3.79501659e-01 8.94331961e-01 2.36957454e-01 1.04423351e+02] [ 4.83686949e-01 -2.65443881e-02 8.74838460e-01 8.94498223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.2671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:104.41, Z:89.46 [[ 7.88833723e-01 4.46260906e-01 -4.22602131e-01 1.32146095e+02] [-3.79193484e-01 8.94509489e-01 2.36780649e-01 1.04411404e+02] [ 4.83687564e-01 -2.65325867e-02 8.74838478e-01 8.94636423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:104.41, Z:89.48 [[ 7.86769619e-01 4.41610222e-01 -4.31247004e-01 1.32173526e+02] [-3.79416914e-01 8.97089327e-01 2.26436625e-01 1.04413256e+02] [ 4.86863813e-01 -1.45310500e-02 8.73357015e-01 8.94790980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.3271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.20, Y:104.40, Z:89.49 [[ 7.88646018e-01 4.51267314e-01 -4.17606597e-01 1.32198731e+02] [-3.79692941e-01 8.91669045e-01 2.46494594e-01 1.04401388e+02] [ 4.83601829e-01 -3.58347027e-02 8.74554255e-01 8.94904661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.23, Y:104.40, Z:89.51 [[ 7.81994817e-01 4.38393859e-01 -4.43051839e-01 1.32226175e+02] [-3.79173433e-01 8.98773594e-01 2.20076199e-01 1.04404472e+02] [ 4.94683347e-01 -4.10496016e-03 8.69063597e-01 8.95066978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.3871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.25, Y:104.39, Z:89.51 [[ 7.84827721e-01 4.58548803e-01 -4.16867416e-01 1.32249949e+02] [-3.81866996e-01 8.87634645e-01 2.57453559e-01 1.04388047e+02] [ 4.88080982e-01 -4.28687819e-02 8.71744930e-01 8.95141618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:132.28, Y:104.39, Z:89.53 [[ 7.79682449e-01 4.56209011e-01 -4.28915629e-01 1.32279203e+02] [-3.88780440e-01 8.89647723e-01 2.39534339e-01 1.04392757e+02] [ 4.90861537e-01 -2.00067129e-02 8.71007855e-01 8.95294908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.4471056809999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:132.31, Y:104.39, Z:89.54 [[ 7.71944784e-01 4.67125877e-01 -4.31155037e-01 1.32305527e+02] [-4.01314487e-01 8.84112874e-01 2.39355609e-01 1.04392441e+02] [ 4.92998918e-01 -1.17405512e-02 8.69950704e-01 8.95424138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47710568099995 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:132.33, Y:104.39, Z:89.56 [[ 7.66172703e-01 4.68140614e-01 -4.40254194e-01 1.32328442e+02] [-4.07372294e-01 8.83650126e-01 2.30673511e-01 1.04387668e+02] [ 4.97018313e-01 2.61161379e-03 8.67736121e-01 8.95579943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.5071056809999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:132.36, Y:104.38, Z:89.57 [[ 7.62684503e-01 4.84076252e-01 -4.28931849e-01 1.32357868e+02] [-4.15253660e-01 8.74945654e-01 2.49067262e-01 1.04380369e+02] [ 4.95859604e-01 -1.18442207e-02 8.68321926e-01 8.95677482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53710568099996 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:132.38, Y:104.37, Z:89.58 [[ 7.61255596e-01 4.82080114e-01 -4.33691921e-01 1.32382448e+02] [-4.17244634e-01 8.76122411e-01 2.41487964e-01 1.04374926e+02] [ 4.96383756e-01 -2.87843766e-03 8.68098428e-01 8.95819643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.56710568099993 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:132.41, Y:104.37, Z:89.59 [[ 7.61517529e-01 4.82883709e-01 -4.32335954e-01 1.32408533e+02] [-4.18742273e-01 8.75681969e-01 2.40491162e-01 1.04371140e+02] [ 4.94718064e-01 -2.10089512e-03 8.69050990e-01 8.95944618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59710568099996 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:132.43, Y:104.36, Z:89.61 [[ 7.62745490e-01 4.81909836e-01 -4.31256568e-01 1.32433156e+02] [-4.18103224e-01 8.76217291e-01 2.39651731e-01 1.04364504e+02] [ 4.93364988e-01 -2.48351609e-03 8.69818844e-01 8.96077044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.62710568099993 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:132.46, Y:104.35, Z:89.62 [[ 7.63092681e-01 4.80676045e-01 -4.32018634e-01 1.32455254e+02] [-4.16577377e-01 8.76892948e-01 2.39837541e-01 1.04354307e+02] [ 4.94118255e-01 -3.04908238e-03 8.69389357e-01 8.96205064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.6571056809999 meters Centerline goodness : 0.998602 Centerline is valid? [True, True] Translation: X:132.48, Y:104.35, Z:89.63 [[ 7.65581742e-01 4.75344681e-01 -4.33511282e-01 1.32476549e+02] [-4.10644393e-01 8.79783542e-01 2.39482987e-01 1.04345542e+02] [ 4.95233055e-01 -5.32482522e-03 8.68743844e-01 8.96338742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.68710568099993 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:132.50, Y:104.34, Z:89.65 [[ 7.66825053e-01 4.70475999e-01 -4.36613871e-01 1.32497685e+02] [-4.07551478e-01 8.82409768e-01 2.35063384e-01 1.04336403e+02] [ 4.95864025e-01 -2.30986351e-03 8.68397106e-01 8.96489083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7171056809999 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:132.52, Y:104.32, Z:89.66 [[ 7.71949936e-01 4.69446465e-01 -4.28617911e-01 1.32521484e+02] [-4.02472761e-01 8.82844068e-01 2.42078556e-01 1.04323864e+02] [ 4.92045702e-01 -1.43654919e-02 8.70450837e-01 8.96611287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.74710568099994 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:132.54, Y:104.31, Z:89.67 [[ 7.72275126e-01 4.66673829e-01 -4.31052975e-01 1.32542378e+02] [-4.01146185e-01 8.84355263e-01 2.38741505e-01 1.04314280e+02] [ 4.92618379e-01 -1.14588689e-02 8.70169999e-01 8.96746256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7771056809999 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:132.57, Y:104.30, Z:89.69 [[ 7.72116939e-01 4.65977379e-01 -4.32088549e-01 1.32565338e+02] [-4.00100900e-01 8.84718306e-01 2.39150138e-01 1.04302750e+02] [ 4.93715203e-01 -1.17728556e-02 8.69543960e-01 8.96867969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.80710568099994 meters Centerline goodness : 0.998352 Centerline is valid? [True, True] Translation: X:132.59, Y:104.29, Z:89.70 [[ 7.72696714e-01 4.64799936e-01 -4.32320261e-01 1.32587955e+02] [-3.98809827e-01 8.85330392e-01 2.39041460e-01 1.04292985e+02] [ 4.93852722e-01 -1.22929819e-02 8.69458666e-01 8.96999883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8371056809999 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:132.61, Y:104.29, Z:89.71 [[ 7.71551931e-01 4.65418401e-01 -4.33697278e-01 1.32611109e+02] [-3.99198381e-01 8.85013372e-01 2.39566241e-01 1.04285084e+02] [ 4.95326427e-01 -1.17065449e-02 8.68628049e-01 8.97131998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.86710568099994 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:132.63, Y:104.27, Z:89.73 [[ 7.70152592e-01 4.67318603e-01 -4.34140886e-01 1.32633731e+02] [-4.01366567e-01 8.84029434e-01 2.39576373e-01 1.04274821e+02] [ 4.95751817e-01 -1.02607272e-02 8.68403623e-01 8.97257773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8971056809999 meters Centerline goodness : 0.997695 Centerline is valid? [True, True] Translation: X:132.66, Y:104.26, Z:89.74 [[ 7.68223250e-01 4.69897450e-01 -4.34775142e-01 1.32655528e+02] [-4.04253699e-01 8.82681251e-01 2.39693047e-01 1.04264984e+02] [ 4.96399018e-01 -8.37831252e-03 8.68054041e-01 8.97374903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.92710568099994 meters Centerline goodness : 0.998100 Centerline is valid? [True, True] Translation: X:132.68, Y:104.26, Z:89.75 [[ 7.63894919e-01 4.74968873e-01 -4.36885708e-01 1.32680231e+02] [-4.09463233e-01 8.79988284e-01 2.40749832e-01 1.04257856e+02] [ 4.98802980e-01 -5.01893899e-03 8.66700869e-01 8.97504776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.9571056809999 meters Centerline goodness : 0.997085 Centerline is valid? [True, True] Translation: X:132.70, Y:104.25, Z:89.76 [[ 7.57504653e-01 4.80594612e-01 -4.41832003e-01 1.32702562e+02] [-4.17957392e-01 8.76929092e-01 2.37290930e-01 1.04254039e+02] [ 5.01496080e-01 4.91796798e-03 8.65145939e-01 8.97631549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.98710568099995 meters Centerline goodness : 0.997445 Centerline is valid? [True, True] Translation: X:132.73, Y:104.24, Z:89.78 [[ 7.58203079e-01 4.82497759e-01 -4.38547608e-01 1.32728357e+02] [-4.18545207e-01 8.75895848e-01 2.40054939e-01 1.04240900e+02] [ 4.99947998e-01 1.54160562e-03 8.66054053e-01 8.97766532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.0171056809999 meters Centerline goodness : 0.997533 Centerline is valid? [True, True] Translation: X:132.75, Y:104.23, Z:89.79 [[ 7.57294701e-01 4.85991536e-01 -4.36253324e-01 1.32748114e+02] [-4.22412509e-01 8.73960555e-01 2.40334392e-01 1.04227417e+02] [ 4.98068678e-01 2.27489910e-03 8.67134602e-01 8.97894122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.04710568099995 meters Centerline goodness : 0.997830 Centerline is valid? [True, True] Translation: X:132.77, Y:104.22, Z:89.80 [[ 7.57877997e-01 4.86057318e-01 -4.35165745e-01 1.32768281e+02] [-4.22920973e-01 8.73923434e-01 2.39573960e-01 1.04216933e+02] [ 4.96748218e-01 2.47288732e-03 8.67891175e-01 8.98043636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.0771056809999 meters Centerline goodness : 0.998008 Centerline is valid? [True, True] Translation: X:132.79, Y:104.21, Z:89.82 [[ 7.57716083e-01 4.87738891e-01 -4.33563273e-01 1.32788175e+02] [-4.25411923e-01 8.72981905e-01 2.38594403e-01 1.04208106e+02] [ 4.94864661e-01 3.65616938e-03 8.68962370e-01 8.98205042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.10710568099995 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:132.81, Y:104.20, Z:89.84 [[ 7.55058183e-01 4.92454445e-01 -4.32869218e-01 1.32808554e+02] [-4.31114502e-01 8.70311451e-01 2.38113975e-01 1.04195563e+02] [ 4.93991323e-01 6.82629158e-03 8.69440035e-01 8.98350800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.1371056809999 meters Centerline goodness : 0.997907 Centerline is valid? [True, True] Translation: X:132.83, Y:104.18, Z:89.85 [[ 7.52957817e-01 4.96177517e-01 -4.32275834e-01 1.32828760e+02] [-4.35721029e-01 8.68169256e-01 2.37548580e-01 1.04182783e+02] [ 4.93154854e-01 9.48761070e-03 8.69889807e-01 8.98473775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.16710568099995 meters Centerline goodness : 0.997700 Centerline is valid? [True, True] Translation: X:132.85, Y:104.17, Z:89.86 [[ 7.49182135e-01 5.01715616e-01 -4.32443717e-01 1.32848681e+02] [-4.42121492e-01 8.64931347e-01 2.37533895e-01 1.04166282e+02] [ 4.93208591e-01 1.32365110e-02 8.69810370e-01 8.98588098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.1971056809999 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:132.87, Y:104.15, Z:89.87 [[ 7.48358741e-01 5.02849134e-01 -4.32552822e-01 1.32869067e+02] [-4.43537377e-01 8.64257031e-01 2.37348646e-01 1.04152460e+02] [ 4.93187379e-01 1.42314101e-02 8.69806689e-01 8.98712382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.22710568099995 meters Centerline goodness : 0.997557 Centerline is valid? [True, True] Translation: X:132.89, Y:104.14, Z:89.88 [[ 7.48001105e-01 5.03717656e-01 -4.32160700e-01 1.32888307e+02] [-4.44794721e-01 8.63737560e-01 2.36886224e-01 1.04136240e+02] [ 4.92597202e-01 1.50316412e-02 8.70127604e-01 8.98848203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.2571056809999 meters Centerline goodness : 0.997728 Centerline is valid? [True, True] Translation: X:132.91, Y:104.12, Z:89.90 [[ 7.48870041e-01 5.03055979e-01 -4.31425942e-01 1.32908075e+02] [-4.44382109e-01 8.64127006e-01 2.36239408e-01 1.04121913e+02] [ 4.91648454e-01 1.48053545e-02 8.70667904e-01 8.98988575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.28710568099996 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:132.92, Y:104.10, Z:89.91 [[ 7.52013602e-01 4.99812601e-01 -4.29724220e-01 1.32923798e+02] [-4.41274378e-01 8.66038165e-01 2.35063440e-01 1.04104562e+02] [ 4.89645244e-01 1.28553837e-02 8.71826975e-01 8.99135532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.31710568099993 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:132.94, Y:104.09, Z:89.93 [[ 7.56910977e-01 4.93876482e-01 -4.27985739e-01 1.32941171e+02] [-4.35046420e-01 8.69484285e-01 2.33948049e-01 1.04086010e+02] [ 4.87668314e-01 9.11581702e-03 8.72981396e-01 8.99284904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.34710568099996 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:132.96, Y:104.07, Z:89.94 [[ 7.58971374e-01 4.90785257e-01 -4.27892842e-01 1.32959876e+02] [-4.31657644e-01 8.71249454e-01 2.33658014e-01 1.04069958e+02] [ 4.87477313e-01 7.36347227e-03 8.73104603e-01 8.99410554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.37710568099993 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:132.98, Y:104.05, Z:89.95 [[ 7.62478501e-01 4.84277721e-01 -4.29070652e-01 1.32977220e+02] [-4.23895783e-01 8.74908067e-01 2.34197010e-01 1.04048133e+02] [ 4.88813769e-01 3.31105492e-03 8.72381875e-01 8.99523252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.4071056809999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:133.00, Y:104.03, Z:89.97 [[ 7.64736172e-01 4.80160124e-01 -4.29679930e-01 1.32996741e+02] [-4.19117152e-01 8.77180384e-01 2.34297645e-01 1.04033566e+02] [ 4.89407193e-01 9.10343864e-04 8.72054913e-01 8.99657801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.43710568099993 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:133.02, Y:104.02, Z:89.98 [[ 7.69152066e-01 4.73533225e-01 -4.29151937e-01 1.33015287e+02] [-4.11812528e-01 8.80770560e-01 2.33781229e-01 1.04017385e+02] [ 4.88687571e-01 -3.08317100e-03 8.72453410e-01 8.99793968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.4671056809999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:133.03, Y:104.00, Z:89.99 [[ 7.71246176e-01 4.71102326e-01 -4.28067675e-01 1.33034492e+02] [-4.09495303e-01 8.82067705e-01 2.32959568e-01 1.04002289e+02] [ 4.87332466e-01 -4.37747433e-03 8.73205534e-01 8.99928544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.49710568099994 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:133.05, Y:103.98, Z:90.01 [[ 7.72494936e-01 4.71994436e-01 -4.24820934e-01 1.33049533e+02] [-4.11638909e-01 8.81594395e-01 2.30964785e-01 1.03982694e+02] [ 4.83533847e-01 -3.54630090e-03 8.75318481e-01 9.00069784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5271056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:133.07, Y:103.97, Z:90.02 [[ 7.71490908e-01 4.73622784e-01 -4.24833188e-01 1.33069566e+02] [-4.13548279e-01 8.80724456e-01 2.30872810e-01 1.03968985e+02] [ 4.83507601e-01 -2.42723964e-03 8.75336797e-01 9.00220631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55710568099994 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:133.09, Y:103.95, Z:90.03 [[ 7.64570664e-01 4.79958468e-01 -4.30199453e-01 1.33089515e+02] [-4.19301854e-01 8.77289340e-01 2.33558063e-01 1.03954867e+02] [ 4.89507564e-01 1.81178470e-03 8.71997169e-01 9.00345005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5871056809999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:133.11, Y:103.94, Z:90.05 [[ 7.58317924e-01 4.86795980e-01 -4.33570756e-01 1.33108624e+02] [-4.26205826e-01 8.73492479e-01 2.35285959e-01 1.03937562e+02] [ 4.93257054e-01 6.36882182e-03 8.69860286e-01 9.00467467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61710568099994 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:133.12, Y:103.93, Z:90.06 [[ 7.53251195e-01 4.87167083e-01 -4.41905953e-01 1.33123245e+02] [-4.31982679e-01 8.73067057e-01 2.26152334e-01 1.03926126e+02] [ 4.95987502e-01 2.05462019e-02 8.68086546e-01 9.00600582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.6471056809999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:133.14, Y:103.90, Z:90.07 [[ 7.55844297e-01 4.92256187e-01 -4.31721257e-01 1.33144834e+02] [-4.31951104e-01 8.70414148e-01 2.36214847e-01 1.03902348e+02] [ 4.92054511e-01 7.94082858e-03 8.70528174e-01 9.00748931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67710568099994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:133.16, Y:103.88, Z:90.09 [[ 7.55367119e-01 4.93679021e-01 -4.30931015e-01 1.33159875e+02] [-4.35215783e-01 8.69570616e-01 2.33311308e-01 1.03883360e+02] [ 4.89905846e-01 1.13122886e-02 8.71701952e-01 9.00895369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.7071056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:133.18, Y:103.87, Z:90.10 [[ 7.54768374e-01 4.94491320e-01 -4.31048764e-01 1.33180075e+02] [-4.36172124e-01 8.69100534e-01 2.33276961e-01 1.03869297e+02] [ 4.89978143e-01 1.19413827e-02 8.71652926e-01 9.01038705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:133.20, Y:103.85, Z:90.12 [[ 7.52618182e-01 4.95179258e-01 -4.34008497e-01 1.33200204e+02] [-4.39807258e-01 8.68582275e-01 2.28329601e-01 1.03849640e+02] [ 4.90036171e-01 1.90350778e-02 8.71494244e-01 9.01166301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.7671056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:133.22, Y:103.83, Z:90.13 [[ 7.51676071e-01 4.98012797e-01 -4.32396043e-01 1.33219080e+02] [-4.40374296e-01 8.67035980e-01 2.33064559e-01 1.03832058e+02] [ 4.90972060e-01 1.52270507e-02 8.71042234e-01 9.01290817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.24, Y:103.81, Z:90.14 [[ 7.52560402e-01 4.96965745e-01 -4.32062368e-01 1.33236129e+02] [-4.39231410e-01 8.67649420e-01 2.32938302e-01 1.03811872e+02] [ 4.90641020e-01 1.44752205e-02 8.71241561e-01 9.01432013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.8271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.25, Y:103.80, Z:90.16 [[ 7.53185660e-01 5.00336544e-01 -4.27053516e-01 1.33253676e+02] [-4.36273338e-01 8.65829118e-01 2.44960227e-01 1.03797109e+02] [ 4.92317922e-01 1.81153262e-03 8.70413569e-01 9.01586483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.28, Y:103.78, Z:90.17 [[ 7.58846498e-01 4.84061047e-01 -4.35702760e-01 1.33275750e+02] [-4.29820700e-01 8.74853470e-01 2.23350784e-01 1.03784876e+02] [ 4.89291485e-01 1.77851051e-02 8.71938950e-01 9.01738346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.8871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.29, Y:103.77, Z:90.19 [[ 7.58028036e-01 4.85810769e-01 -4.35179725e-01 1.33290213e+02] [-4.26051880e-01 8.74024167e-01 2.33584142e-01 1.03771032e+02] [ 4.93835288e-01 8.34581123e-03 8.69515414e-01 9.01879971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.31, Y:103.75, Z:90.20 [[ 7.68423237e-01 4.71862045e-01 -4.32286871e-01 1.33313799e+02] [-4.14557000e-01 8.81652253e-01 2.25459087e-01 1.03752028e+02] [ 4.87512279e-01 5.95954692e-03 8.73095792e-01 9.02008139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.9471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.33, Y:103.74, Z:90.22 [[ 7.71844401e-01 4.61591747e-01 -4.37251964e-01 1.33329124e+02] [-4.03221947e-01 8.87087797e-01 2.24693796e-01 1.03736702e+02] [ 4.91597683e-01 2.88093990e-03 8.70817672e-01 9.02186160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.35, Y:103.72, Z:90.23 [[ 7.73981511e-01 4.61383548e-01 -4.33679422e-01 1.33348774e+02] [-3.99358106e-01 8.87182496e-01 2.31128368e-01 1.03723140e+02] [ 4.91391619e-01 -5.69569075e-03 8.70920109e-01 9.02320705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.0071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.37, Y:103.71, Z:90.25 [[ 7.74318635e-01 4.49652767e-01 -4.45244922e-01 1.33369923e+02] [-3.92168201e-01 8.93193361e-01 2.20022093e-01 1.03712889e+02] [ 4.96623351e-01 4.24369329e-03 8.67955781e-01 9.02470708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.39, Y:103.70, Z:90.26 [[ 7.76490234e-01 4.57237528e-01 -4.33585931e-01 1.33389556e+02] [-3.90291610e-01 8.89197799e-01 2.38746169e-01 1.03696638e+02] [ 4.94707364e-01 -1.61591174e-02 8.68909378e-01 9.02583317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.06710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.41, Y:103.68, Z:90.27 [[ 7.80354075e-01 4.62252572e-01 -4.21153270e-01 1.33410841e+02] [-3.88862547e-01 8.86135986e-01 2.52089139e-01 1.03678384e+02] [ 4.89727922e-01 -3.29480538e-02 8.71252540e-01 9.02701299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.43, Y:103.67, Z:90.29 [[ 7.78363230e-01 4.54870794e-01 -4.32716123e-01 1.33433596e+02] [-3.91577279e-01 8.90490489e-01 2.31719493e-01 1.03670273e+02] [ 4.90732022e-01 -1.09201314e-02 8.71242121e-01 9.02850987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.12710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.46, Y:103.66, Z:90.30 [[ 7.77101359e-01 4.57877602e-01 -4.31811972e-01 1.33455072e+02] [-3.95436148e-01 8.88972156e-01 2.30995150e-01 1.03659889e+02] [ 4.89636325e-01 -8.75258189e-03 8.71882825e-01 9.02995834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.1571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.48, Y:103.65, Z:90.31 [[ 7.77260633e-01 4.57513441e-01 -4.31911286e-01 1.33477125e+02] [-3.95122776e-01 8.89159741e-01 2.30809329e-01 1.03648401e+02] [ 4.89636498e-01 -8.74101878e-03 8.71882845e-01 9.03134562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.18710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.50, Y:103.64, Z:90.33 [[ 7.70087123e-01 4.62424186e-01 -4.39465238e-01 1.33499826e+02] [-4.05502793e-01 8.86631555e-01 2.22377989e-01 1.03642804e+02] [ 4.92476708e-01 6.95395519e-03 8.70297842e-01 9.03307674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2171056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:133.52, Y:103.64, Z:90.35 [[ 7.62189272e-01 4.72978217e-01 -4.41994479e-01 1.33522865e+02] [-4.17474816e-01 8.80951376e-01 2.22799128e-01 1.03635699e+02] [ 4.94754779e-01 1.47064586e-02 8.68908182e-01 9.03466422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.24710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.55, Y:103.62, Z:90.36 [[ 7.61906066e-01 4.91383095e-01 -4.21949997e-01 1.33545155e+02] [-4.24473261e-01 8.70890140e-01 2.47735374e-01 1.03620007e+02] [ 4.89205066e-01 -9.64459297e-03 8.72115465e-01 9.03574559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.57, Y:103.62, Z:90.37 [[ 7.57109254e-01 4.90489361e-01 -4.31515659e-01 1.33569543e+02] [-4.33494495e-01 8.71349671e-01 2.29852724e-01 1.03615620e+02] [ 4.88741343e-01 1.30360380e-02 8.72331337e-01 9.03706601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.30710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.59, Y:103.61, Z:90.38 [[ 7.55606358e-01 4.92556482e-01 -4.31795257e-01 1.33592883e+02] [-4.35852999e-01 8.70159917e-01 2.29899723e-01 1.03605606e+02] [ 4.88969524e-01 1.44855653e-02 8.72180585e-01 9.03834752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.62, Y:103.60, Z:90.40 [[ 7.51983139e-01 4.96335170e-01 -4.33788840e-01 1.33616287e+02] [-4.39789331e-01 8.67959046e-01 2.30721562e-01 1.03596673e+02] [ 4.91026173e-01 1.72769799e-02 8.70973480e-01 9.03953660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.36710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.64, Y:103.59, Z:90.41 [[ 7.47078327e-01 4.85084774e-01 -4.54496133e-01 1.33639686e+02] [-4.39875820e-01 8.73374456e-01 2.09108398e-01 1.03591540e+02] [ 4.98380613e-01 4.37015069e-02 8.65856191e-01 9.04122645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.66, Y:103.57, Z:90.42 [[ 7.49062442e-01 5.08960515e-01 -4.24104530e-01 1.33659427e+02] [-4.39997444e-01 8.60775015e-01 2.55868370e-01 1.03567568e+02] [ 4.95285480e-01 -5.05647744e-03 8.68715561e-01 9.04195742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.42710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.68, Y:103.56, Z:90.43 [[ 7.50442596e-01 4.95850647e-01 -4.36998908e-01 1.33682043e+02] [-4.38650827e-01 8.68227799e-01 2.31874837e-01 1.03559220e+02] [ 4.94389888e-01 1.76811779e-02 8.69060420e-01 9.04344765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.4571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.70, Y:103.54, Z:90.45 [[ 7.53585101e-01 4.92829828e-01 -4.35003743e-01 1.33699913e+02] [-4.35853596e-01 8.69981495e-01 2.30572854e-01 1.03544236e+02] [ 4.92078387e-01 1.58416781e-02 8.70406746e-01 9.04480106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.48710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.72, Y:103.53, Z:90.46 [[ 7.57275933e-01 4.88818449e-01 -4.33116249e-01 1.33717671e+02] [-4.31848147e-01 8.72283912e-01 2.29407834e-01 1.03529293e+02] [ 4.89939118e-01 1.33154178e-02 8.71654955e-01 9.04626932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.5171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.74, Y:103.52, Z:90.48 [[ 7.59057425e-01 4.86018057e-01 -4.33149251e-01 1.33738423e+02] [-4.28672446e-01 8.73871634e-01 2.29321394e-01 1.03515677e+02] [ 4.89971182e-01 1.16110416e-02 8.71661301e-01 9.04756701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.54710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.76, Y:103.50, Z:90.49 [[ 7.64079222e-01 4.78319190e-01 -4.32889934e-01 1.33758857e+02] [-4.20023815e-01 8.78159025e-01 2.28946983e-01 1.03498492e+02] [ 4.89655938e-01 6.89044933e-03 8.71888516e-01 9.04872223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.5771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.78, Y:103.48, Z:90.50 [[ 7.66622904e-01 4.73916440e-01 -4.33234960e-01 1.33779690e+02] [-4.15000826e-01 8.80559213e-01 2.28888153e-01 1.03484319e+02] [ 4.89962895e-01 4.32196563e-03 8.71732575e-01 9.05001960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.60710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.80, Y:103.47, Z:90.51 [[ 7.70423000e-01 4.66248741e-01 -4.34810894e-01 1.33798397e+02] [-4.05865656e-01 8.84653609e-01 2.29479979e-01 1.03468037e+02] [ 4.91651778e-01 -3.21845549e-04 8.70791838e-01 9.05120912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.6371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.82, Y:103.46, Z:90.53 [[ 7.71439939e-01 4.63722075e-01 -4.35708914e-01 1.33818889e+02] [-4.02754777e-01 8.85978830e-01 2.29847996e-01 1.03455042e+02] [ 4.92614464e-01 -1.83007770e-03 8.70245736e-01 9.05255516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.66710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.84, Y:103.44, Z:90.54 [[ 7.70255870e-01 4.64152255e-01 -4.37342633e-01 1.33838449e+02] [-4.02889888e-01 8.85754442e-01 2.30475176e-01 1.03442257e+02] [ 4.94353752e-01 -1.32393278e-03 8.69259809e-01 9.05402980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.6971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.86, Y:103.43, Z:90.55 [[ 7.68273291e-01 4.66822099e-01 -4.37987760e-01 1.33860061e+02] [-4.05900316e-01 8.84351023e-01 2.30582310e-01 1.03431332e+02] [ 4.94975841e-01 6.29139867e-04 8.68906509e-01 9.05543812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.72710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.88, Y:103.42, Z:90.57 [[ 7.63936341e-01 4.73990075e-01 -4.37875183e-01 1.33880996e+02] [-4.14322459e-01 8.80513044e-01 2.30290422e-01 1.03420817e+02] [ 4.94710185e-01 5.49430093e-03 8.69040647e-01 9.05695714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.7571056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.90, Y:103.41, Z:90.58 [[ 7.61850501e-01 4.79678201e-01 -4.35307521e-01 1.33901999e+02] [-4.21752332e-01 8.77394595e-01 2.28700012e-01 1.03409575e+02] [ 4.91638876e-01 9.35674353e-03 8.70748912e-01 9.05847427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.92, Y:103.40, Z:90.60 [[ 7.58948201e-01 4.77833021e-01 -4.42349671e-01 1.33924469e+02] [-4.26338413e-01 8.78127377e-01 2.17089538e-01 1.03402199e+02] [ 4.92171906e-01 2.38309426e-02 8.70171765e-01 9.06010029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.81710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.94, Y:103.39, Z:90.61 [[ 7.57663457e-01 4.86651920e-01 -4.34874689e-01 1.33944107e+02] [-4.28918342e-01 8.73512305e-01 2.30228819e-01 1.03389958e+02] [ 4.91909689e-01 1.20897678e-02 8.70562287e-01 9.06142877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.84710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.97, Y:103.38, Z:90.63 [[ 7.56605444e-01 4.94360382e-01 -4.27967305e-01 1.33967849e+02] [-4.35226232e-01 8.69213033e-01 2.34620611e-01 1.03378406e+02] [ 4.87981894e-01 8.74736619e-03 8.72809919e-01 9.06271082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.87710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.99, Y:103.37, Z:90.64 [[ 7.55340162e-01 4.92569143e-01 -4.32246318e-01 1.33990914e+02] [-4.37818538e-01 8.70082712e-01 2.26431010e-01 1.03368657e+02] [ 4.87622977e-01 1.82130153e-02 8.72864319e-01 9.06403869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.9071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.01, Y:103.36, Z:90.65 [[ 7.52026449e-01 4.95458378e-01 -4.34715097e-01 1.34013649e+02] [-4.40617845e-01 8.68390649e-01 2.27494167e-01 1.03357887e+02] [ 4.90216416e-01 2.04615985e-02 8.71360539e-01 9.06529096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.93710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.03, Y:103.35, Z:90.67 [[ 7.51050834e-01 4.95796805e-01 -4.36013959e-01 1.34034754e+02] [-4.40790200e-01 8.68184809e-01 2.27945469e-01 1.03347196e+02] [ 4.91555331e-01 2.09920455e-02 8.70593298e-01 9.06655063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.9671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.06, Y:103.34, Z:90.68 [[ 7.50603003e-01 4.95106145e-01 -4.37567179e-01 1.34056274e+02] [-4.39632386e-01 8.68584944e-01 2.28655985e-01 1.03335339e+02] [ 4.93273247e-01 2.07388340e-02 8.69627164e-01 9.06783517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.08, Y:103.32, Z:90.69 [[ 7.50392907e-01 4.95215372e-01 -4.37803861e-01 1.34075888e+02] [-4.39832164e-01 8.68514783e-01 2.28538267e-01 1.03320997e+02] [ 4.93414788e-01 2.10667252e-02 8.69538981e-01 9.06918171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.10, Y:103.31, Z:90.71 [[ 7.50898421e-01 4.95011620e-01 -4.37167081e-01 1.34095648e+02] [-4.39904099e-01 8.68629297e-01 2.27963876e-01 1.03308253e+02] [ 4.92580902e-01 2.11338760e-02 8.70010008e-01 9.07051950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.11, Y:103.29, Z:90.72 [[ 7.54404735e-01 4.93067308e-01 -4.33310656e-01 1.34114853e+02] [-4.38744717e-01 8.69767388e-01 2.25848986e-01 1.03293029e+02] [ 4.88238229e-01 1.97312169e-02 8.72487313e-01 9.07199825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.14, Y:103.28, Z:90.73 [[ 7.56955634e-01 4.90323386e-01 -4.31973547e-01 1.34135165e+02] [-4.36069974e-01 8.71352244e-01 2.24918309e-01 1.03279342e+02] [ 4.86683826e-01 1.81175124e-02 8.73390296e-01 9.07339183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.15, Y:103.26, Z:90.75 [[ 7.62232770e-01 4.83368863e-01 -4.30529611e-01 1.34153442e+02] [-4.28592056e-01 8.75307482e-01 2.23932268e-01 1.03261505e+02] [ 4.85087676e-01 1.38330580e-02 8.74356102e-01 9.07477431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.1471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.17, Y:103.25, Z:90.76 [[ 7.65537581e-01 4.78354920e-01 -4.30265944e-01 1.34173358e+02] [-4.23038256e-01 8.78099278e-01 2.23562725e-01 1.03247495e+02] [ 4.84758544e-01 1.08732872e-02 8.74580428e-01 9.07612623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.19, Y:103.23, Z:90.77 [[ 7.72837660e-01 4.65979916e-01 -4.30795390e-01 1.34192734e+02] [-4.08844630e-01 8.84789045e-01 2.23594309e-01 1.03230204e+02] [ 4.85353499e-01 3.32627950e-03 8.74311682e-01 9.07735327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.2071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.21, Y:103.22, Z:90.79 [[ 7.74167242e-01 4.41228458e-01 -4.53852982e-01 1.34213994e+02] [-3.93346480e-01 8.97106061e-01 2.01194590e-01 1.03219540e+02] [ 4.95927039e-01 2.27632122e-02 8.68065785e-01 9.07871756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.23, Y:103.20, Z:90.80 [[ 7.80216600e-01 4.62608873e-01 -4.21016731e-01 1.34231177e+02] [-3.89571762e-01 8.85975609e-01 2.51557277e-01 1.03195858e+02] [ 4.89383182e-01 -3.22529337e-02 8.71472231e-01 9.07986532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.2671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.25, Y:103.19, Z:90.81 [[ 7.82039043e-01 4.45524034e-01 -4.35801871e-01 1.34254760e+02] [-3.84298784e-01 8.95225406e-01 2.25579070e-01 1.03187537e+02] [ 4.90641804e-01 -8.93351123e-03 8.71315564e-01 9.08118409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.28, Y:103.18, Z:90.83 [[ 7.82567590e-01 4.45072538e-01 -4.35314143e-01 1.34275114e+02] [-3.84062714e-01 8.95449689e-01 2.25090398e-01 1.03176975e+02] [ 4.89983469e-01 -8.96051872e-03 8.71685671e-01 9.08261083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.3271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.30, Y:103.17, Z:90.84 [[ 7.80082947e-01 4.50971585e-01 -4.33699464e-01 1.34296641e+02] [-3.91384382e-01 8.92523902e-01 2.24096741e-01 1.03169260e+02] [ 4.88148400e-01 -5.07084992e-03 8.72745911e-01 9.08427168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.32, Y:103.17, Z:90.86 [[ 7.71518964e-01 4.60362664e-01 -4.39118100e-01 1.34321956e+02] [-4.07615810e-01 8.87627099e-01 2.14400293e-01 1.03166915e+02] [ 4.88475015e-01 1.35775879e-02 8.72472240e-01 9.08587147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.3871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.34, Y:103.16, Z:90.87 [[ 7.66823884e-01 4.70198717e-01 -4.36914520e-01 1.34343559e+02] [-4.16050697e-01 8.82457652e-01 2.19477358e-01 1.03158344e+02] [ 4.88756533e-01 1.34781109e-02 8.72316108e-01 9.08734689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.37, Y:103.15, Z:90.89 [[ 7.63430903e-01 4.89479809e-01 -4.21405711e-01 1.34365238e+02] [-4.29682732e-01 8.72012143e-01 2.34451642e-01 1.03146233e+02] [ 4.82230242e-01 2.08312845e-03 8.76042039e-01 9.08857778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.4471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.39, Y:103.14, Z:90.90 [[ 7.62141135e-01 4.85219491e-01 -4.28605805e-01 1.34389145e+02] [-4.32402994e-01 8.74226262e-01 2.20807820e-01 1.03137918e+02] [ 4.81838708e-01 1.70437104e-02 8.76094156e-01 9.08990061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.41, Y:103.13, Z:90.91 [[ 7.60839749e-01 4.85589284e-01 -4.30494974e-01 1.34412230e+02] [-4.32462108e-01 8.74009686e-01 2.21548176e-01 1.03127445e+02] [ 4.83838197e-01 1.76101056e-02 8.74980276e-01 9.09120282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.5071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.43, Y:103.12, Z:90.93 [[ 7.57448305e-01 4.78876078e-01 -4.43790230e-01 1.34434604e+02] [-4.31991170e-01 8.77255296e-01 2.09300679e-01 1.03119252e+02] [ 4.89546418e-01 3.31790164e-02 8.71345774e-01 9.09264058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.45, Y:103.10, Z:90.94 [[ 7.55516973e-01 4.87883220e-01 -4.37223133e-01 1.34454474e+02] [-4.33048179e-01 8.72703071e-01 2.25518569e-01 1.03104326e+02] [ 4.91592696e-01 1.89555754e-02 8.70618922e-01 9.09390945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.56710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.47, Y:103.09, Z:90.95 [[ 7.55389044e-01 4.93763062e-01 -4.30796275e-01 1.34474449e+02] [-4.34819562e-01 8.69534071e-01 2.34184644e-01 1.03085995e+02] [ 4.90223766e-01 1.04181327e-02 8.71534349e-01 9.09502895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.50, Y:103.07, Z:90.96 [[ 7.55745902e-01 4.88765440e-01 -4.35839967e-01 1.34495469e+02] [-4.34995996e-01 8.72175534e-01 2.23804205e-01 1.03074236e+02] [ 4.89516717e-01 2.04495294e-02 8.71754094e-01 9.09638941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.62710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.52, Y:103.06, Z:90.98 [[ 7.57698993e-01 4.88383104e-01 -4.32867394e-01 1.34515482e+02] [-4.35455760e-01 8.72394399e-01 2.22050205e-01 1.03060712e+02] [ 4.86076658e-01 2.02473830e-02 8.73681593e-01 9.09786273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.6571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.54, Y:103.05, Z:90.99 [[ 7.58373737e-01 4.88059234e-01 -4.32050298e-01 1.34537332e+02] [-4.35420227e-01 8.72576346e-01 2.21404033e-01 1.03049593e+02] [ 4.85055153e-01 2.02164351e-02 8.74249847e-01 9.09921892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.68710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.56, Y:103.04, Z:91.01 [[ 7.58924492e-01 4.86665228e-01 -4.32655258e-01 1.34557439e+02] [-4.33794481e-01 8.73368576e-01 2.21471621e-01 1.03036364e+02] [ 4.85650043e-01 1.96032257e-02 8.73933492e-01 9.10054052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.58, Y:103.02, Z:91.02 [[ 7.60337089e-01 4.83698218e-01 -4.33501493e-01 1.34577244e+02] [-4.30250890e-01 8.75051448e-01 2.21741144e-01 1.03019949e+02] [ 4.86591906e-01 1.79163869e-02 8.73445660e-01 9.10173378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.74710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.60, Y:103.01, Z:91.03 [[ 7.61293415e-01 4.81423648e-01 -4.34354242e-01 1.34597225e+02] [-4.27544300e-01 8.76328005e-01 2.21934898e-01 1.03006111e+02] [ 4.87481495e-01 1.67481038e-02 8.72972676e-01 9.10297826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.62, Y:102.99, Z:91.04 [[ 7.63482445e-01 4.76073471e-01 -4.36404177e-01 1.34615898e+02] [-4.20930974e-01 8.79300664e-01 2.22817094e-01 1.02990366e+02] [ 4.89807790e-01 1.35790956e-02 8.71724691e-01 9.10415787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.80710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.64, Y:102.98, Z:91.05 [[ 7.64755617e-01 4.73040399e-01 -4.37471859e-01 1.34636566e+02] [-4.17206471e-01 8.80962017e-01 2.23259233e-01 1.02977460e+02] [ 4.91006728e-01 1.17773383e-02 8.71076166e-01 9.10547823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.66, Y:102.96, Z:91.07 [[ 7.66309626e-01 4.68300699e-01 -4.39845441e-01 1.34655527e+02] [-4.11225329e-01 8.83522884e-01 2.24234349e-01 1.02962520e+02] [ 4.93622615e-01 9.04264640e-03 8.69629199e-01 9.10676752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.86710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.67, Y:102.95, Z:91.08 [[ 7.66791834e-01 4.65935909e-01 -4.41513321e-01 1.34674631e+02] [-4.08092355e-01 8.84785263e-01 2.24979261e-01 1.02947547e+02] [ 4.95470396e-01 7.66595121e-03 8.68590997e-01 9.10819767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.70, Y:102.93, Z:91.10 [[ 7.66549833e-01 4.65820591e-01 -4.42054895e-01 1.34695301e+02] [-4.07941332e-01 8.84844429e-01 2.25020457e-01 1.02934740e+02] [ 4.95968973e-01 7.84306933e-03 8.68304822e-01 9.10956133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.92710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.71, Y:102.92, Z:91.11 [[ 7.65472470e-01 4.68480314e-01 -4.41110069e-01 1.34713685e+02] [-4.11408365e-01 8.83419831e-01 2.24304611e-01 1.02922715e+02] [ 4.94767677e-01 9.77736730e-03 8.68970281e-01 9.11110122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.9571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.73, Y:102.91, Z:91.13 [[ 7.65162285e-01 4.70567367e-01 -4.39423520e-01 1.34734908e+02] [-4.14338158e-01 8.82293294e-01 2.23343758e-01 1.02911086e+02] [ 4.92798710e-01 1.11757114e-02 8.70071569e-01 9.11252928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.98710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.76, Y:102.90, Z:91.14 [[ 7.64645586e-01 4.68426277e-01 -4.42599086e-01 1.34758125e+02] [-4.20572964e-01 8.83087510e-01 2.08026039e-01 1.02900025e+02] [ 4.88298588e-01 2.70790174e-02 8.72256394e-01 9.11364279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.0171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.77, Y:102.88, Z:91.16 [[ 7.62037794e-01 4.82646340e-01 -4.31683810e-01 1.34774412e+02] [-4.22333739e-01 8.75805017e-01 2.33665969e-01 1.02884299e+02] [ 4.90848871e-01 4.25233773e-03 8.71234356e-01 9.11556289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.04710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.80, Y:102.87, Z:91.17 [[ 7.60559959e-01 4.79891568e-01 -4.37324401e-01 1.34796616e+02] [-4.25942064e-01 8.77151057e-01 2.21764249e-01 1.02873063e+02] [ 4.90022353e-01 1.76098498e-02 8.71531977e-01 9.11692040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.0771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.82, Y:102.86, Z:91.18 [[ 7.60670934e-01 4.79632254e-01 -4.37415857e-01 1.34818931e+02] [-4.25746627e-01 8.77291548e-01 2.21583732e-01 1.02862009e+02] [ 4.90019939e-01 1.76760210e-02 8.71531995e-01 9.11830742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.10710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.84, Y:102.85, Z:91.20 [[ 7.60634581e-01 4.81745873e-01 -4.35150488e-01 1.34835626e+02] [-4.28849318e-01 8.76103894e-01 2.20295774e-01 1.02845699e+02] [ 4.87363618e-01 1.90494064e-02 8.72991308e-01 9.11979534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.1371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.86, Y:102.83, Z:91.21 [[ 7.60776399e-01 4.82375668e-01 -4.34203853e-01 1.34855262e+02] [-4.29902635e-01 8.75746254e-01 2.19663886e-01 1.02832017e+02] [ 4.86212912e-01 1.95502805e-02 8.73621652e-01 9.12128405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.16710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.88, Y:102.82, Z:91.23 [[ 7.59396433e-01 4.83938826e-01 -4.34879605e-01 1.34875545e+02] [-4.31653048e-01 8.74854294e-01 2.19785373e-01 1.02817950e+02] [ 4.86818965e-01 2.08128786e-02 8.73254899e-01 9.12266135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.1971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.90, Y:102.80, Z:91.24 [[ 7.57461489e-01 4.85705002e-01 -4.36282872e-01 1.34897231e+02] [-4.33456180e-01 8.73839300e-01 2.20273959e-01 1.02804740e+02] [ 4.88229283e-01 2.22604663e-02 8.72431452e-01 9.12387967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.22710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.92, Y:102.79, Z:91.25 [[ 7.52694951e-01 4.90290588e-01 -4.39392137e-01 1.34915624e+02] [-4.38094935e-01 8.71180615e-01 2.21623925e-01 1.02787830e+02] [ 4.91450037e-01 2.56802601e-02 8.70527073e-01 9.12502385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.2571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.93, Y:102.77, Z:91.26 [[ 7.50945836e-01 4.92869886e-01 -4.39499292e-01 1.34934508e+02] [-4.41108615e-01 8.69669263e-01 2.21581955e-01 1.02770078e+02] [ 4.91430098e-01 2.74708774e-02 8.70483664e-01 9.12639276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.96, Y:102.76, Z:91.28 [[ 7.50700669e-01 4.92986248e-01 -4.39787523e-01 1.34955335e+02] [-4.41292227e-01 8.69593360e-01 2.21514239e-01 1.02756027e+02] [ 4.91639783e-01 2.77839280e-02 8.70355316e-01 9.12777174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.98, Y:102.74, Z:91.29 [[ 7.50016373e-01 4.93104268e-01 -4.40821530e-01 1.34975344e+02] [-4.41293202e-01 8.69514308e-01 2.21822402e-01 1.02741201e+02] [ 4.92682201e-01 2.81611114e-02 8.69753529e-01 9.12914040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.99, Y:102.72, Z:91.30 [[ 7.49229810e-01 4.92204797e-01 -4.43158132e-01 1.34993322e+02] [-4.39789839e-01 8.70029661e-01 2.22785295e-01 1.02722344e+02] [ 4.95216710e-01 2.79790594e-02 8.68318825e-01 9.13041778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.37710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.01, Y:102.70, Z:91.32 [[ 7.50336435e-01 4.90549271e-01 -4.43121481e-01 1.35011010e+02] [-4.37996415e-01 8.70992189e-01 2.22557289e-01 1.02704576e+02] [ 4.95130665e-01 2.70927778e-02 8.68395996e-01 9.13161647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.4071056809999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:135.03, Y:102.69, Z:91.33 [[ 7.51486476e-01 4.89020896e-01 -4.42861875e-01 1.35029660e+02] [-4.36368704e-01 8.71878294e-01 2.22284939e-01 1.02689624e+02] [ 4.94823636e-01 2.62069371e-02 8.68598161e-01 9.13287574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.43710568099993 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:135.05, Y:102.67, Z:91.34 [[ 7.53324025e-01 4.85306843e-01 -4.43824494e-01 1.35045944e+02] [-4.31868519e-01 8.74016475e-01 2.22676410e-01 1.02668286e+02] [ 4.95976305e-01 2.39263370e-02 8.68006357e-01 9.13421747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.4671056809999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:135.07, Y:102.65, Z:91.36 [[ 7.54290973e-01 4.83113360e-01 -4.44574639e-01 1.35065332e+02] [-4.29248255e-01 8.75262458e-01 2.22848752e-01 1.02652388e+02] [ 4.96780700e-01 2.27400857e-02 8.67578137e-01 9.13562671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49710568099994 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:135.08, Y:102.63, Z:91.37 [[ 7.56417214e-01 4.78716654e-01 -4.45716685e-01 1.35083502e+02] [-4.23967765e-01 8.77738791e-01 2.23217270e-01 1.02633151e+02] [ 4.98080649e-01 2.01241214e-02 8.66897161e-01 9.13698126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5271056809999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:135.10, Y:102.62, Z:91.38 [[ 7.57655805e-01 4.76791110e-01 -4.45676922e-01 1.35103348e+02] [-4.21877153e-01 8.78809326e-01 2.22966000e-01 1.02619027e+02] [ 4.97973242e-01 1.90894272e-02 8.66982263e-01 9.13825496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55710568099994 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:135.12, Y:102.60, Z:91.40 [[ 7.59830750e-01 4.72911672e-01 -4.46107366e-01 1.35122450e+02] [-4.17324944e-01 8.80952113e-01 2.23076817e-01 1.02603282e+02] [ 4.98494857e-01 1.66711064e-02 8.66732341e-01 9.13958779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5871056809999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:135.14, Y:102.59, Z:91.41 [[ 7.60389539e-01 4.72186393e-01 -4.45923489e-01 1.35141346e+02] [-4.16662952e-01 8.81345853e-01 2.22758774e-01 1.02590404e+02] [ 4.98196481e-01 1.64163557e-02 8.66908744e-01 9.14101803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61710568099994 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:135.16, Y:102.57, Z:91.43 [[ 7.59498007e-01 4.74570105e-01 -4.44911218e-01 1.35158121e+02] [-4.19749085e-01 8.80033122e-01 2.22154024e-01 1.02574891e+02] [ 4.96964266e-01 1.80255384e-02 8.67583770e-01 9.14262838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.6471056809999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:135.18, Y:102.56, Z:91.44 [[ 7.56715445e-01 4.80434672e-01 -4.43355683e-01 1.35176690e+02] [-4.27003164e-01 8.76757803e-01 2.21278224e-01 1.02561170e+02] [ 4.95025285e-01 2.18696300e-02 8.68603296e-01 9.14422824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67710568099994 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:135.20, Y:102.55, Z:91.46 [[ 7.53701425e-01 4.86516677e-01 -4.41854824e-01 1.35196801e+02] [-4.34559540e-01 8.73285120e-01 2.20297765e-01 1.02550522e+02] [ 4.93043779e-01 2.59734896e-02 8.69616703e-01 9.14562613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.7071056809999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:135.22, Y:102.54, Z:91.47 [[ 7.52703772e-01 4.88839992e-01 -4.40990355e-01 1.35219337e+02] [-4.37521842e-01 8.71939132e-01 2.19765301e-01 1.02539713e+02] [ 4.91946815e-01 2.75247407e-02 8.70190048e-01 9.14699980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73710568099995 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:135.24, Y:102.53, Z:91.48 [[ 7.52775942e-01 4.90569996e-01 -4.38941294e-01 1.35239193e+02] [-4.40148459e-01 8.70929005e-01 2.18522316e-01 1.02526144e+02] [ 4.89487196e-01 2.87009921e-02 8.71538030e-01 9.14830975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.7671056809999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:135.26, Y:102.51, Z:91.50 [[ 7.52731955e-01 4.81082172e-01 -4.49393533e-01 1.35264270e+02] [-4.36380538e-01 8.75733497e-01 2.06549918e-01 1.02513617e+02] [ 4.92916453e-01 4.06298676e-02 8.69127484e-01 9.14974400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79710568099995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:135.28, Y:102.50, Z:91.51 [[ 7.53743865e-01 4.89531055e-01 -4.38439884e-01 1.35278202e+02] [-4.33734638e-01 8.71789139e-01 2.27723431e-01 1.02495248e+02] [ 4.93704820e-01 1.85214251e-02 8.69432290e-01 9.15131148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.8271056809999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:135.31, Y:102.49, Z:91.51 [[ 7.58526505e-01 4.63739873e-01 -4.57802218e-01 1.35314894e+02] [-4.33283387e-01 8.83661782e-01 1.77221224e-01 1.02489681e+02] [ 4.86726872e-01 6.39311000e-02 8.71211666e-01 9.15078940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85710568099995 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:135.32, Y:102.46, Z:91.55 [[ 7.48534984e-01 5.07671265e-01 -4.26573868e-01 1.35317396e+02] [-4.33499508e-01 8.61451329e-01 2.64536925e-01 1.02464107e+02] [ 5.01770421e-01 -1.30955815e-02 8.64901700e-01 9.15473918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.8871056809999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:135.36, Y:102.46, Z:91.53 [[ 7.50418183e-01 4.72207099e-01 -4.62485681e-01 1.35358437e+02] [-4.40936677e-01 8.78906734e-01 1.81928009e-01 1.02460671e+02] [ 4.92389477e-01 6.74048132e-02 8.67761024e-01 9.15325300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91710568099995 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:135.37, Y:102.44, Z:91.55 [[ 7.46009996e-01 4.92185469e-01 -4.48578365e-01 1.35371267e+02] [-4.41829645e-01 8.69810933e-01 2.19580297e-01 1.02438869e+02] [ 4.98252597e-01 3.43861235e-02 8.66349781e-01 9.15540074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.9471056809999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:135.39, Y:102.42, Z:91.57 [[ 7.44140019e-01 4.92966642e-01 -4.50820942e-01 1.35391542e+02] [-4.41839234e-01 8.69364138e-01 2.21323489e-01 1.02424137e+02] [ 5.01032657e-01 3.44947144e-02 8.64740650e-01 9.15697150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97710568099995 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:135.40, Y:102.40, Z:91.60 [[ 7.37662322e-01 5.12131761e-01 -4.39971996e-01 1.35398237e+02] [-4.36911632e-01 8.58892946e-01 2.67228617e-01 1.02402179e+02] [ 5.14745106e-01 -4.89559934e-03 8.57329289e-01 9.16036342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.0071056809999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:135.43, Y:102.39, Z:91.61 [[ 7.39768158e-01 4.91187229e-01 -4.59867567e-01 1.35427782e+02] [-4.36004140e-01 8.70482434e-01 2.28387219e-01 1.02394107e+02] [ 5.12487524e-01 3.15505705e-02 8.58114852e-01 9.16084793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03710568099996 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:135.45, Y:102.38, Z:91.62 [[ 7.41251363e-01 4.89168754e-01 -4.59630664e-01 1.35448859e+02] [-4.33831593e-01 8.71660145e-01 2.28032323e-01 1.02380778e+02] [ 5.12188019e-01 3.03730324e-02 8.58336130e-01 9.16218666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.06710568099993 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:135.47, Y:102.36, Z:91.64 [[ 7.45553699e-01 4.84612675e-01 -4.57493428e-01 1.35465607e+02] [-4.29167809e-01 8.74302824e-01 2.26736771e-01 1.02364117e+02] [ 5.09867309e-01 2.72970137e-02 8.59819865e-01 9.16370269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09710568099996 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:135.48, Y:102.35, Z:91.65 [[ 7.50156880e-01 4.79935641e-01 -4.54891674e-01 1.35484720e+02] [-4.24457972e-01 8.76973089e-01 2.25285667e-01 1.02349631e+02] [ 5.07050378e-01 2.40828046e-02 8.61579905e-01 9.16531247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.12710568099993 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:135.51, Y:102.34, Z:91.67 [[ 7.52262594e-01 4.76397254e-01 -4.55133657e-01 1.35505801e+02] [-4.20399767e-01 8.78956038e-01 2.25167316e-01 1.02337154e+02] [ 5.07311567e-01 2.19531337e-02 8.61483043e-01 9.16664217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.1571056809999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:135.52, Y:102.32, Z:91.68 [[ 7.56151198e-01 4.69602886e-01 -4.55750474e-01 1.35524289e+02] [-4.12439198e-01 8.82701215e-01 2.25238702e-01 1.02322255e+02] [ 5.08064242e-01 1.76548455e-02 8.61138219e-01 9.16802480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.18710568099993 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:135.55, Y:102.31, Z:91.69 [[ 7.61752531e-01 4.61871406e-01 -4.54321347e-01 1.35545627e+02] [-4.03874796e-01 8.86858372e-01 2.24426775e-01 1.02309902e+02] [ 5.06575000e-01 1.25312771e-02 8.62104829e-01 9.16939089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2171056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:135.57, Y:102.30, Z:91.71 [[ 7.67030758e-01 4.62931772e-01 -4.44249919e-01 1.35567612e+02] [-3.97686404e-01 8.86379082e-01 2.37018243e-01 1.02297943e+02] [ 5.03497111e-01 -5.12812980e-03 8.63981691e-01 9.17115792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.24710568099994 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:135.59, Y:102.29, Z:91.72 [[ 7.66616932e-01 4.52101004e-01 -4.55963991e-01 1.35590490e+02] [-3.97834601e-01 8.91818076e-01 2.15379084e-01 1.02291058e+02] [ 5.04010029e-01 1.62849994e-02 8.63544260e-01 9.17200351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2771056809999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:135.61, Y:102.28, Z:91.74 [[ 7.70698726e-01 4.64337840e-01 -4.36364349e-01 1.35607894e+02] [-3.94329819e-01 8.85487958e-01 2.45794774e-01 1.02275302e+02] [ 5.00527190e-01 -1.73622440e-02 8.65546697e-01 9.17417427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.30710568099994 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:135.64, Y:102.27, Z:91.75 [[ 7.66828504e-01 4.45493419e-01 -4.62071055e-01 1.35635460e+02] [-3.96769148e-01 8.94888398e-01 2.04325717e-01 1.02270103e+02] [ 5.04527788e-01 2.66527551e-02 8.62983975e-01 9.17473278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3371056809999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:135.65, Y:102.26, Z:91.77 [[ 7.66293110e-01 4.57284836e-01 -4.51315244e-01 1.35653154e+02] [-3.99921048e-01 8.89259714e-01 2.21991702e-01 1.02260368e+02] [ 5.02849904e-01 1.03797537e-02 8.64311423e-01 9.17656591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.36710568099994 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:135.68, Y:102.25, Z:91.78 [[ 7.68157550e-01 4.67613533e-01 -4.37346044e-01 1.35677772e+02] [-4.02837523e-01 8.83910665e-01 2.37537085e-01 1.02250438e+02] [ 4.97650388e-01 -6.28650862e-03 8.67354928e-01 9.17835965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3971056809999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:135.70, Y:102.25, Z:91.79 [[ 7.63587991e-01 4.56553212e-01 -4.56609838e-01 1.35704395e+02] [-4.07008876e-01 8.89298386e-01 2.08547729e-01 1.02245292e+02] [ 5.01275528e-01 2.65997158e-02 8.64878778e-01 9.17902065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.42710568099994 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:135.73, Y:102.23, Z:91.81 [[ 7.64616054e-01 4.67045946e-01 -4.44106265e-01 1.35728015e+02] [-4.07299880e-01 8.84212256e-01 2.28638349e-01 1.02234026e+02] [ 4.99468816e-01 6.06387573e-03 8.66310643e-01 9.18085442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.4571056809999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:135.75, Y:102.23, Z:91.82 [[ 7.59570087e-01 4.67168447e-01 -4.52555990e-01 1.35749212e+02] [-4.12905016e-01 8.83938294e-01 2.19459655e-01 1.02226902e+02] [ 5.02556197e-01 2.01676486e-02 8.64309282e-01 9.18180002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.48710568099995 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:135.77, Y:102.22, Z:91.83 [[ 7.58434473e-01 4.69089715e-01 -4.52473193e-01 1.35771746e+02] [-4.13742529e-01 8.82947350e-01 2.21858280e-01 1.02217618e+02] [ 5.03581444e-01 1.89424354e-02 8.63740073e-01 9.18314856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.5171056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:135.80, Y:102.21, Z:91.84 [[ 7.57043972e-01 4.70911933e-01 -4.52908794e-01 1.35796133e+02] [-4.15881933e-01 8.81944150e-01 2.21848450e-01 1.02209981e+02] [ 5.03911344e-01 2.04075526e-02 8.63514267e-01 9.18442223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.54710568099995 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:135.82, Y:102.20, Z:91.86 [[ 7.56155215e-01 4.71889136e-01 -4.53376150e-01 1.35818944e+02] [-4.17033715e-01 8.81400053e-01 2.21848659e-01 1.02201054e+02] [ 5.04293734e-01 2.13211200e-02 8.63268926e-01 9.18564992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.5771056809999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:135.84, Y:102.19, Z:91.87 [[ 7.54815725e-01 4.73006239e-01 -4.54442867e-01 1.35843714e+02] [-4.18155983e-01 8.80776831e-01 2.22211045e-01 1.02193352e+02] [ 5.05369958e-01 2.22996124e-02 8.62614591e-01 9.18686096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.60710568099995 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:135.87, Y:102.18, Z:91.88 [[ 7.54986243e-01 4.73262802e-01 -4.53892161e-01 1.35866672e+02] [-4.18733022e-01 8.80629461e-01 2.21707937e-01 1.02184944e+02] [ 5.04636929e-01 2.26731934e-02 8.63033891e-01 9.18804825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.6371056809999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:135.89, Y:102.17, Z:91.89 [[ 7.54295374e-01 4.73544913e-01 -4.54745758e-01 1.35888844e+02] [-4.18906545e-01 8.80468580e-01 2.22018889e-01 1.02174069e+02] [ 5.05525267e-01 2.30281537e-02 8.62504440e-01 9.18933958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.66710568099995 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:135.91, Y:102.16, Z:91.91 [[ 7.52083242e-01 4.75170354e-01 -4.56709899e-01 1.35909670e+02] [-4.20442192e-01 8.79552737e-01 2.22745025e-01 1.02162269e+02] [ 5.07542274e-01 2.44973108e-02 8.61278539e-01 9.19059631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.6971056809999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:135.93, Y:102.15, Z:91.92 [[ 7.52257210e-01 4.76370128e-01 -4.55170948e-01 1.35932542e+02] [-4.22295499e-01 8.78880814e-01 2.21889671e-01 1.02151646e+02] [ 5.05742624e-01 2.52985375e-02 8.62313390e-01 9.19174918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.72710568099995 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:135.97, Y:102.14, Z:91.91 [[ 7.56495812e-01 4.58201098e-01 -4.66653876e-01 1.35967358e+02] [-4.23747555e-01 8.86913601e-01 1.83908328e-01 1.02144654e+02] [ 4.98148668e-01 5.86175591e-02 8.65108020e-01 9.19141565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.7571056809999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:135.97, Y:102.12, Z:91.95 [[ 7.51135503e-01 4.92470798e-01 -4.39622529e-01 1.35970098e+02] [-4.20945010e-01 8.70300757e-01 2.55698830e-01 1.02123786e+02] [ 5.08528027e-01 -7.00755959e-03 8.61016922e-01 9.19508053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.78710568099996 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:136.00, Y:102.11, Z:91.96 [[ 7.53452674e-01 4.82682858e-01 -4.46459770e-01 1.35997115e+02] [-4.20504300e-01 8.75748395e-01 2.37151602e-01 1.02112809e+02] [ 5.05455441e-01 9.05574449e-03 8.62805187e-01 9.19596044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.81710568099993 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:136.08, Y:102.64, Z:92.26 [[ 0.84435755 -0.41147892 0.34314053 136.07839156] [ -0.27885307 -0.88437279 -0.37433371 102.63983263] [ 0.45749458 0.22038571 -0.86146901 92.26263409] [ 0. 0. 0. 1. ]] SLAMing on 280.84710568099996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:136.05, Y:102.64, Z:92.34 [[ 8.59635421e-01 -1.98747921e-01 4.70665707e-01 1.36045608e+02] [-1.89503516e-01 -9.79555553e-01 -6.75228611e-02 1.02642027e+02] [ 4.74463235e-01 -3.11477632e-02 -8.79724079e-01 9.23376427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.87710568099993 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:136.07, Y:102.68, Z:92.33 [[ 8.74380995e-01 -1.62066519e-01 4.57375468e-01 1.36072037e+02] [-1.14071489e-01 -9.84813169e-01 -1.30884371e-01 1.02675462e+02] [ 4.71641358e-01 6.22693065e-02 -8.79589087e-01 9.23300468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.9071056809999 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:136.09, Y:102.71, Z:92.34 [[ 8.83862533e-01 -8.36136335e-02 4.60212759e-01 1.36086448e+02] [-3.73415591e-02 -9.93366099e-01 -1.08763051e-01 1.02710080e+02] [ 4.66253827e-01 7.89465242e-02 -8.81121340e-01 9.23356649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.93710568099993 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:136.11, Y:102.76, Z:92.32 [[ 8.88355841e-01 -4.64180889e-02 4.56803306e-01 1.36108077e+02] [ 3.67694058e-02 -9.84489831e-01 -1.71545284e-01 1.02761276e+02] [ 4.57681014e-01 1.69189641e-01 -8.72870526e-01 9.23244247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.9671056809999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:136.10, Y:102.78, Z:92.36 [[ 8.81137771e-01 8.69969253e-02 4.64787869e-01 1.36102029e+02] [ 1.16960874e-01 -9.92485147e-01 -3.59636921e-02 1.02781432e+02] [ 4.58166326e-01 8.60509630e-02 -8.84691387e-01 9.23575974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99710568099994 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:136.10, Y:102.82, Z:92.37 [[ 8.67468292e-01 1.75464907e-01 4.65522104e-01 1.36102212e+02] [ 1.95477339e-01 -9.80693434e-01 5.38511326e-03 1.02820209e+02] [ 4.57479369e-01 8.63276068e-02 -8.85019871e-01 9.23710067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0271056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:136.10, Y:102.86, Z:92.38 [[ 8.49362827e-01 2.66967147e-01 4.55314540e-01 1.36099265e+02] [ 2.71551204e-01 -9.60748893e-01 5.67583301e-02 1.02860473e+02] [ 4.52595549e-01 7.54327957e-02 -8.88519646e-01 9.23814415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05710568099994 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:136.11, Y:102.92, Z:92.36 [[ 8.30271746e-01 2.84564395e-01 4.79240998e-01 1.36105238e+02] [ 3.45507482e-01 -9.37479021e-01 -4.19245223e-02 1.02919306e+02] [ 4.37348155e-01 2.00390097e-01 -8.76681471e-01 9.23604487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0871056809999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:136.13, Y:102.97, Z:92.31 [[ 0.81703538 0.26499157 0.51208657 136.1258827 ] [ 0.41422632 -0.88756467 -0.20160732 102.9659089 ] [ 0.40108571 0.37684005 -0.83493822 92.31450869] [ 0. 0. 0. 1. ]] SLAMing on 281.11710568099994 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:136.10, Y:102.93, Z:92.42 [[ 7.67566751e-01 5.14028258e-01 3.82904991e-01 1.36098398e+02] [ 4.87441633e-01 -8.56035224e-01 1.72059143e-01 1.02928037e+02] [ 4.16223421e-01 5.45769569e-02 -9.07622950e-01 9.24183920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.1471056809999 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:136.09, Y:102.96, Z:92.42 [[ 7.24829033e-01 5.72558313e-01 3.83144687e-01 1.36088256e+02] [ 5.54425393e-01 -8.14910481e-01 1.68918299e-01 1.02962827e+02] [ 4.08944198e-01 8.99882565e-02 -9.08111643e-01 9.24202406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17710568099994 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:136.08, Y:103.03, Z:92.39 [[ 6.81252615e-01 5.73449327e-01 4.55028289e-01 1.36076572e+02] [ 6.19789193e-01 -7.82596791e-01 5.83405378e-02 1.03025573e+02] [ 3.89559021e-01 2.42276972e-01 -8.88563806e-01 9.23861519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.2071056809999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:136.52, Y:102.73, Z:92.10 [[ 7.41048423e-01 -5.86227814e-01 -3.27389958e-01 1.36523653e+02] [ 5.25300706e-01 8.09860191e-01 -2.61123799e-01 1.02728500e+02] [ 4.18218127e-01 2.15272034e-02 9.08091503e-01 9.20953848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23710568099995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:136.54, Y:102.74, Z:92.10 [[ 7.41882061e-01 -5.84442758e-01 -3.28690845e-01 1.36544212e+02] [ 5.26386612e-01 8.11282188e-01 -2.54437313e-01 1.02742936e+02] [ 4.15365072e-01 1.57440178e-02 9.09518544e-01 9.21049833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.2671056809999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:136.57, Y:102.76, Z:92.11 [[ 7.43424387e-01 -5.85523091e-01 -3.23238132e-01 1.36565393e+02] [ 5.24814404e-01 8.10294080e-01 -2.60755337e-01 1.02757108e+02] [ 4.14596216e-01 2.42118490e-02 9.09683332e-01 9.21138531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29710568099995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:136.59, Y:102.77, Z:92.12 [[ 7.43262162e-01 -5.88594373e-01 -3.17990601e-01 1.36587250e+02] [ 5.25099375e-01 8.07790659e-01 -2.67852381e-01 1.02772365e+02] [ 4.14526241e-01 3.21078739e-02 9.09470769e-01 9.21221094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.3271056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.61, Y:102.78, Z:92.14 [[ 7.43854423e-01 -5.83078219e-01 -3.26650252e-01 1.36609488e+02] [ 5.25873490e-01 8.12259405e-01 -2.52372210e-01 1.02783151e+02] [ 4.12477478e-01 1.59514769e-02 9.10828129e-01 9.21367917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35710568099995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:136.63, Y:102.81, Z:92.13 [[ 7.44845260e-01 -5.97548052e-01 -2.96886956e-01 1.36630812e+02] [ 5.28972887e-01 8.00024549e-01 -2.83104940e-01 1.02808002e+02] [ 4.06685658e-01 5.38242225e-02 9.11981211e-01 9.21341815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.3871056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:136.66, Y:102.81, Z:92.17 [[ 7.43550840e-01 -5.77867396e-01 -3.36454188e-01 1.36656084e+02] [ 5.24020081e-01 8.16116290e-01 -2.43633240e-01 1.02806561e+02] [ 4.15373450e-01 4.84494924e-03 9.09638073e-01 9.21659716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:136.68, Y:102.82, Z:92.17 [[ 7.44115120e-01 -5.84224113e-01 -3.23998264e-01 1.36678313e+02] [ 5.22293316e-01 8.11157287e-01 -2.63122686e-01 1.02824456e+02] [ 4.16536170e-01 2.65714412e-02 9.08730751e-01 9.21701867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.4471056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:136.70, Y:102.84, Z:92.18 [[ 7.44633092e-01 -5.84141575e-01 -3.22955382e-01 1.36697921e+02] [ 5.21870322e-01 8.11169165e-01 -2.63924141e-01 1.02838594e+02] [ 4.16140511e-01 2.79858201e-02 9.08869555e-01 9.21789240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:136.72, Y:102.85, Z:92.19 [[ 7.44667195e-01 -5.87232474e-01 -3.17220413e-01 1.36719845e+02] [ 5.21471796e-01 8.08544980e-01 -2.72620948e-01 1.02853119e+02] [ 4.16578846e-01 3.75903778e-02 9.08322095e-01 9.21891581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.5071056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:136.74, Y:102.86, Z:92.21 [[ 7.44298503e-01 -5.82241438e-01 -3.27130931e-01 1.36743620e+02] [ 5.23625042e-01 8.12800458e-01 -2.55288526e-01 1.02863922e+02] [ 4.14531729e-01 1.87169202e-02 9.09842361e-01 9.22056101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:136.77, Y:102.87, Z:92.22 [[ 7.43902137e-01 -5.85667187e-01 -3.21875063e-01 1.36766267e+02] [ 5.25108031e-01 8.10172169e-01 -2.60542920e-01 1.02874148e+02] [ 4.13365657e-01 2.47992551e-02 9.10227351e-01 9.22171050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.56710568099993 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:136.79, Y:102.89, Z:92.23 [[ 7.41268910e-01 -5.91080239e-01 -3.18032316e-01 1.36790808e+02] [ 5.30174687e-01 8.06191679e-01 -2.62620979e-01 1.02887961e+02] [ 4.11625078e-01 2.60600836e-02 9.10980608e-01 9.22274234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.81, Y:102.90, Z:92.24 [[ 7.39563054e-01 -5.92294402e-01 -3.19740254e-01 1.36810944e+02] [ 5.32389957e-01 8.05408675e-01 -2.60533684e-01 1.02902220e+02] [ 4.11834217e-01 2.24545865e-02 9.10982091e-01 9.22379634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.62710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.83, Y:102.92, Z:92.25 [[ 7.35749295e-01 -5.97538917e-01 -3.18779263e-01 1.36833602e+02] [ 5.38426788e-01 8.01601324e-01 -2.59869027e-01 1.02916747e+02] [ 4.10815736e-01 1.95591582e-02 9.11508568e-01 9.22469298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.6571056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.85, Y:102.93, Z:92.26 [[ 7.34363278e-01 -5.99222457e-01 -3.18815030e-01 1.36854147e+02] [ 5.41054595e-01 8.00401069e-01 -2.58104735e-01 1.02927747e+02] [ 4.09842044e-01 1.70463022e-02 9.11997217e-01 9.22584620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.68710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.88, Y:102.94, Z:92.27 [[ 7.31338307e-01 -6.04167965e-01 -3.16425902e-01 1.36875095e+02] [ 5.45740660e-01 7.96669175e-01 -2.59779441e-01 1.02941647e+02] [ 4.09037178e-01 1.73001760e-02 9.12353709e-01 9.22697623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7171056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:136.90, Y:102.96, Z:92.28 [[ 7.23620731e-01 -6.14598839e-01 -3.14072133e-01 1.36897672e+02] [ 5.54550830e-01 7.88634305e-01 -2.65573550e-01 1.02955802e+02] [ 4.10909254e-01 1.80055647e-02 9.11498428e-01 9.22810333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.74710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.92, Y:102.97, Z:92.29 [[ 7.17277165e-01 -6.20041117e-01 -3.17903260e-01 1.36920505e+02] [ 5.63497536e-01 7.84542605e-01 -2.58772928e-01 1.02969994e+02] [ 4.09858506e-01 6.47420820e-03 9.12126137e-01 9.22949891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7771056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:136.94, Y:102.98, Z:92.31 [[ 7.16221935e-01 -6.21591684e-01 -3.17253712e-01 1.36938997e+02] [ 5.65491570e-01 7.83322348e-01 -2.58118934e-01 1.02982967e+02] [ 4.08956506e-01 5.46614285e-03 9.12537505e-01 9.23055142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.80710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.96, Y:103.01, Z:92.31 [[ 7.12457952e-01 -6.36484516e-01 -2.95450719e-01 1.36960406e+02] [ 5.70565871e-01 7.70547027e-01 -2.84098340e-01 1.03010975e+02] [ 4.08482868e-01 3.38340247e-02 9.12138699e-01 9.23059547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8371056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:136.98, Y:103.01, Z:92.34 [[ 7.14154550e-01 -6.13298223e-01 -3.37414534e-01 1.36981368e+02] [ 5.68304351e-01 7.89422038e-01 -2.32040968e-01 1.03008588e+02] [ 4.08672782e-01 -2.60410352e-02 9.12309389e-01 9.23372663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.86710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.00, Y:103.04, Z:92.34 [[ 7.13732680e-01 -6.28788642e-01 -3.08561996e-01 1.37000084e+02] [ 5.66884976e-01 7.77324871e-01 -2.72777326e-01 1.03038057e+02] [ 4.11372198e-01 1.97709324e-02 9.11252997e-01 9.23356177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.02, Y:103.05, Z:92.35 [[ 7.18240320e-01 -6.16813077e-01 -3.21982096e-01 1.37019782e+02] [ 5.60769927e-01 7.87099619e-01 -2.56926601e-01 1.03048439e+02] [ 4.11907673e-01 3.97716765e-03 9.11216907e-01 9.23514199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.92710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.04, Y:103.08, Z:92.35 [[ 7.18883222e-01 -6.32760033e-01 -2.87787516e-01 1.37039359e+02] [ 5.60859803e-01 7.72562612e-01 -2.97629455e-01 1.03081537e+02] [ 4.10661899e-01 5.25523714e-02 9.10271967e-01 9.23450251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.9571056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:137.06, Y:103.08, Z:92.39 [[ 7.20801041e-01 -6.03992928e-01 -3.40056471e-01 1.37061386e+02] [ 5.53709058e-01 7.96865209e-01 -2.41685991e-01 1.03075113e+02] [ 4.16955800e-01 -1.40848344e-02 9.08817627e-01 9.23867349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.98710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.08, Y:103.10, Z:92.39 [[ 7.24452339e-01 -6.09637316e-01 -3.21731490e-01 1.37079215e+02] [ 5.50288732e-01 7.92569311e-01 -2.62709344e-01 1.03097013e+02] [ 4.15151925e-01 1.32751847e-02 9.09655236e-01 9.23909231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.0171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.10, Y:103.11, Z:92.40 [[ 7.28423929e-01 -6.04603161e-01 -3.22263244e-01 1.37098674e+02] [ 5.44521895e-01 7.96360338e-01 -2.63260553e-01 1.03113047e+02] [ 4.15805828e-01 1.62858940e-02 9.09307585e-01 9.24011027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.04710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:137.12, Y:103.13, Z:92.41 [[ 7.32239732e-01 -6.03202416e-01 -3.16183206e-01 1.37123628e+02] [ 5.44192466e-01 7.97362389e-01 -2.60898026e-01 1.03134675e+02] [ 4.09486916e-01 1.89753820e-02 9.12118633e-01 9.24062145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.0771056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:137.14, Y:103.15, Z:92.42 [[ 7.34826464e-01 -5.94608446e-01 -3.26298734e-01 1.37138298e+02] [ 5.36082393e-01 8.03886398e-01 -2.57647681e-01 1.03145096e+02] [ 4.15506602e-01 1.44033283e-02 9.09476117e-01 9.24247031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.10710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:137.16, Y:103.16, Z:92.43 [[ 7.36788083e-01 -5.94677369e-01 -3.21717497e-01 1.37157840e+02] [ 5.33696478e-01 8.03656047e-01 -2.63258479e-01 1.03162291e+02] [ 4.15104071e-01 2.22662148e-02 9.09501416e-01 9.24345542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.1371056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:137.18, Y:103.18, Z:92.45 [[ 7.37809355e-01 -5.89515745e-01 -3.28798634e-01 1.37181077e+02] [ 5.32062919e-01 8.07658946e-01 -2.54157583e-01 1.03176718e+02] [ 4.15387055e-01 1.25782810e-02 9.09557794e-01 9.24488380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.16710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.20, Y:103.19, Z:92.45 [[ 7.38987337e-01 -5.93211221e-01 -3.19371512e-01 1.37198978e+02] [ 5.28557128e-01 8.04427524e-01 -2.71152579e-01 1.03194708e+02] [ 4.17761987e-01 3.15722336e-02 9.08007773e-01 9.24534921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.1971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.22, Y:103.22, Z:92.46 [[ 7.38590509e-01 -5.97072235e-01 -3.13031637e-01 1.37220220e+02] [ 5.30227922e-01 8.01249415e-01 -2.77232261e-01 1.03215293e+02] [ 4.16344102e-01 3.87830021e-02 9.08379584e-01 9.24561814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.22710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.24, Y:103.22, Z:92.48 [[ 7.36926241e-01 -5.87392641e-01 -3.34528922e-01 1.37240600e+02] [ 5.29640134e-01 8.09238548e-01 -2.54193432e-01 1.03220680e+02] [ 4.20025051e-01 1.01418675e-02 9.07455839e-01 9.24807067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.2571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.26, Y:103.24, Z:92.49 [[ 7.33743339e-01 -5.96438735e-01 -3.25394449e-01 1.37263250e+02] [ 5.33794558e-01 8.02350820e-01 -2.67014102e-01 1.03235450e+02] [ 4.20338056e-01 2.22260321e-02 9.07095321e-01 9.24878652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.28710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:137.28, Y:103.25, Z:92.50 [[ 7.31874314e-01 -5.98094658e-01 -3.26562046e-01 1.37284513e+02] [ 5.35075998e-01 8.01137767e-01 -2.68089451e-01 1.03250496e+02] [ 4.21964057e-01 2.14722707e-02 9.06358250e-01 9.24984932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.31, Y:103.26, Z:92.52 [[ 7.29908047e-01 -5.88481119e-01 -3.47741595e-01 1.37308897e+02] [ 5.39507565e-01 8.08359016e-01 -2.35557399e-01 1.03259914e+02] [ 4.19721135e-01 -1.56739801e-02 9.07517766e-01 9.25186421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.33, Y:103.29, Z:92.51 [[ 7.30147541e-01 -6.10081535e-01 -3.07709423e-01 1.37327730e+02] [ 5.35891842e-01 7.90678562e-01 -2.96052942e-01 1.03285783e+02] [ 4.23915678e-01 5.12633577e-02 9.04249726e-01 9.25107996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.37710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.35, Y:103.29, Z:92.53 [[ 7.29688574e-01 -6.00348408e-01 -3.27316932e-01 1.37349836e+02] [ 5.36970913e-01 7.99469893e-01 -2.69277047e-01 1.03291496e+02] [ 4.23340079e-01 2.07287126e-02 9.05733679e-01 9.25316650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.4071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.37, Y:103.31, Z:92.54 [[ 7.30116468e-01 -6.00439943e-01 -3.26192916e-01 1.37370727e+02] [ 5.37446889e-01 7.99400640e-01 -2.68532043e-01 1.03306823e+02] [ 4.21996190e-01 2.07482992e-02 9.06360151e-01 9.25435491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.43710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.39, Y:103.32, Z:92.55 [[ 7.29636001e-01 -6.02709048e-01 -3.23068273e-01 1.37392393e+02] [ 5.39496599e-01 7.97645319e-01 -2.69639322e-01 1.03323949e+02] [ 4.20207955e-01 2.24443219e-02 9.07150223e-01 9.25538707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.4671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.42, Y:103.33, Z:92.57 [[ 7.29865047e-01 -6.03425675e-01 -3.21207827e-01 1.37415827e+02] [ 5.42293631e-01 7.97180936e-01 -2.65367995e-01 1.03332272e+02] [ 4.16190618e-01 1.94938653e-02 9.09068402e-01 9.25690390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.44, Y:103.35, Z:92.58 [[ 7.28928436e-01 -6.05751818e-01 -3.18948382e-01 1.37438500e+02] [ 5.45486454e-01 7.95438769e-01 -2.64048659e-01 1.03346702e+02] [ 4.13651863e-01 1.84905538e-02 9.10247349e-01 9.25814106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5271056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:137.46, Y:103.36, Z:92.59 [[ 7.28054653e-01 -6.06412357e-01 -3.19688091e-01 1.37458763e+02] [ 5.46554026e-01 7.94969978e-01 -2.63251648e-01 1.03363161e+02] [ 4.13781487e-01 1.69347734e-02 9.10218707e-01 9.25922363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.48, Y:103.37, Z:92.61 [[ 7.26295689e-01 -6.04570051e-01 -3.27092687e-01 1.37477432e+02] [ 5.46979100e-01 7.96509550e-01 -2.57655584e-01 1.03373170e+02] [ 4.16303299e-01 8.22127615e-03 9.09188635e-01 9.26084886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5871056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:137.50, Y:103.39, Z:92.61 [[ 7.26002257e-01 -6.09937287e-01 -3.17643241e-01 1.37498624e+02] [ 5.48365016e-01 7.92190753e-01 -2.67823861e-01 1.03393042e+02] [ 4.14989797e-01 2.02562871e-02 9.09600545e-01 9.26134100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61710568099994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:137.52, Y:103.40, Z:92.63 [[ 7.23837588e-01 -6.09058089e-01 -3.24202699e-01 1.37518968e+02] [ 5.49879233e-01 7.93042634e-01 -2.62137770e-01 1.03402987e+02] [ 4.16763692e-01 1.14728393e-02 9.08942462e-01 9.26302210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.6471056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:137.54, Y:103.42, Z:92.64 [[ 7.22596324e-01 -6.12001470e-01 -3.21416789e-01 1.37539039e+02] [ 5.51471448e-01 7.90718005e-01 -2.65789914e-01 1.03418646e+02] [ 4.16813861e-01 1.48066332e-02 9.08871261e-01 9.26405688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67710568099994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:137.56, Y:103.43, Z:92.65 [[ 7.18194612e-01 -6.16231136e-01 -3.23196049e-01 1.37560811e+02] [ 5.55345642e-01 7.87465487e-01 -2.67374877e-01 1.03431967e+02] [ 4.19270458e-01 1.25416786e-02 9.07774746e-01 9.26525494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.7071056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:137.58, Y:103.45, Z:92.66 [[ 7.15712418e-01 -6.18936592e-01 -3.23532426e-01 1.37580432e+02] [ 5.58090174e-01 7.85361936e-01 -2.67846946e-01 1.03447532e+02] [ 4.19870328e-01 1.11411174e-02 9.07515721e-01 9.26628509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:137.60, Y:103.46, Z:92.67 [[ 7.11493067e-01 -6.24546222e-01 -3.22055326e-01 1.37602065e+02] [ 5.64777451e-01 7.80947998e-01 -2.66733304e-01 1.03462490e+02] [ 4.18095739e-01 7.88931065e-03 9.08368709e-01 9.26740252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.7671056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:137.62, Y:103.48, Z:92.69 [[ 7.07104823e-01 -6.29999672e-01 -3.21096843e-01 1.37623784e+02] [ 5.71049526e-01 7.76580443e-01 -2.66130147e-01 1.03475040e+02] [ 4.17019434e-01 4.81971040e-03 9.08884790e-01 9.26873579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:137.64, Y:103.49, Z:92.70 [[ 7.04054946e-01 -6.34538799e-01 -3.18852857e-01 1.37643558e+02] [ 5.72715480e-01 7.72828129e-01 -2.73374582e-01 1.03491187e+02] [ 4.19885236e-01 9.85875969e-03 9.07523660e-01 9.26982899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.8271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.67, Y:103.50, Z:92.71 [[ 6.98751771e-01 -6.37361888e-01 -3.24831936e-01 1.37665348e+02] [ 5.80572830e-01 7.70549718e-01 -2.63036731e-01 1.03503653e+02] [ 4.17948744e-01 -4.79121507e-03 9.08457975e-01 9.27147400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.68, Y:103.52, Z:92.72 [[ 6.96030866e-01 -6.42223695e-01 -3.21075940e-01 1.37684281e+02] [ 5.84380897e-01 7.66514038e-01 -2.66374167e-01 1.03520337e+02] [ 4.17181017e-01 -2.22600344e-03 9.08820689e-01 9.27248783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.8871056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.70, Y:103.54, Z:92.74 [[ 6.95806589e-01 -6.42516121e-01 -3.20976984e-01 1.37704232e+02] [ 5.84647955e-01 7.66268920e-01 -2.66493361e-01 1.03537200e+02] [ 4.17180968e-01 -2.23070065e-03 9.08820700e-01 9.27365549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:137.72, Y:103.55, Z:92.75 [[ 6.92161783e-01 -6.46539227e-01 -3.20778887e-01 1.37722246e+02] [ 5.89059566e-01 7.62867639e-01 -2.66536664e-01 1.03554125e+02] [ 4.17038241e-01 -4.47137896e-03 9.08877942e-01 9.27474255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.9471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.74, Y:103.57, Z:92.76 [[ 6.92201231e-01 -6.46837023e-01 -3.20092678e-01 1.37741224e+02] [ 5.89554052e-01 7.62615152e-01 -2.66165644e-01 1.03571102e+02] [ 4.16273319e-01 -4.47174870e-03 9.09228534e-01 9.27597234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:137.76, Y:103.59, Z:92.77 [[ 6.96442432e-01 -6.43130272e-01 -3.18357334e-01 1.37758634e+02] [ 5.86025636e-01 7.65754045e-01 -2.64942818e-01 1.03587369e+02] [ 4.14176163e-01 -2.04813892e-03 9.10194436e-01 9.27740824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.0071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.77, Y:103.61, Z:92.78 [[ 7.00929024e-01 -6.42248659e-01 -3.10185691e-01 1.37774899e+02] [ 5.76708619e-01 7.66242861e-01 -2.83335572e-01 1.03612059e+02] [ 4.19649462e-01 1.97113648e-02 9.07472198e-01 9.27824594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03710568099996 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:137.79, Y:103.63, Z:92.80 [[ 7.09658740e-01 -6.24029232e-01 -3.27065729e-01 1.37791580e+02] [ 5.67914154e-01 7.81397888e-01 -2.58632665e-01 1.03626537e+02] [ 4.16962813e-01 -2.20432555e-03 9.08920873e-01 9.28003092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.06710568099993 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:137.81, Y:103.64, Z:92.81 [[ 7.14133624e-01 -6.20436778e-01 -3.24147145e-01 1.37811018e+02] [ 5.64677558e-01 7.84256281e-01 -2.57062914e-01 1.03644664e+02] [ 4.13705721e-01 5.38651761e-04 9.10410504e-01 9.28097379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.83, Y:103.66, Z:92.82 [[ 7.16947328e-01 -6.20093253e-01 -3.18544951e-01 1.37829256e+02] [ 5.60319962e-01 7.84433992e-01 -2.65903841e-01 1.03664413e+02] [ 4.14762666e-01 1.21519537e-02 9.09848483e-01 9.28166019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.12710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.85, Y:103.69, Z:92.82 [[ 7.15491460e-01 -6.27076194e-01 -3.07973079e-01 1.37850155e+02] [ 5.58211521e-01 7.78218215e-01 -2.87708719e-01 1.03687249e+02] [ 4.20085548e-01 3.39390110e-02 9.06849643e-01 9.28195828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.1571056809999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:137.87, Y:103.69, Z:92.85 [[ 7.15710969e-01 -6.12568526e-01 -3.35436447e-01 1.37870819e+02] [ 5.59352249e-01 7.90368699e-01 -2.49884737e-01 1.03690137e+02] [ 4.18189992e-01 -8.78188374e-03 9.08317130e-01 9.28454319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.18710568099993 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:137.89, Y:103.71, Z:92.85 [[ 7.15024914e-01 -6.20930834e-01 -3.21223086e-01 1.37890343e+02] [ 5.59998266e-01 7.83771727e-01 -2.68521547e-01 1.03711941e+02] [ 4.18498881e-01 1.21152245e-02 9.08136503e-01 9.28487402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2171056809999 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:137.91, Y:103.73, Z:92.86 [[ 7.11595411e-01 -6.26165450e-01 -3.18667226e-01 1.37909458e+02] [ 5.62164090e-01 7.79493906e-01 -2.76334556e-01 1.03730677e+02] [ 4.21430312e-01 1.74951314e-02 9.06692016e-01 9.28570610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.24710568099994 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:137.93, Y:103.74, Z:92.87 [[ 7.10952714e-01 -6.22278749e-01 -3.27590288e-01 1.37931317e+02] [ 5.63644413e-01 7.82790573e-01 -2.63711764e-01 1.03743663e+02] [ 4.20536816e-01 2.84215911e-03 9.07271023e-01 9.28723422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2771056809999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:137.95, Y:103.76, Z:92.88 [[ 7.06762981e-01 -6.28462456e-01 -3.24840007e-01 1.37949370e+02] [ 5.67528852e-01 7.77812813e-01 -2.70033757e-01 1.03759120e+02] [ 4.22370797e-01 6.49378658e-03 9.06399879e-01 9.28822360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.30710568099994 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:137.97, Y:103.77, Z:92.89 [[ 7.03363224e-01 -6.33670253e-01 -3.22090339e-01 1.37968148e+02] [ 5.73242449e-01 7.73584765e-01 -2.70110543e-01 1.03774699e+02] [ 4.20325195e-01 5.34996806e-03 9.07357762e-01 9.28928952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3371056809999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:137.99, Y:103.79, Z:92.90 [[ 7.01194981e-01 -6.36434781e-01 -3.21366407e-01 1.37987033e+02] [ 5.76478778e-01 7.71320915e-01 -2.69696616e-01 1.03791542e+02] [ 4.19520938e-01 3.84900024e-03 9.07737499e-01 9.29043645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.36710568099994 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:138.01, Y:103.81, Z:92.91 [[ 6.97478336e-01 -6.40458233e-01 -3.21461076e-01 1.38005101e+02] [ 5.80772617e-01 7.67991307e-01 -2.69986146e-01 1.03809342e+02] [ 4.19794162e-01 1.61369717e-03 9.07617903e-01 9.29142640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3971056809999 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:138.02, Y:103.83, Z:92.93 [[ 6.96093932e-01 -6.41807441e-01 -3.21770797e-01 1.38024006e+02] [ 5.82070270e-01 7.66865277e-01 -2.70392027e-01 1.03827405e+02] [ 4.20294467e-01 9.25034610e-04 9.07387296e-01 9.29251943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.42710568099994 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:138.04, Y:103.85, Z:92.94 [[ 6.96664485e-01 -6.41560920e-01 -3.21026760e-01 1.38040995e+02] [ 5.81991647e-01 7.67071070e-01 -2.69977214e-01 1.03845091e+02] [ 4.19457170e-01 1.24864381e-03 9.07774269e-01 9.29380169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.4571056809999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:138.06, Y:103.86, Z:92.95 [[ 6.97511883e-01 -6.40760949e-01 -3.20784318e-01 1.38058757e+02] [ 5.81118253e-01 7.67738132e-01 -2.69962473e-01 1.03862280e+02] [ 4.19259764e-01 1.88841095e-03 9.07864354e-01 9.29513171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.48710568099995 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:138.08, Y:103.89, Z:92.96 [[ 6.98104084e-01 -6.38847185e-01 -3.23303204e-01 1.38075119e+02] [ 5.79086663e-01 7.69332841e-01 -2.69788096e-01 1.03886129e+02] [ 4.21081138e-01 1.11959848e-03 9.07022283e-01 9.29649556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.5171056809999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:138.09, Y:103.90, Z:92.97 [[ 7.01933011e-01 -6.34536010e-01 -3.23502859e-01 1.38090330e+02] [ 5.74908398e-01 7.72889177e-01 -2.68556611e-01 1.03903691e+02] [ 4.20440699e-01 2.52424045e-03 9.07316509e-01 9.29749741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.54710568099995 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:138.10, Y:103.93, Z:92.99 [[ 7.07770186e-01 -6.29596393e-01 -3.20421201e-01 1.38104315e+02] [ 5.68696260e-01 7.76869276e-01 -2.70293714e-01 1.03926967e+02] [ 4.19101334e-01 9.08349372e-03 9.07894026e-01 9.29860202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.5771056809999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:138.12, Y:103.95, Z:93.00 [[ 7.15510855e-01 -6.22581694e-01 -3.16916789e-01 1.38119242e+02] [ 5.62319434e-01 7.82443106e-01 -2.67543716e-01 1.03946586e+02] [ 4.14537177e-01 1.32219635e-02 9.09936321e-01 9.30001728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.60710568099995 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:138.14, Y:103.96, Z:93.01 [[ 7.18150980e-01 -6.20294413e-01 -3.15426715e-01 1.38137061e+02] [ 5.60322506e-01 7.84232414e-01 -2.66492419e-01 1.03964680e+02] [ 4.12671613e-01 1.46411049e-02 9.10762196e-01 9.30120708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.6371056809999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:138.16, Y:103.99, Z:93.02 [[ 7.20297900e-01 -6.23916893e-01 -3.03147895e-01 1.38158006e+02] [ 5.60683737e-01 7.80981279e-01 -2.75139944e-01 1.03988186e+02] [ 4.08417289e-01 2.82126297e-02 9.12359230e-01 9.30156459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.66710568099995 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:138.17, Y:104.00, Z:93.04 [[ 7.16936133e-01 -6.16457912e-01 -3.25549111e-01 1.38174730e+02] [ 5.62476224e-01 7.87384663e-01 -2.52281370e-01 1.03995855e+02] [ 4.11853224e-01 -2.24400448e-03 9.11247434e-01 9.30391048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.6971056809999 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:138.19, Y:104.02, Z:93.04 [[ 7.11995236e-01 -6.27512929e-01 -3.15103646e-01 1.38194859e+02] [ 5.68090474e-01 7.78529419e-01 -2.66767986e-01 1.04016842e+02] [ 4.12717818e-01 1.09301555e-02 9.10793354e-01 9.30442107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.72710568099995 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:138.21, Y:104.03, Z:93.06 [[ 7.09768416e-01 -6.29859874e-01 -3.15444662e-01 1.38214021e+02] [ 5.70427833e-01 7.76647487e-01 -2.67265353e-01 1.04032205e+02] [ 4.13329026e-01 9.75809193e-03 9.10529459e-01 9.30554845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.7571056809999 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:138.23, Y:104.05, Z:93.07 [[ 7.05975811e-01 -6.33471612e-01 -3.16720494e-01 1.38233782e+02] [ 5.73791367e-01 7.73726130e-01 -2.68535554e-01 1.04048256e+02] [ 4.15164572e-01 7.84812017e-03 9.09712474e-01 9.30669361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.78710568099996 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:138.25, Y:104.07, Z:93.08 [[ 7.03215643e-01 -6.36137568e-01 -3.17516540e-01 1.38253296e+02] [ 5.76304885e-01 7.71548513e-01 -2.69417095e-01 1.04065178e+02] [ 4.16365750e-01 6.47198259e-03 9.09174172e-01 9.30786099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.81710568099993 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:138.27, Y:104.08, Z:93.09 [[ 7.01463442e-01 -6.38177405e-01 -3.17298976e-01 1.38272365e+02] [ 5.78534956e-01 7.69870173e-01 -2.69438715e-01 1.04082159e+02] [ 4.16228717e-01 5.43285945e-03 9.09243718e-01 9.30895748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.84710568099996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:138.29, Y:104.11, Z:93.09 [[ 6.96870408e-01 -6.51385556e-01 -3.00114132e-01 1.38292913e+02] [ 5.85744163e-01 7.58383877e-01 -2.85932985e-01 1.04105985e+02] [ 4.13854335e-01 2.34681345e-02 9.10040568e-01 9.30889828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.87710568099993 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:138.31, Y:104.12, Z:93.11 [[ 6.90561361e-01 -6.50494862e-01 -3.16198422e-01 1.38311920e+02] [ 5.86506967e-01 7.59458168e-01 -2.81483337e-01 1.04115891e+02] [ 4.23242938e-01 8.92893897e-03 9.05972234e-01 9.31116700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.9071056809999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:138.34, Y:104.12, Z:93.13 [[ 6.87328077e-01 -6.41681196e-01 -3.40331246e-01 1.38335024e+02] [ 5.93424995e-01 7.66275549e-01 -2.46309885e-01 1.04121725e+02] [ 4.18839934e-01 -3.26653688e-02 9.07472360e-01 9.31315484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.93710568099993 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:138.35, Y:104.15, Z:93.13 [[ 6.83134143e-01 -6.59943076e-01 -3.12734518e-01 1.38353865e+02] [ 5.94656812e-01 7.51253606e-01 -2.86358682e-01 1.04150049e+02] [ 4.23923363e-01 9.65168133e-03 9.05646635e-01 9.31298675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.9671056809999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:138.37, Y:104.16, Z:93.15 [[ 6.83871877e-01 -6.49928716e-01 -3.31529667e-01 1.38373410e+02] [ 5.96403553e-01 7.59717681e-01 -2.59098141e-01 1.04157956e+02] [ 4.20264272e-01 -2.05355397e-02 9.07169352e-01 9.31487550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99710568099994 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:138.39, Y:104.18, Z:93.16 [[ 6.83707090e-01 -6.55262275e-01 -3.21210158e-01 1.38391870e+02] [ 5.95325116e-01 7.55390767e-01 -2.73811607e-01 1.04179668e+02] [ 4.22057604e-01 -4.01753757e-03 9.06560113e-01 9.31550190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0271056809999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:138.41, Y:104.20, Z:93.17 [[ 6.86244952e-01 -6.51878013e-01 -3.22680838e-01 1.38408144e+02] [ 5.90902988e-01 7.58321804e-01 -2.75284764e-01 1.04198916e+02] [ 4.24148000e-01 -1.76029199e-03 9.05591175e-01 9.31658904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05710568099994 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:138.42, Y:104.23, Z:93.17 [[ 6.88807151e-01 -6.55650404e-01 -3.09301239e-01 1.38423909e+02] [ 5.83331338e-01 7.54596957e-01 -3.00512867e-01 1.04225513e+02] [ 4.30429156e-01 2.65703062e-02 9.02233207e-01 9.31747559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0871056809999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:138.44, Y:104.23, Z:93.20 [[ 6.98089317e-01 -6.29932266e-01 -3.40377212e-01 1.38441791e+02] [ 5.78602300e-01 7.76327775e-01 -2.50069119e-01 1.04230013e+02] [ 4.21770890e-01 -2.23724576e-02 9.06426384e-01 9.32009674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11710568099994 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:138.46, Y:104.26, Z:93.20 [[ 7.00616559e-01 -6.37737322e-01 -3.20043037e-01 1.38458210e+02] [ 5.76134013e-01 7.70219632e-01 -2.73553133e-01 1.04256281e+02] [ 4.20958473e-01 7.26817593e-03 9.07050791e-01 9.32027525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.1471056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:138.47, Y:104.28, Z:93.21 [[ 7.04240246e-01 -6.34119142e-01 -3.19278233e-01 1.38473351e+02] [ 5.72368009e-01 7.73175798e-01 -2.73119107e-01 1.04277399e+02] [ 4.20048257e-01 9.59682028e-03 9.07451025e-01 9.32124655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17710568099994 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:138.49, Y:104.30, Z:93.22 [[ 7.04093417e-01 -6.35084769e-01 -3.17678764e-01 1.38491829e+02] [ 5.70266795e-01 7.72277478e-01 -2.79970139e-01 1.04295975e+02] [ 4.23140926e-01 1.59634810e-02 9.05923244e-01 9.32234555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.2071056809999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:138.51, Y:104.31, Z:93.24 [[ 7.06150191e-01 -6.30490288e-01 -3.22232688e-01 1.38511544e+02] [ 5.70384723e-01 7.76174210e-01 -2.68728232e-01 1.04310274e+02] [ 4.19539242e-01 5.96588974e-03 9.07717595e-01 9.32405257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23710568099995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:138.53, Y:104.33, Z:93.25 [[ 7.04564309e-01 -6.39539694e-01 -3.07535549e-01 1.38529253e+02] [ 5.69923849e-01 7.68161476e-01 -2.91744328e-01 1.04333030e+02] [ 4.22819040e-01 3.02807967e-02 9.05708084e-01 9.32472287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.2671056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:138.55, Y:104.34, Z:93.27 [[ 7.06908497e-01 -6.26183484e-01 -3.28899106e-01 1.38548766e+02] [ 5.72980605e-01 7.79614574e-01 -2.52773301e-01 1.04341172e+02] [ 4.14697003e-01 -9.76521418e-03 9.09907158e-01 9.32699913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29710568099995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:138.57, Y:104.37, Z:93.27 [[ 7.06801779e-01 -6.33722156e-01 -3.14368374e-01 1.38565859e+02] [ 5.73604574e-01 7.73493055e-01 -2.69603943e-01 1.04365966e+02] [ 4.14015746e-01 1.02334094e-02 9.10212195e-01 9.32737301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.3271056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:138.58, Y:104.38, Z:93.28 [[ 7.06477668e-01 -6.33669810e-01 -3.15201326e-01 1.38584337e+02] [ 5.73110383e-01 7.73532566e-01 -2.70539938e-01 1.04384021e+02] [ 4.15251482e-01 1.04852717e-02 9.09646231e-01 9.32843813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35710568099995 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:138.60, Y:104.40, Z:93.30 [[ 7.05795544e-01 -6.34136234e-01 -3.15790891e-01 1.38602285e+02] [ 5.73280702e-01 7.73151079e-01 -2.71268586e-01 1.04401931e+02] [ 4.16175307e-01 1.04233360e-02 9.09224652e-01 9.32970648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.3871056809999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:138.62, Y:104.42, Z:93.31 [[ 7.04244713e-01 -6.38297897e-01 -3.10829824e-01 1.38620551e+02] [ 5.73682208e-01 7.69549319e-01 -2.80504134e-01 1.04420775e+02] [ 4.18244078e-01 1.92260134e-02 9.08131186e-01 9.33076178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41710568099995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:138.64, Y:104.44, Z:93.32 [[ 6.99009116e-01 -6.41595824e-01 -3.15818072e-01 1.38640957e+02] [ 5.77053044e-01 7.66914344e-01 -2.80806292e-01 1.04437573e+02] [ 4.22369554e-01 1.40423785e-02 9.06314941e-01 9.33214405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.4471056809999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:138.66, Y:104.45, Z:93.34 [[ 6.97628869e-01 -6.36232767e-01 -3.29426512e-01 1.38662236e+02] [ 5.80482525e-01 7.71439733e-01 -2.60616148e-01 1.04448811e+02] [ 4.19945234e-01 -9.41298546e-03 9.07500632e-01 9.33366543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47710568099995 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:138.68, Y:104.47, Z:93.34 [[ 6.89278105e-01 -6.54620567e-01 -3.10431326e-01 1.38681155e+02] [ 5.87507905e-01 7.55767000e-01 -2.89224313e-01 1.04473497e+02] [ 4.23945936e-01 1.69751287e-02 9.05528403e-01 9.33377564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.5071056809999 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:138.70, Y:104.49, Z:93.35 [[ 6.82783829e-01 -6.56915014e-01 -3.19795102e-01 1.38704194e+02] [ 5.96177912e-01 7.53961175e-01 -2.75888461e-01 1.04485135e+02] [ 4.22348363e-01 -2.28259653e-03 9.06430720e-01 9.33527721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53710568099996 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:138.72, Y:104.50, Z:93.37 [[ 6.78905652e-01 -6.60898259e-01 -3.19844660e-01 1.38724708e+02] [ 5.98020147e-01 7.50475464e-01 -2.81351172e-01 1.04500407e+02] [ 4.25980069e-01 -2.62650143e-04 9.04732508e-01 9.33654228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.56710568099993 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:138.75, Y:104.51, Z:93.38 [[ 6.77342801e-01 -6.54210496e-01 -3.36474898e-01 1.38746288e+02] [ 6.02907069e-01 7.55730074e-01 -2.55685592e-01 1.04507529e+02] [ 4.21556397e-01 -2.96762995e-02 9.06316458e-01 9.33837664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59710568099996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:138.76, Y:104.53, Z:93.39 [[ 6.75907038e-01 -6.63972143e-01 -3.19829124e-01 1.38764290e+02] [ 6.03685406e-01 7.47731795e-01 -2.76515992e-01 1.04530526e+02] [ 4.22745321e-01 -6.17706988e-03 9.06227476e-01 9.33869583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.62710568099993 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:138.78, Y:104.55, Z:93.40 [[ 6.75687357e-01 -6.65065044e-01 -3.18017427e-01 1.38781068e+02] [ 6.05511898e-01 7.46755883e-01 -2.75156305e-01 1.04549556e+02] [ 4.20478225e-01 -6.64369915e-03 9.07278306e-01 9.33985317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.6571056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:138.80, Y:104.57, Z:93.41 [[ 6.73761012e-01 -6.69794234e-01 -3.12124628e-01 1.38798892e+02] [ 6.05951205e-01 7.42540014e-01 -2.85407541e-01 1.04569246e+02] [ 4.22929351e-01 3.16417907e-03 9.06157134e-01 9.34097075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.68710568099993 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:138.82, Y:104.58, Z:93.43 [[ 6.75496568e-01 -6.61995921e-01 -3.24754966e-01 1.38816290e+02] [ 6.07687694e-01 7.49254186e-01 -2.63313180e-01 1.04579366e+02] [ 4.17636269e-01 -1.94824469e-02 9.08405406e-01 9.34306317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7171056809999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:138.83, Y:104.61, Z:93.44 [[ 6.76307630e-01 -6.71268683e-01 -3.03325477e-01 1.38829691e+02] [ 6.04843703e-01 7.41088301e-01 -2.91465649e-01 1.04609897e+02] [ 4.20442725e-01 1.36559375e-02 9.07216308e-01 9.34373280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.74710568099994 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:138.85, Y:104.62, Z:93.46 [[ 6.82691040e-01 -6.53512116e-01 -3.26886613e-01 1.38846274e+02] [ 6.03056171e-01 7.56521863e-01 -2.52978114e-01 1.04619954e+02] [ 4.12621132e-01 -2.44250977e-02 9.10575212e-01 9.34585538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7771056809999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:138.87, Y:104.64, Z:93.46 [[ 6.82440298e-01 -6.61118681e-01 -3.11764862e-01 1.38865150e+02] [ 6.03225411e-01 7.50273564e-01 -2.70571031e-01 1.04642217e+02] [ 4.12788497e-01 -3.41591244e-03 9.10820503e-01 9.34641103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.80710568099994 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:138.88, Y:104.67, Z:93.48 [[ 6.90698303e-01 -6.52795316e-01 -3.11117549e-01 1.38878469e+02] [ 5.94250607e-01 7.57532321e-01 -2.70205475e-01 1.04665430e+02] [ 4.12070467e-01 1.74867057e-03 9.11150302e-01 9.34757153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8371056809999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:138.90, Y:104.68, Z:93.49 [[ 6.94105741e-01 -6.49222309e-01 -3.11010632e-01 1.38895192e+02] [ 5.90277035e-01 7.60587891e-01 -2.70331428e-01 1.04684828e+02] [ 4.12056115e-01 4.05616243e-03 9.11149442e-01 9.34866694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.86710568099994 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:138.91, Y:104.72, Z:93.48 [[ 7.01604159e-01 -6.52506165e-01 -2.86334261e-01 1.38913711e+02] [ 5.84438286e-01 7.56831409e-01 -2.92639895e-01 1.04719427e+02] [ 4.07656097e-01 3.79726630e-02 9.12345649e-01 9.34799418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8971056809999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:138.93, Y:104.73, Z:93.50 [[ 7.02984194e-01 -6.39560776e-01 -3.11087185e-01 1.38933334e+02] [ 5.80627905e-01 7.68699233e-01 -2.68277329e-01 1.04731320e+02] [ 4.10712137e-01 7.96882131e-03 9.11730244e-01 9.34999828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.92710568099994 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:138.95, Y:104.74, Z:93.53 [[ 7.01212325e-01 -6.26907187e-01 -3.39541830e-01 1.38946712e+02] [ 5.75185569e-01 7.78839805e-01 -2.50140200e-01 1.04740961e+02] [ 4.21263382e-01 -1.98981693e-02 9.06720037e-01 9.35267839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.9571056809999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:138.96, Y:104.77, Z:93.53 [[ 6.99242743e-01 -6.43003766e-01 -3.12419180e-01 1.38961927e+02] [ 5.74507908e-01 7.65515018e-01 -2.89702298e-01 1.04771338e+02] [ 4.25441242e-01 2.30849400e-02 9.04691569e-01 9.35263407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.98710568099995 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:138.98, Y:104.79, Z:93.54 [[ 6.97906480e-01 -6.40528481e-01 -3.20390091e-01 1.38980827e+02] [ 5.75271308e-01 7.67833284e-01 -2.81948524e-01 1.04787256e+02] [ 4.26602236e-01 1.24624748e-02 9.04353481e-01 9.35414618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.0171056809999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:139.00, Y:104.80, Z:93.56 [[ 6.96952159e-01 -6.37142315e-01 -3.29100832e-01 1.39000243e+02] [ 5.79825306e-01 7.70717131e-01 -2.64192580e-01 1.04800278e+02] [ 4.21971921e-01 -6.69140204e-03 9.06584206e-01 9.35566795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.04710568099995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:139.02, Y:104.82, Z:93.56 [[ 6.93730148e-01 -6.48406623e-01 -3.13540001e-01 1.39018016e+02] [ 5.82233521e-01 7.61131973e-01 -2.85801063e-01 1.04822973e+02] [ 4.23960622e-01 1.57153150e-02 9.05544267e-01 9.35628460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.0771056809999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:139.04, Y:104.85, Z:93.56 [[ 6.91801373e-01 -6.59072897e-01 -2.95014875e-01 1.39038427e+02] [ 5.89679960e-01 7.51448386e-01 -2.95977817e-01 1.04848693e+02] [ 4.16759408e-01 3.07935003e-02 9.08495105e-01 9.35606377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.10710568099995 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:139.06, Y:104.85, Z:93.60 [[ 6.85588406e-01 -6.40725010e-01 -3.45600924e-01 1.39056989e+02] [ 5.91638551e-01 7.67007272e-01 -2.48321705e-01 1.04846669e+02] [ 4.24184349e-01 -3.42243484e-02 9.04928910e-01 9.35975047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.1371056809999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:139.08, Y:104.89, Z:93.58 [[ 6.85841731e-01 -6.70330248e-01 -2.83334570e-01 1.39075364e+02] [ 5.95822001e-01 7.40758128e-01 -3.10279775e-01 1.04887727e+02] [ 4.17872305e-01 4.39858475e-02 9.07440346e-01 9.35765790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.16710568099995 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:139.10, Y:104.89, Z:93.62 [[ 6.77287270e-01 -6.49424566e-01 -3.45730657e-01 1.39095541e+02] [ 5.95930345e-01 7.59832483e-01 -2.59849228e-01 1.04886356e+02] [ 4.31449856e-01 -3.00388150e-02 9.01636674e-01 9.36168191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.1971056809999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:139.11, Y:104.91, Z:93.62 [[ 6.79666023e-01 -6.53380337e-01 -3.33389011e-01 1.39112428e+02] [ 5.95898558e-01 7.56856461e-01 -2.68464535e-01 1.04905429e+02] [ 4.27737075e-01 -1.61998079e-02 9.03758021e-01 9.36220369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.22710568099995 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:139.13, Y:104.93, Z:93.63 [[ 6.79591996e-01 -6.59233210e-01 -3.21817174e-01 1.39130342e+02] [ 5.96135964e-01 7.51938322e-01 -2.81443907e-01 1.04926246e+02] [ 4.27523836e-01 -5.79765303e-04 9.04003890e-01 9.36295316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.2571056809999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:139.15, Y:104.94, Z:93.64 [[ 6.79475371e-01 -6.59717564e-01 -3.21070017e-01 1.39147916e+02] [ 5.96870928e-01 7.51513313e-01 -2.81021060e-01 1.04942025e+02] [ 4.26682922e-01 -6.90470137e-04 9.04401021e-01 9.36418912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.28710568099996 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:139.17, Y:104.96, Z:93.65 [[ 6.78270087e-01 -6.60840477e-01 -3.21309123e-01 1.39165951e+02] [ 5.97939140e-01 7.50525326e-01 -2.81390336e-01 1.04960508e+02] [ 4.27104758e-01 -1.26465319e-03 9.04201264e-01 9.36539635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.31710568099993 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:139.18, Y:104.99, Z:93.66 [[ 6.73507592e-01 -6.71567004e-01 -3.08845079e-01 1.39180688e+02] [ 5.98013485e-01 7.40627888e-01 -3.06349804e-01 1.04987730e+02] [ 4.34473698e-01 2.16353968e-02 9.00424631e-01 9.36623179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.34710568099996 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:139.20, Y:104.99, Z:93.68 [[ 6.75755648e-01 -6.53996799e-01 -3.40062482e-01 1.39199651e+02] [ 6.02050792e-01 7.55867288e-01 -2.57292610e-01 1.04994708e+02] [ 4.25310649e-01 -3.08679523e-02 9.04520879e-01 9.36831272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.37710568099993 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:139.22, Y:105.02, Z:93.69 [[ 6.74885343e-01 -6.65071622e-01 -3.19702223e-01 1.39216082e+02] [ 6.03019408e-01 7.46771572e-01 -2.80534868e-01 1.05019567e+02] [ 4.25320312e-01 -3.45777469e-03 9.05036284e-01 9.36887762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.4071056809999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:139.23, Y:105.04, Z:93.70 [[ 6.68086502e-01 -6.74735033e-01 -3.13676683e-01 1.39232678e+02] [ 6.07629502e-01 7.38040170e-01 -2.93399208e-01 1.05044818e+02] [ 4.29472717e-01 5.41684413e-03 9.03063588e-01 9.37008955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.43710568099993 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:139.25, Y:105.06, Z:93.72 [[ 6.64973378e-01 -6.72899540e-01 -3.24062672e-01 1.39250060e+02] [ 6.10858886e-01 7.39663972e-01 -2.82397998e-01 1.05059380e+02] [ 4.29722966e-01 -1.01694121e-02 9.02903514e-01 9.37165472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.4671056809999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:139.27, Y:105.08, Z:93.73 [[ 6.58123343e-01 -6.80233994e-01 -3.22731124e-01 1.39265088e+02] [ 6.19990017e-01 7.32828778e-01 -2.80311186e-01 1.05080919e+02] [ 4.27183853e-01 -1.56107404e-02 9.04030011e-01 9.37285304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49710568099994 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:139.28, Y:105.10, Z:93.74 [[ 6.52008256e-01 -6.85611670e-01 -3.23762062e-01 1.39279822e+02] [ 6.26847953e-01 7.27654505e-01 -2.78532880e-01 1.05102036e+02] [ 4.26552315e-01 -2.13438485e-02 9.04211017e-01 9.37410471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5271056809999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:139.30, Y:105.12, Z:93.75 [[ 6.49683027e-01 -6.86627122e-01 -3.26274670e-01 1.39297826e+02] [ 6.30485007e-01 7.26466406e-01 -2.73377428e-01 1.05120252e+02] [ 4.24735943e-01 -2.81026127e-02 9.04880999e-01 9.37545783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55710568099994 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:139.31, Y:105.14, Z:93.77 [[ 6.48496728e-01 -6.89193360e-01 -3.23209694e-01 1.39311831e+02] [ 6.33016435e-01 7.24074561e-01 -2.73872643e-01 1.05143287e+02] [ 4.22779124e-01 -2.69915358e-02 9.05830707e-01 9.37654850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5871056809999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:139.32, Y:105.17, Z:93.77 [[ 6.48817354e-01 -6.90956666e-01 -3.18770962e-01 1.39322550e+02] [ 6.31934813e-01 7.22627824e-01 -2.80120367e-01 1.05171390e+02] [ 4.23903801e-01 -1.96955128e-02 9.05493045e-01 9.37731343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61710568099994 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:139.34, Y:105.19, Z:93.78 [[ 6.46846687e-01 -6.94165698e-01 -3.15790037e-01 1.39338081e+02] [ 6.30585882e-01 7.19727109e-01 -2.90438175e-01 1.05194882e+02] [ 4.28894869e-01 -1.12637677e-02 9.03284185e-01 9.37845995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.6471056809999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:139.35, Y:105.21, Z:93.80 [[ 6.47501042e-01 -6.88474527e-01 -3.26718879e-01 1.39353460e+02] [ 6.31393551e-01 7.24732815e-01 -2.75870498e-01 1.05213592e+02] [ 4.26713703e-01 -2.76617581e-02 9.03963629e-01 9.37998925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67710568099994 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:139.37, Y:105.23, Z:93.81 [[ 6.47111545e-01 -6.88905995e-01 -3.26581043e-01 1.39370013e+02] [ 6.33017163e-01 7.24238406e-01 -2.73437382e-01 1.05234192e+02] [ 4.24895187e-01 -2.97869187e-02 9.04752353e-01 9.38114109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.7071056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:139.38, Y:105.26, Z:93.82 [[ 6.43948414e-01 -6.94290214e-01 -3.21390009e-01 1.39381222e+02] [ 6.35004935e-01 7.19336446e-01 -2.81644830e-01 1.05262384e+02] [ 4.26730797e-01 -2.27195002e-02 9.04093276e-01 9.38206258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73710568099995 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:139.40, Y:105.28, Z:93.83 [[ 6.44702611e-01 -6.90836536e-01 -3.27266594e-01 1.39396832e+02] [ 6.36029021e-01 7.22257623e-01 -2.71681820e-01 1.05280345e+02] [ 4.24058520e-01 -3.29970720e-02 9.05033461e-01 9.38311583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.7671056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:139.41, Y:105.31, Z:93.84 [[ 6.39917939e-01 -7.03235985e-01 -3.09780859e-01 1.39406215e+02] [ 6.36775234e-01 7.10929025e-01 -2.98491579e-01 1.05314669e+02] [ 4.30142224e-01 -6.25066312e-03 9.02739495e-01 9.38418825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79710568099995 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:139.42, Y:105.33, Z:93.86 [[ 6.44214314e-01 -6.88860644e-01 -3.32353622e-01 1.39424175e+02] [ 6.37109110e-01 7.23736722e-01 -2.65136078e-01 1.05327373e+02] [ 4.23178331e-01 -4.09410633e-02 9.05120948e-01 9.38559291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.8271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.43, Y:105.36, Z:93.86 [[ 6.46944543e-01 -6.94018278e-01 -3.15913578e-01 1.39432601e+02] [ 6.35098035e-01 7.19702141e-01 -2.80498333e-01 1.05357434e+02] [ 4.22034648e-01 -1.91692267e-02 9.06377017e-01 9.38647292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.44, Y:105.38, Z:93.88 [[ 6.50974303e-01 -6.91576366e-01 -3.12976974e-01 1.39441976e+02] [ 6.33424636e-01 7.22098468e-01 -2.78113346e-01 1.05383647e+02] [ 4.18336810e-01 -1.72026845e-02 9.08129055e-01 9.38777491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.8871056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.45, Y:105.41, Z:93.89 [[ 6.51355344e-01 -6.93347153e-01 -3.08230340e-01 1.39453260e+02] [ 6.32199319e-01 7.20543417e-01 -2.84852952e-01 1.05409383e+02] [ 4.19595326e-01 -9.32251816e-03 9.07663403e-01 9.38886395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:139.46, Y:105.44, Z:93.90 [[ 6.56431599e-01 -6.83290442e-01 -3.19705690e-01 1.39462630e+02] [ 6.27013573e-01 7.29825920e-01 -2.72411647e-01 1.05438350e+02] [ 4.19465774e-01 -2.16401942e-02 9.07513177e-01 9.38979141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.9471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.48, Y:105.46, Z:93.91 [[ 6.58795134e-01 -6.83475903e-01 -3.14403661e-01 1.39476581e+02] [ 6.23626668e-01 7.29880117e-01 -2.79937125e-01 1.05462035e+02] [ 4.20807260e-01 -1.16492918e-02 9.07075269e-01 9.39076953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.49, Y:105.49, Z:93.92 [[ 6.64698330e-01 -6.77967687e-01 -3.13904358e-01 1.39487268e+02] [ 6.17625579e-01 7.35048742e-01 -2.79717699e-01 1.05487957e+02] [ 4.20374564e-01 -7.94747326e-03 9.07315856e-01 9.39195433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.0071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.50, Y:105.51, Z:93.93 [[ 6.65076696e-01 -6.81386403e-01 -3.05590509e-01 1.39499790e+02] [ 6.13827931e-01 7.31865410e-01 -2.95953194e-01 1.05514200e+02] [ 4.25309605e-01 9.25158318e-03 9.05000634e-01 9.39331219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.51, Y:105.54, Z:93.94 [[ 6.72580081e-01 -6.63627377e-01 -3.27467159e-01 1.39512215e+02] [ 6.08450200e-01 7.47781681e-01 -2.65727139e-01 1.05535802e+02] [ 4.21217746e-01 -2.05246777e-02 9.06727273e-01 9.39437213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.06710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.52, Y:105.56, Z:93.95 [[ 6.79086252e-01 -6.64486763e-01 -3.11928203e-01 1.39521996e+02] [ 6.03307029e-01 7.47299444e-01 -2.78503447e-01 1.05564147e+02] [ 4.18165626e-01 9.39384783e-04 9.08370314e-01 9.39537175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.54, Y:105.58, Z:93.97 [[ 6.82278869e-01 -6.61612942e-01 -3.11068900e-01 1.39538376e+02] [ 6.00401007e-01 7.49840011e-01 -2.77954293e-01 1.05583272e+02] [ 4.17150065e-01 2.87625952e-03 9.08833071e-01 9.39655767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.12710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.55, Y:105.61, Z:93.98 [[ 6.85614695e-01 -6.61604708e-01 -3.03663795e-01 1.39551304e+02] [ 5.95624416e-01 7.49661453e-01 -2.88512149e-01 1.05606163e+02] [ 4.18526038e-01 1.69385981e-02 9.08046827e-01 9.39772811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.1571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.57, Y:105.62, Z:93.99 [[ 6.87013200e-01 -6.53649662e-01 -3.17419252e-01 1.39572814e+02] [ 5.95627760e-01 7.56786295e-01 -2.69262095e-01 1.05622409e+02] [ 4.16221617e-01 -4.07710477e-03 9.09254058e-01 9.39874844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.18710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.59, Y:105.64, Z:94.00 [[ 6.88926885e-01 -6.52566034e-01 -3.15495354e-01 1.39591389e+02] [ 5.90258743e-01 7.57711716e-01 -2.78329969e-01 1.05642179e+02] [ 4.20683210e-01 5.52510745e-03 9.07190779e-01 9.39962047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.61, Y:105.66, Z:94.01 [[ 6.90260875e-01 -6.48855280e-01 -3.20197985e-01 1.39612508e+02] [ 5.88019765e-01 7.60911094e-01 -2.74311980e-01 1.05658845e+02] [ 4.21630976e-01 1.06408361e-03 9.06766887e-01 9.40053324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.24710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.63, Y:105.68, Z:94.02 [[ 6.92972172e-01 -6.50831245e-01 -3.10174564e-01 1.39630260e+02] [ 5.82566089e-01 7.58934620e-01 -2.90920941e-01 1.05679628e+02] [ 4.24742653e-01 2.09029334e-02 9.05072785e-01 9.40158493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.65, Y:105.70, Z:94.03 [[ 6.93591527e-01 -6.49313593e-01 -3.11965785e-01 1.39649928e+02] [ 5.80173492e-01 7.60208475e-01 -2.92372697e-01 1.05696836e+02] [ 4.27000600e-01 2.17929467e-02 9.03988692e-01 9.40294335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.30710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.67, Y:105.71, Z:94.04 [[ 6.96589565e-01 -6.40601195e-01 -3.23099191e-01 1.39672507e+02] [ 5.78248126e-01 7.67855890e-01 -2.75728918e-01 1.05709433e+02] [ 4.24725891e-01 5.23838545e-03 9.05306841e-01 9.40411645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.69, Y:105.72, Z:94.05 [[ 7.00105416e-01 -6.40236533e-01 -3.16148048e-01 1.39691761e+02] [ 5.74134378e-01 7.67985004e-01 -2.83846349e-01 1.05724825e+02] [ 4.24525762e-01 1.72109035e-02 9.05252265e-01 9.40534778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.36710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.71, Y:105.74, Z:94.07 [[ 7.03651790e-01 -6.37189728e-01 -3.14425523e-01 1.39713669e+02] [ 5.71452546e-01 7.70469845e-01 -2.82521161e-01 1.05737720e+02] [ 4.22274966e-01 1.91172543e-02 9.06266177e-01 9.40650029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.73, Y:105.75, Z:94.08 [[ 7.04274771e-01 -6.36770359e-01 -3.13879846e-01 1.39734816e+02] [ 5.71163450e-01 7.70807954e-01 -2.82183294e-01 1.05751867e+02] [ 4.21627039e-01 1.94578792e-02 9.06560550e-01 9.40763221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.42710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.76, Y:105.76, Z:94.09 [[ 7.03375848e-01 -6.37084323e-01 -3.15255422e-01 1.39759196e+02] [ 5.70789216e-01 7.70545628e-01 -2.83653144e-01 1.05762469e+02] [ 4.23629658e-01 1.95703759e-02 9.05624046e-01 9.40866796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.4571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.78, Y:105.77, Z:94.10 [[ 7.02783341e-01 -6.37600664e-01 -3.15532833e-01 1.39783749e+02] [ 5.71169288e-01 7.70122916e-01 -2.84035805e-01 1.05773561e+02] [ 4.24100484e-01 1.93929686e-02 9.05407473e-01 9.40974501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.48710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.81, Y:105.79, Z:94.11 [[ 7.02615693e-01 -6.38044436e-01 -3.15008707e-01 1.39805436e+02] [ 5.71780833e-01 7.69758071e-01 -2.83794276e-01 1.05788069e+02] [ 4.23553854e-01 1.92823713e-02 9.05665680e-01 9.41090303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.5171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.83, Y:105.80, Z:94.12 [[ 7.01566465e-01 -6.39650379e-01 -3.14088980e-01 1.39830148e+02] [ 5.73839772e-01 7.68444646e-01 -2.83197355e-01 1.05798156e+02] [ 4.22507291e-01 1.84450182e-02 9.06171822e-01 9.41222414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.54710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.85, Y:105.81, Z:94.13 [[ 7.00444466e-01 -6.41118277e-01 -3.13599913e-01 1.39851788e+02] [ 5.75555610e-01 7.67237402e-01 -2.82988532e-01 1.05810490e+02] [ 4.22034703e-01 1.77235617e-02 9.06406413e-01 9.41343001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.5771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.88, Y:105.82, Z:94.15 [[ 6.97041312e-01 -6.45084208e-01 -3.13049155e-01 1.39876324e+02] [ 5.80081697e-01 7.63956156e-01 -2.82623809e-01 1.05820095e+02] [ 4.21471985e-01 1.54063852e-02 9.06710543e-01 9.41466051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.60710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.90, Y:105.83, Z:94.16 [[ 6.94218664e-01 -6.47833558e-01 -3.13643313e-01 1.39897147e+02] [ 5.82728624e-01 7.61653866e-01 -2.83391496e-01 1.05834480e+02] [ 4.22478163e-01 1.39667293e-02 9.06265487e-01 9.41580490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.6371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.92, Y:105.85, Z:94.17 [[ 6.87733778e-01 -6.53852529e-01 -3.15434812e-01 1.39920123e+02] [ 5.88446811e-01 7.56548370e-01 -2.85245360e-01 1.05846674e+02] [ 4.25150092e-01 1.05562602e-02 9.05061304e-01 9.41686537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.66710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.94, Y:105.86, Z:94.18 [[ 6.84460330e-01 -6.56899359e-01 -3.16223478e-01 1.39941498e+02] [ 5.91392026e-01 7.53926820e-01 -2.86094077e-01 1.05861234e+02] [ 4.26344377e-01 8.80800364e-03 9.04518044e-01 9.41789610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.6971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.96, Y:105.88, Z:94.19 [[ 6.84234445e-01 -6.57190793e-01 -3.16106765e-01 1.39960572e+02] [ 5.91653527e-01 7.53672678e-01 -2.86222986e-01 1.05878852e+02] [ 4.26344143e-01 8.81794344e-03 9.04518057e-01 9.41907671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.72710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.99, Y:105.89, Z:94.20 [[ 6.75871940e-01 -6.65196783e-01 -3.17348957e-01 1.39985328e+02] [ 5.99838608e-01 7.46657366e-01 -2.87569857e-01 1.05890266e+02] [ 4.28241480e-01 4.00224028e-03 9.03655475e-01 9.42011689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.7571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.01, Y:105.90, Z:94.21 [[ 6.71349449e-01 -6.69631817e-01 -3.17621075e-01 1.40006572e+02] [ 6.04512772e-01 7.42691952e-01 -2.88050296e-01 1.05904502e+02] [ 4.28782259e-01 1.37641049e-03 9.03406819e-01 9.42128729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.78710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.03, Y:105.92, Z:94.23 [[ 6.65121044e-01 -6.76008984e-01 -3.17215779e-01 1.40027354e+02] [ 6.11636420e-01 7.36889065e-01 -2.87915606e-01 1.05917189e+02] [ 4.28386375e-01 -2.52199482e-03 9.03592139e-01 9.42264042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.81710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:140.05, Y:105.93, Z:94.24 [[ 6.61159108e-01 -6.80075764e-01 -3.16805287e-01 1.40047342e+02] [ 6.16218595e-01 7.33124992e-01 -2.87754043e-01 1.05931622e+02] [ 4.27952424e-01 -4.97010225e-03 9.03787597e-01 9.42400430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.84710568099996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:140.07, Y:105.95, Z:94.25 [[ 6.58764654e-01 -6.82308792e-01 -3.16991868e-01 1.40066274e+02] [ 6.18501778e-01 7.31037580e-01 -2.88165937e-01 1.05946735e+02] [ 4.28351120e-01 -6.22650037e-03 9.03590919e-01 9.42513244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.87710568099993 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:140.08, Y:105.96, Z:94.26 [[ 6.54288995e-01 -6.86708895e-01 -3.16759853e-01 1.40083412e+02] [ 6.23381071e-01 7.26877884e-01 -2.88174568e-01 1.05963866e+02] [ 4.28137771e-01 -8.91264763e-03 9.03669527e-01 9.42646986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.9071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.10, Y:105.98, Z:94.28 [[ 6.53041703e-01 -6.88707781e-01 -3.14989090e-01 1.40099360e+02] [ 6.26228968e-01 7.24970585e-01 -2.86801205e-01 1.05981521e+02] [ 4.25880046e-01 -9.96214577e-03 9.04724788e-01 9.42775351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.93710568099993 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:140.11, Y:106.00, Z:94.29 [[ 6.51386593e-01 -6.92299167e-01 -3.10511464e-01 1.40114388e+02] [ 6.31979082e-01 7.21511329e-01 -2.82884856e-01 1.06001332e+02] [ 4.19878490e-01 -1.19693477e-02 9.07501399e-01 9.42920330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.9671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.13, Y:106.02, Z:94.30 [[ 6.47348539e-01 -6.96100632e-01 -3.10457371e-01 1.40128531e+02] [ 6.36102261e-01 7.17803126e-01 -2.83076997e-01 1.06021815e+02] [ 4.19897348e-01 -1.42331555e-02 9.07459991e-01 9.43043191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.14, Y:106.04, Z:94.32 [[ 6.44504327e-01 -6.98517663e-01 -3.10945731e-01 1.40144763e+02] [ 6.38485388e-01 7.15421390e-01 -2.83740452e-01 1.06043063e+02] [ 4.20654944e-01 -1.56623566e-02 9.07085502e-01 9.43151728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.16, Y:106.07, Z:94.33 [[ 6.39465760e-01 -7.02957461e-01 -3.11342817e-01 1.40155806e+02] [ 6.43145252e-01 7.10993599e-01 -2.84345365e-01 1.06068836e+02] [ 4.21245446e-01 -1.84095296e-02 9.06759816e-01 9.43255364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.17, Y:106.09, Z:94.34 [[ 6.36953181e-01 -7.05262698e-01 -3.11279894e-01 1.40170902e+02] [ 6.45620982e-01 7.08671326e-01 -2.84532072e-01 1.06090543e+02] [ 4.21264991e-01 -1.97352221e-02 9.06722851e-01 9.43362408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.18, Y:106.12, Z:94.35 [[ 6.32715482e-01 -7.09121849e-01 -3.11154820e-01 1.40181348e+02] [ 6.49854978e-01 7.04739600e-01 -2.84658751e-01 1.06115948e+02] [ 4.21140863e-01 -2.20975101e-02 9.06726019e-01 9.43466180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.20, Y:106.14, Z:94.36 [[ 6.29862180e-01 -7.11725786e-01 -3.10998457e-01 1.40195737e+02] [ 6.52742120e-01 7.02057735e-01 -2.84679928e-01 1.06137744e+02] [ 4.20952918e-01 -2.36926722e-02 9.06773014e-01 9.43580236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.1471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.20, Y:106.16, Z:94.37 [[ 6.23174498e-01 -7.16945497e-01 -3.12478318e-01 1.40204715e+02] [ 6.57872126e-01 6.96599502e-01 -2.86275042e-01 1.06164446e+02] [ 4.22915843e-01 -2.71714693e-02 9.05761504e-01 9.43688239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.22, Y:106.19, Z:94.38 [[ 6.19500793e-01 -7.22004604e-01 -3.08104074e-01 1.40218286e+02] [ 6.60020607e-01 6.91552662e-01 -2.93475237e-01 1.06188216e+02] [ 4.24960665e-01 -2.15468954e-02 9.04955339e-01 9.43811649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.2071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.23, Y:106.21, Z:94.39 [[ 6.16354033e-01 -7.24137157e-01 -3.09407634e-01 1.40229687e+02] [ 6.62959684e-01 6.89205558e-01 -2.92369897e-01 1.06213234e+02] [ 4.24961366e-01 -2.49214221e-02 9.04868366e-01 9.43934554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.24, Y:106.24, Z:94.40 [[ 6.13510494e-01 -7.22401618e-01 -3.18968299e-01 1.40241148e+02] [ 6.66906048e-01 6.90283078e-01 -2.80616457e-01 1.06237250e+02] [ 4.22896202e-01 -4.05607469e-02 9.05269920e-01 9.44031009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.2671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.26, Y:106.26, Z:94.41 [[ 6.11572044e-01 -7.25509080e-01 -3.15620357e-01 1.40255229e+02] [ 6.70203433e-01 6.87056482e-01 -2.80679085e-01 1.06260991e+02] [ 4.20484237e-01 -3.98743650e-02 9.06423213e-01 9.44135889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.26, Y:106.29, Z:94.43 [[ 6.09145538e-01 -7.30361027e-01 -3.09054176e-01 1.40263997e+02] [ 6.73766400e-01 6.82154687e-01 -2.84084179e-01 1.06289243e+02] [ 4.18306768e-01 -3.51817095e-02 9.07624204e-01 9.44253144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.3271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.27, Y:106.31, Z:94.44 [[ 6.07353767e-01 -7.36113222e-01 -2.98761989e-01 1.40274836e+02] [ 6.72126440e-01 6.76614858e-01 -3.00729750e-01 1.06314673e+02] [ 4.23517946e-01 -1.81564856e-02 9.05705742e-01 9.44382980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.28, Y:106.34, Z:94.45 [[ 6.11346266e-01 -7.25977339e-01 -3.14980390e-01 1.40284236e+02] [ 6.69412932e-01 6.86691681e-01 -2.83444638e-01 1.06340156e+02] [ 4.22068797e-01 -3.75691249e-02 9.05785014e-01 9.44502286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.3871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.30, Y:106.36, Z:94.46 [[ 6.15701253e-01 -7.20774068e-01 -3.18428502e-01 1.40297800e+02] [ 6.67103880e-01 6.91873803e-01 -2.76193872e-01 1.06364471e+02] [ 4.19385719e-01 -4.23719761e-02 9.06818744e-01 9.44627003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.31, Y:106.39, Z:94.48 [[ 6.21263003e-01 -7.19371249e-01 -3.10704501e-01 1.40306559e+02] [ 6.60580585e-01 6.94082427e-01 -2.86151839e-01 1.06390628e+02] [ 4.21503940e-01 -2.74698104e-02 9.06410414e-01 9.44754861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.4471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.31, Y:106.42, Z:94.49 [[ 6.35576459e-01 -7.07498484e-01 -3.09012071e-01 1.40307980e+02] [ 6.43416553e-01 7.06618453e-01 -2.94457979e-01 1.06424128e+02] [ 4.26682205e-01 -1.16729225e-02 9.04326290e-01 9.44876704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.31, Y:106.46, Z:94.50 [[ 6.50248648e-01 -6.90239581e-01 -3.17405130e-01 1.40314157e+02] [ 6.28316793e-01 7.23456396e-01 -2.86057425e-01 1.06456925e+02] [ 4.27076929e-01 -1.34225193e-02 9.04115663e-01 9.44988697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.5071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.32, Y:106.48, Z:94.51 [[ 6.57126283e-01 -6.86652055e-01 -3.10956595e-01 1.40321776e+02] [ 6.19162435e-01 7.26981733e-01 -2.96876133e-01 1.06479651e+02] [ 4.29910371e-01 2.55246726e-03 9.02867963e-01 9.45097035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.33, Y:106.51, Z:94.52 [[ 6.62358394e-01 -6.78966029e-01 -3.16680423e-01 1.40332311e+02] [ 6.14093643e-01 7.34164990e-01 -2.89639024e-01 1.06511970e+02] [ 4.29150738e-01 -2.62659528e-03 9.03229066e-01 9.45218800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.56710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.35, Y:106.54, Z:94.53 [[ 6.63622759e-01 -6.78346675e-01 -3.15357927e-01 1.40346135e+02] [ 6.12797210e-01 7.34741963e-01 -2.90918935e-01 1.06535034e+02] [ 4.29050594e-01 -1.90031406e-04 9.03280439e-01 9.45329364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:106.56, Z:94.54 [[ 6.64225412e-01 -6.78170980e-01 -3.14465777e-01 1.40356168e+02] [ 6.12880703e-01 7.34904149e-01 -2.90332800e-01 1.06560334e+02] [ 4.27997484e-01 1.16417035e-04 9.03779918e-01 9.45444651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.62710568099993 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:140.37, Y:106.58, Z:94.56 [[ 6.63833915e-01 -6.78477192e-01 -3.14631902e-01 1.40370152e+02] [ 6.13097451e-01 7.34621467e-01 -2.90590459e-01 1.06580802e+02] [ 4.28294348e-01 3.78503925e-06 9.03639282e-01 9.45555697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.6571056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:140.38, Y:106.60, Z:94.57 [[ 6.62317983e-01 -6.79352536e-01 -3.15935153e-01 1.40384280e+02] [ 6.13443849e-01 7.33811900e-01 -2.91901935e-01 1.06604360e+02] [ 4.30141295e-01 -4.76575670e-04 9.02761452e-01 9.45659775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.68710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.40, Y:106.63, Z:94.58 [[ 6.59990175e-01 -6.81481439e-01 -3.16221468e-01 1.40398131e+02] [ 6.15564899e-01 7.31833488e-01 -2.92403150e-01 1.06626743e+02] [ 4.30688779e-01 -1.67163023e-03 9.02498965e-01 9.45769373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7171056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:140.41, Y:106.65, Z:94.59 [[ 6.58929114e-01 -6.83044244e-01 -3.15060286e-01 1.40414465e+02] [ 6.17693598e-01 7.30372755e-01 -2.91565186e-01 1.06646311e+02] [ 4.29263371e-01 -2.48993158e-03 9.03175929e-01 9.45891549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.74710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.43, Y:106.67, Z:94.60 [[ 6.57091210e-01 -6.86496908e-01 -3.11372988e-01 1.40428277e+02] [ 6.23002064e-01 7.27118860e-01 -2.88386187e-01 1.06665328e+02] [ 4.24381397e-01 -4.48998558e-03 9.05472401e-01 9.46033052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7771056809999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:140.45, Y:106.68, Z:94.62 [[ 6.53541439e-01 -6.90956747e-01 -3.08969840e-01 1.40446339e+02] [ 6.28909266e-01 7.22859954e-01 -2.86263202e-01 1.06682850e+02] [ 4.21137415e-01 -7.22913052e-03 9.06968035e-01 9.46154619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.80710568099994 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:140.47, Y:106.70, Z:94.63 [[ 6.51368373e-01 -6.92903845e-01 -3.09198161e-01 1.40465434e+02] [ 6.30858564e-01 7.20982147e-01 -2.86709289e-01 1.06699474e+02] [ 4.21588323e-01 -8.30694500e-03 9.06749293e-01 9.46259185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8371056809999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:140.48, Y:106.72, Z:94.64 [[ 6.47949259e-01 -6.95142190e-01 -3.11350434e-01 1.40484761e+02] [ 6.32381234e-01 7.18806046e-01 -2.88811085e-01 1.06717028e+02] [ 4.24565345e-01 -9.75724311e-03 9.05344721e-01 9.46362994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.86710568099994 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:140.50, Y:106.74, Z:94.65 [[ 6.47716766e-01 -6.95006164e-01 -3.12136866e-01 1.40502197e+02] [ 6.31788403e-01 7.18940821e-01 -2.89771478e-01 1.06735833e+02] [ 4.25800898e-01 -9.51460757e-03 9.04766858e-01 9.46474646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8971056809999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:140.52, Y:106.75, Z:94.66 [[ 6.51191612e-01 -6.91542824e-01 -3.12598795e-01 1.40520165e+02] [ 6.27640019e-01 7.22300824e-01 -2.90429899e-01 1.06754295e+02] [ 4.26635080e-01 -7.07399947e-03 9.04396189e-01 9.46579573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.92710568099994 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:140.54, Y:106.77, Z:94.67 [[ 6.53624853e-01 -6.89219894e-01 -3.12650747e-01 1.40538974e+02] [ 6.24932850e-01 7.24532326e-01 -2.90709205e-01 1.06771433e+02] [ 4.26888140e-01 -5.37096066e-03 9.04288487e-01 9.46694004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.9571056809999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:140.56, Y:106.79, Z:94.68 [[ 6.58641755e-01 -6.83886996e-01 -3.13830552e-01 1.40555875e+02] [ 6.18397633e-01 7.29585921e-01 -2.92042380e-01 1.06788651e+02] [ 4.28690339e-01 -1.72076464e-03 9.03449851e-01 9.46815826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.98710568099995 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:140.57, Y:106.81, Z:94.69 [[ 6.61481610e-01 -6.81273561e-01 -3.13541728e-01 1.40573329e+02] [ 6.15581270e-01 7.32028915e-01 -2.91879030e-01 1.06805553e+02] [ 4.28371077e-01 6.21958502e-05 9.03602909e-01 9.46923604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.0171056809999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:140.59, Y:106.82, Z:94.71 [[ 6.68488271e-01 -6.75608291e-01 -3.10929042e-01 1.40592855e+02] [ 6.10401731e-01 7.37250944e-01 -2.89604510e-01 1.06820784e+02] [ 4.24891938e-01 3.80559315e-03 9.05236079e-01 9.47053369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.04710568099995 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:140.61, Y:106.84, Z:94.72 [[ 6.71873484e-01 -6.72913724e-01 -3.09472361e-01 1.40611126e+02] [ 6.07967240e-01 7.39699219e-01 -2.88480328e-01 1.06836789e+02] [ 4.23038836e-01 5.67322585e-03 9.06093791e-01 9.47188968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.0771056809999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:140.63, Y:106.85, Z:94.73 [[ 6.76450513e-01 -6.68371755e-01 -3.09344307e-01 1.40629473e+02] [ 6.02915778e-01 7.43776350e-01 -2.88598867e-01 1.06852645e+02] [ 4.22974311e-01 8.71428798e-03 9.06099770e-01 9.47315235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.10710568099995 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:140.65, Y:106.87, Z:94.74 [[ 6.77892302e-01 -6.66520352e-01 -3.10181636e-01 1.40648800e+02] [ 6.00455854e-01 7.45419899e-01 -2.89485649e-01 1.06868396e+02] [ 4.24163641e-01 9.98971422e-03 9.05530459e-01 9.47424832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.1371056809999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:140.67, Y:106.88, Z:94.75 [[ 6.82103128e-01 -6.61799103e-01 -3.11058306e-01 1.40673003e+02] [ 5.94793108e-01 7.49566535e-01 -2.90467156e-01 1.06879682e+02] [ 4.25389799e-01 1.31132191e-02 9.04915224e-01 9.47530889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.16710568099995 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:140.69, Y:106.89, Z:94.76 [[ 6.84488077e-01 -6.59524301e-01 -3.10650556e-01 1.40694499e+02] [ 5.92370819e-01 7.51539497e-01 -2.90319130e-01 1.06894429e+02] [ 4.24938684e-01 1.46996584e-02 9.05102776e-01 9.47639518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.1971056809999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:140.72, Y:106.91, Z:94.78 [[ 6.88807907e-01 -6.55328741e-01 -3.09980498e-01 1.40716186e+02] [ 5.87966451e-01 7.55142353e-01 -2.89923230e-01 1.06906138e+02] [ 4.24074428e-01 1.74432803e-02 9.05459337e-01 9.47767032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.22710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:140.74, Y:106.92, Z:94.79 [[ 6.92416646e-01 -6.52461080e-01 -3.07983323e-01 1.40737959e+02] [ 5.85680589e-01 7.57579866e-01 -2.88185695e-01 1.06918250e+02] [ 4.21351914e-01 1.91647187e-02 9.06694700e-01 9.47909438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.2571056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:140.76, Y:106.93, Z:94.80 [[ 6.93258973e-01 -6.51515422e-01 -3.08090330e-01 1.40758910e+02] [ 5.84487242e-01 7.58373149e-01 -2.88521804e-01 1.06931759e+02] [ 4.21623838e-01 1.99454621e-02 9.06551442e-01 9.48021967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.79, Y:106.94, Z:94.81 [[ 6.93383949e-01 -6.50569145e-01 -3.09803950e-01 1.40786719e+02] [ 5.82610723e-01 7.59163556e-01 -2.90233425e-01 1.06939980e+02] [ 4.24008780e-01 2.07480947e-02 9.05420384e-01 9.48118545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.81, Y:106.95, Z:94.82 [[ 6.92200046e-01 -6.51591245e-01 -3.10302989e-01 1.40809364e+02] [ 5.83382741e-01 7.58296754e-01 -2.90947779e-01 1.06951756e+02] [ 4.24880775e-01 2.03686572e-02 9.05020135e-01 9.48218293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.84, Y:106.96, Z:94.83 [[ 6.89845735e-01 -6.54231751e-01 -3.09989805e-01 1.40838495e+02] [ 5.86370484e-01 7.56060126e-01 -2.90762344e-01 1.06957050e+02] [ 4.24596888e-01 1.88122908e-02 9.05187042e-01 9.48327808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.37710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.87, Y:106.96, Z:94.84 [[ 6.85415466e-01 -6.58709800e-01 -3.10333753e-01 1.40867126e+02] [ 5.91058166e-01 7.52223038e-01 -2.91222846e-01 1.06963054e+02] [ 4.25271540e-01 1.61833435e-02 9.04921111e-01 9.48447527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.4071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.89, Y:106.98, Z:94.86 [[ 6.82957447e-01 -6.61436505e-01 -3.09953022e-01 1.40890643e+02] [ 5.94113824e-01 7.49857780e-01 -2.91104918e-01 1.06975016e+02] [ 4.24968105e-01 1.46648961e-02 9.05089526e-01 9.48564739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.43710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.92, Y:106.98, Z:94.87 [[ 6.77140271e-01 -6.68238067e-01 -3.08121630e-01 1.40919530e+02] [ 6.02304835e-01 7.43872937e-01 -2.89623790e-01 1.06981372e+02] [ 4.22740984e-01 1.05327844e-02 9.06189341e-01 9.48692547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.4671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.94, Y:106.99, Z:94.88 [[ 6.73847361e-01 -6.71842039e-01 -3.07502859e-01 1.40942415e+02] [ 6.06430977e-01 7.40646215e-01 -2.89283001e-01 1.06993269e+02] [ 4.22103310e-01 8.45332786e-03 9.06508322e-01 9.48806606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.97, Y:107.00, Z:94.89 [[ 6.66028130e-01 -6.79574863e-01 -3.07545989e-01 1.40971667e+02] [ 6.14856080e-01 7.33596872e-01 -2.89460931e-01 1.06999512e+02] [ 4.22325148e-01 3.69260133e-03 9.06436889e-01 9.48916814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.00, Y:107.01, Z:94.90 [[ 6.62625167e-01 -6.82880039e-01 -3.07575586e-01 1.40995901e+02] [ 6.18373019e-01 7.30528346e-01 -2.89729434e-01 1.07011424e+02] [ 4.22543131e-01 1.78557057e-03 9.06341059e-01 9.49036319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.55710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.02, Y:107.02, Z:94.91 [[ 6.57960552e-01 -6.86288619e-01 -3.09993295e-01 1.41021650e+02] [ 6.20953562e-01 7.27329285e-01 -2.92247813e-01 1.07020293e+02] [ 4.26033550e-01 -2.03908658e-04 9.04707341e-01 9.49140186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:107.04, Z:94.93 [[ 6.57730471e-01 -6.86546189e-01 -3.09911208e-01 1.41040319e+02] [ 6.21197286e-01 7.27086152e-01 -2.92334840e-01 1.07038268e+02] [ 4.26033519e-01 -2.38469110e-04 9.04707347e-01 9.49258471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.61710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.06, Y:107.05, Z:94.94 [[ 6.57362275e-01 -6.85941716e-01 -3.12023718e-01 1.41061893e+02] [ 6.19481593e-01 7.27656411e-01 -2.94548305e-01 1.07053460e+02] [ 4.29089029e-01 3.31993904e-04 9.03262141e-01 9.49362220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.6471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.09, Y:107.07, Z:94.95 [[ 6.61370940e-01 -6.81270026e-01 -3.13782778e-01 1.41085359e+02] [ 6.13395777e-01 7.32023376e-01 -2.96458089e-01 1.07065076e+02] [ 4.31664339e-01 3.59573383e-03 9.02027145e-01 9.49474623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.67710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.11, Y:107.08, Z:94.96 [[ 6.68863249e-01 -6.74748169e-01 -3.11988563e-01 1.41106304e+02] [ 6.06928258e-01 7.38005591e-01 -2.94933616e-01 1.07079084e+02] [ 4.29255221e-01 7.91558194e-03 9.03148547e-01 9.49610686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.7071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.13, Y:107.09, Z:94.97 [[ 6.72146278e-01 -6.71884794e-01 -3.11111242e-01 1.41125401e+02] [ 6.04058554e-01 7.40589297e-01 -2.94348020e-01 1.07094652e+02] [ 4.28173614e-01 9.91551915e-03 9.03642097e-01 9.49738814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.73710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.15, Y:107.11, Z:94.99 [[ 6.77046235e-01 -6.67497567e-01 -3.09928045e-01 1.41147711e+02] [ 5.99661364e-01 7.44501259e-01 -2.93469119e-01 1.07105978e+02] [ 4.26631743e-01 1.28402880e-02 9.04334276e-01 9.49876760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.7671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.17, Y:107.12, Z:95.00 [[ 6.77476063e-01 -6.67061230e-01 -3.09928216e-01 1.41168841e+02] [ 5.99068682e-01 7.44883953e-01 -2.93708378e-01 1.07120927e+02] [ 4.26782027e-01 1.33121074e-02 9.04256540e-01 9.49995068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.79710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.19, Y:107.13, Z:95.01 [[ 6.76042721e-01 -6.68664074e-01 -3.09603933e-01 1.41191482e+02] [ 6.00871492e-01 7.43459943e-01 -2.93633724e-01 1.07132395e+02] [ 4.26520444e-01 1.24767652e-02 9.04391862e-01 9.50105120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.8271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:107.15, Z:95.02 [[ 6.74226584e-01 -6.70811169e-01 -3.08918903e-01 1.41212319e+02] [ 6.03472853e-01 7.41543283e-01 -2.93145144e-01 1.07147938e+02] [ 4.25721774e-01 1.12220768e-02 9.04784525e-01 9.50218305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.85710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.23, Y:107.16, Z:95.03 [[ 6.70479517e-01 -6.75095433e-01 -3.07739133e-01 1.41234307e+02] [ 6.08617932e-01 7.37679633e-01 -2.92254979e-01 1.07159278e+02] [ 4.24312892e-01 8.65542255e-03 9.05474270e-01 9.50339171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.8871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.25, Y:107.17, Z:95.05 [[ 6.68238468e-01 -6.77337751e-01 -3.07686401e-01 1.41254151e+02] [ 6.11012369e-01 7.35634960e-01 -2.92412534e-01 1.07174541e+02] [ 4.24406922e-01 7.40110661e-03 9.05441323e-01 9.50467967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.91710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.27, Y:107.19, Z:95.06 [[ 6.65013288e-01 -6.80564450e-01 -3.07553827e-01 1.41274597e+02] [ 6.14520524e-01 7.32667382e-01 -2.92511594e-01 1.07188712e+02] [ 4.24407649e-01 5.52595769e-03 9.05454367e-01 9.50584713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.9471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.29, Y:107.20, Z:95.07 [[ 6.61069940e-01 -6.83862353e-01 -3.08737458e-01 1.41294081e+02] [ 6.17548034e-01 7.29602373e-01 -2.93793810e-01 1.07204287e+02] [ 4.26170108e-01 3.55804629e-03 9.04636048e-01 9.50689373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.97710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.31, Y:107.22, Z:95.08 [[ 6.58671219e-01 -6.85945000e-01 -3.09243726e-01 1.41313162e+02] [ 6.19522794e-01 7.27649495e-01 -2.94478727e-01 1.07222070e+02] [ 4.27017251e-01 2.38112487e-03 9.04240343e-01 9.50804303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.0071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.33, Y:107.24, Z:95.09 [[ 6.55875075e-01 -6.88703026e-01 -3.09056675e-01 1.41332119e+02] [ 6.22550727e-01 7.25043140e-01 -2.94521709e-01 1.07239923e+02] [ 4.26917414e-01 7.65990490e-04 9.04290293e-01 9.50914549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.35, Y:107.26, Z:95.10 [[ 6.50392373e-01 -6.94029880e-01 -3.08726882e-01 1.41352792e+02] [ 6.28487949e-01 7.19941721e-01 -2.94426249e-01 1.07255051e+02] [ 4.26605977e-01 -2.53853772e-03 9.04434020e-01 9.51038123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.06710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.37, Y:107.28, Z:95.11 [[ 6.49873154e-01 -7.08849960e-01 -2.74220017e-01 1.41372517e+02] [ 6.32735693e-01 7.04468787e-01 -3.21510919e-01 1.07282059e+02] [ 4.21082445e-01 3.54325222e-02 9.06330023e-01 9.51054589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.40, Y:107.28, Z:95.13 [[ 6.44102057e-01 -6.85784683e-01 -3.38868571e-01 1.41397145e+02] [ 6.36463481e-01 7.26201472e-01 -2.59895479e-01 1.07280004e+02] [ 4.24319194e-01 -4.82782577e-02 9.04224768e-01 9.51325354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.12710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.41, Y:107.30, Z:95.14 [[ 6.39665800e-01 -7.04740998e-01 -3.06867708e-01 1.41410347e+02] [ 6.40931703e-01 7.09405685e-01 -2.93172519e-01 1.07303740e+02] [ 4.24304390e-01 -9.14880857e-03 9.05473403e-01 9.51401626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.1571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.43, Y:107.32, Z:95.15 [[ 6.36391217e-01 -7.07780774e-01 -3.06679956e-01 1.41428901e+02] [ 6.44294503e-01 7.06346348e-01 -2.93188387e-01 1.07321434e+02] [ 4.24135370e-01 -1.10096950e-02 9.05531874e-01 9.51513875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.18710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.45, Y:107.34, Z:95.16 [[ 6.27939724e-01 -7.15297671e-01 -3.06660961e-01 1.41446006e+02] [ 6.52555192e-01 6.98639325e-01 -2.93385096e-01 1.07339166e+02] [ 4.24103082e-01 -1.58850462e-02 9.05474594e-01 9.51621269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.46, Y:107.36, Z:95.17 [[ 6.21473612e-01 -7.25864152e-01 -2.94774122e-01 1.41460793e+02] [ 6.53971956e-01 6.87831658e-01 -3.14973476e-01 1.07359891e+02] [ 4.31382928e-01 2.97369393e-03 9.02164024e-01 9.51742081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.24710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.48, Y:107.38, Z:95.19 [[ 6.12306175e-01 -7.29024275e-01 -3.05948943e-01 1.41479611e+02] [ 6.61666293e-01 6.84327542e-01 -3.06420515e-01 1.07375913e+02] [ 4.32757282e-01 -1.48129293e-02 9.01388769e-01 9.51890970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2771056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.50, Y:107.39, Z:95.20 [[ 6.12375403e-01 -7.19811261e-01 -3.26906889e-01 1.41501933e+02] [ 6.68626083e-01 6.92202470e-01 -2.71652172e-01 1.07390323e+02] [ 4.21824049e-01 -5.22253645e-02 9.05172350e-01 9.52020233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.30710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:141.51, Y:107.42, Z:95.21 [[ 6.09649899e-01 -7.31964165e-01 -3.04229292e-01 1.41510629e+02] [ 6.71898427e-01 6.80822354e-01 -2.91604915e-01 1.07416734e+02] [ 4.20570451e-01 -2.66342753e-02 9.06868850e-01 9.52132468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.52, Y:107.44, Z:95.23 [[ 6.07196752e-01 -7.37770579e-01 -2.94968943e-01 1.41523170e+02] [ 6.71948102e-01 6.74924966e-01 -3.04896769e-01 1.07440079e+02] [ 4.24025769e-01 -1.30714933e-02 9.05555787e-01 9.52268348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.36710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.54, Y:107.46, Z:95.24 [[ 6.08679697e-01 -7.29629966e-01 -3.11687567e-01 1.41538622e+02] [ 6.75930052e-01 6.82578570e-01 -2.77857987e-01 1.07460543e+02] [ 4.15484767e-01 -4.15524777e-02 9.08650538e-01 9.52392540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.55, Y:107.49, Z:95.25 [[ 6.05827637e-01 -7.42006763e-01 -2.87051977e-01 1.41548087e+02] [ 6.72819481e-01 6.70382856e-01 -3.12890991e-01 1.07486883e+02] [ 4.24601956e-01 -3.57615298e-03 9.05373067e-01 9.52511499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.42710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.56, Y:107.51, Z:95.26 [[ 6.04714776e-01 -7.34273973e-01 -3.08483018e-01 1.41561330e+02] [ 6.73565251e-01 6.78187242e-01 -2.93890995e-01 1.07510575e+02] [ 4.25005756e-01 -3.00632143e-02 9.04691279e-01 9.52624482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.4571056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:141.58, Y:107.53, Z:95.27 [[ 6.05171739e-01 -7.30943643e-01 -3.15418067e-01 1.41575762e+02] [ 6.73928037e-01 6.81286543e-01 -2.85779017e-01 1.07531313e+02] [ 4.23778440e-01 -3.96236937e-02 9.04898777e-01 9.52715399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.48710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:107.56, Z:95.29 [[ 6.00921546e-01 -7.43653618e-01 -2.93040258e-01 1.41579933e+02] [ 6.73629183e-01 6.68516876e-01 -3.15133163e-01 1.07564400e+02] [ 4.30252275e-01 -8.03016183e-03 9.02672973e-01 9.52866580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.5171056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:141.60, Y:107.58, Z:95.30 [[ 6.00986624e-01 -7.36026254e-01 -3.11577328e-01 1.41596809e+02] [ 6.76025275e-01 6.76074361e-01 -2.93109683e-01 1.07582577e+02] [ 4.26385864e-01 -3.44791498e-02 9.03883999e-01 9.52987115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.54710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.60, Y:107.61, Z:95.31 [[ 5.99555617e-01 -7.39262042e-01 -3.06634465e-01 1.41604607e+02] [ 6.76746538e-01 6.72821990e-01 -2.98872371e-01 1.07611077e+02] [ 4.27255410e-01 -2.83232037e-02 9.03687231e-01 9.53139845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.5771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.61, Y:107.64, Z:95.33 [[ 6.02451006e-01 -7.37245635e-01 -3.05813112e-01 1.41613093e+02] [ 6.74693204e-01 6.75101953e-01 -2.98372979e-01 1.07635939e+02] [ 4.26429205e-01 -2.65749270e-02 9.04130470e-01 9.53276217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.60710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.63, Y:107.65, Z:95.34 [[ 6.08043147e-01 -7.25049603e-01 -3.23398522e-01 1.41632878e+02] [ 6.77272254e-01 6.86269449e-01 -2.65210363e-01 1.07654901e+02] [ 4.14229194e-01 -5.77695024e-02 9.08337415e-01 9.53363448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.6371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.63, Y:107.70, Z:95.35 [[ 6.12382620e-01 -7.45558975e-01 -2.62924595e-01 1.41632598e+02] [ 6.73411751e-01 6.66161998e-01 -3.20538306e-01 1.07696187e+02] [ 4.14130584e-01 1.92355752e-02 9.10014204e-01 9.53455894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.66710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.65, Y:107.71, Z:95.36 [[ 6.15836465e-01 -7.15545446e-01 -3.29757733e-01 1.41653955e+02] [ 6.72203621e-01 6.95501911e-01 -2.53809737e-01 1.07707193e+02] [ 4.10959536e-01 -6.53590509e-02 9.09307679e-01 9.53638232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.6971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.65, Y:107.74, Z:95.38 [[ 6.19988471e-01 -7.31169124e-01 -2.84615545e-01 1.41650712e+02] [ 6.62405056e-01 6.82187745e-01 -3.09579430e-01 1.07742624e+02] [ 4.20516158e-01 3.40490135e-03 9.07278660e-01 9.53822140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.72710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:107.76, Z:95.39 [[ 6.24959491e-01 -7.17023303e-01 -3.08712192e-01 1.41670752e+02] [ 6.60308875e-01 6.96475147e-01 -2.80917355e-01 1.07764303e+02] [ 4.16434659e-01 -2.82834328e-02 9.08725604e-01 9.53919909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.7571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.68, Y:107.79, Z:95.40 [[ 6.36733728e-01 -7.05451659e-01 -3.11300685e-01 1.41677604e+02] [ 6.47467344e-01 7.08396493e-01 -2.80999017e-01 1.07791368e+02] [ 4.18755536e-01 -2.26354758e-02 9.07816852e-01 9.53997141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.68, Y:107.82, Z:95.41 [[ 6.45694237e-01 -7.00702486e-01 -3.03471545e-01 1.41681720e+02] [ 6.36270329e-01 7.13444695e-01 -2.93524676e-01 1.07822465e+02] [ 4.22183634e-01 -3.56274813e-03 9.06503329e-01 9.54125035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.81710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:141.69, Y:107.84, Z:95.42 [[ 6.49493544e-01 -6.97052028e-01 -3.03770649e-01 1.41694577e+02] [ 6.31999993e-01 7.17019844e-01 -2.94038352e-01 1.07844701e+02] [ 4.22769612e-01 -1.00703658e-03 9.06236636e-01 9.54240314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.84710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.70, Y:107.87, Z:95.44 [[ 6.51820392e-01 -6.99947614e-01 -2.91896410e-01 1.41702837e+02] [ 6.23177405e-01 7.13700186e-01 -3.19815520e-01 1.07869835e+02] [ 4.32180632e-01 2.65590304e-02 9.01395873e-01 9.54400720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.87710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.73, Y:107.89, Z:95.44 [[ 6.54929229e-01 -6.82988360e-01 -3.23410892e-01 1.41727924e+02] [ 6.24593958e-01 7.30140727e-01 -2.77086459e-01 1.07886147e+02] [ 4.25382290e-01 -2.05284683e-02 9.04780907e-01 9.54437935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.9071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.73, Y:107.91, Z:95.47 [[ 6.52077303e-01 -7.03827100e-01 -2.81820162e-01 1.41728730e+02] [ 6.20056240e-01 7.08987030e-01 -3.35957812e-01 1.07913673e+02] [ 4.36263052e-01 4.43261140e-02 8.98726736e-01 9.54675137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.93710568099993 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:141.76, Y:107.93, Z:95.46 [[ 6.55941281e-01 -6.76719613e-01 -3.34352510e-01 1.41762968e+02] [ 6.24386556e-01 7.35361006e-01 -2.63411504e-01 1.07926763e+02] [ 4.24125529e-01 -3.59827326e-02 9.04888269e-01 9.54644800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.9671056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:141.77, Y:107.95, Z:95.49 [[ 6.54182191e-01 -6.98829351e-01 -2.89280485e-01 1.41765904e+02] [ 6.23930859e-01 7.14811131e-01 -3.15840673e-01 1.07951043e+02] [ 4.27499643e-01 2.61263216e-02 9.03637909e-01 9.54876463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:141.79, Y:107.97, Z:95.49 [[ 6.55383794e-01 -6.84513922e-01 -3.19237802e-01 1.41792149e+02] [ 6.27071108e-01 7.28730190e-01 -2.75198357e-01 1.07965523e+02] [ 4.21015330e-01 -1.98242593e-02 9.06836860e-01 9.54904640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0271056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:141.81, Y:107.98, Z:95.50 [[ 6.53371796e-01 -6.94039268e-01 -3.02348791e-01 1.41807937e+02] [ 6.28857690e-01 7.19935069e-01 -2.93652010e-01 1.07984281e+02] [ 4.21477524e-01 1.72957898e-03 9.06837199e-01 9.55039945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05710568099994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:141.83, Y:108.00, Z:95.52 [[ 6.49751853e-01 -6.97717116e-01 -3.01684198e-01 1.41828260e+02] [ 6.33101052e-01 7.16373237e-01 -2.93244683e-01 1.07998492e+02] [ 4.20720320e-01 -4.60307224e-04 9.07190278e-01 9.55150445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0871056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:141.84, Y:108.02, Z:95.53 [[ 6.44535016e-01 -7.07889170e-01 -2.88907487e-01 1.41842235e+02] [ 6.32898853e-01 7.05980244e-01 -3.17853640e-01 1.08016571e+02] [ 4.28968128e-01 2.20185840e-02 9.03051232e-01 9.55326769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11710568099994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:141.87, Y:108.03, Z:95.54 [[ 6.40186975e-01 -7.01569650e-01 -3.12986682e-01 1.41868430e+02] [ 6.36526347e-01 7.12527235e-01 -2.95193411e-01 1.08028985e+02] [ 4.30110273e-01 -1.02452927e-02 9.02718221e-01 9.55387850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.1471056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:141.89, Y:108.05, Z:95.55 [[ 6.38439031e-01 -7.04969894e-01 -3.08890032e-01 1.41887475e+02] [ 6.37778015e-01 7.09218116e-01 -3.00414492e-01 1.08046446e+02] [ 4.30853579e-01 -5.20693389e-03 9.02406827e-01 9.55500994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:108.06, Z:95.56 [[ 6.36218084e-01 -7.02521183e-01 -3.18889537e-01 1.41913172e+02] [ 6.41451529e-01 7.11330152e-01 -2.87314028e-01 1.08060675e+02] [ 4.28679934e-01 -2.17578006e-02 9.03194393e-01 9.55577650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.2071056809999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:141.93, Y:108.08, Z:95.57 [[ 6.33643217e-01 -7.09217318e-01 -3.09042180e-01 1.41929481e+02] [ 6.42200474e-01 7.04947735e-01 -3.01043590e-01 1.08076945e+02] [ 4.31363912e-01 -7.71280556e-03 9.02145048e-01 9.55712166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:141.95, Y:108.09, Z:95.58 [[ 6.35162624e-01 -7.07899791e-01 -3.08943888e-01 1.41947464e+02] [ 6.40714257e-01 7.06281039e-01 -3.01085262e-01 1.08094090e+02] [ 4.31339404e-01 -6.70664886e-03 9.02164807e-01 9.55834849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.2671056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:141.96, Y:108.11, Z:95.60 [[ 6.44434035e-01 -7.00437650e-01 -3.06743986e-01 1.41963647e+02] [ 6.33329683e-01 7.13712086e-01 -2.99179830e-01 1.08111103e+02] [ 4.28483707e-01 -1.46840675e-03 9.03548314e-01 9.55974476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29710568099995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:141.97, Y:108.13, Z:95.62 [[ 6.46367088e-01 -7.06905842e-01 -2.87217198e-01 1.41974962e+02] [ 6.25906881e-01 7.06503462e-01 -3.30292953e-01 1.08131316e+02] [ 4.36405963e-01 3.37192735e-02 8.99117816e-01 9.56184581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.3271056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:142.01, Y:108.14, Z:95.62 [[ 6.56512479e-01 -6.78752909e-01 -3.29068161e-01 1.42006211e+02] [ 6.22313827e-01 7.33904190e-01 -2.72231778e-01 1.08142070e+02] [ 4.26282613e-01 -2.60601070e-02 9.04214579e-01 9.56193468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:142.01, Y:108.16, Z:95.64 [[ 6.56614570e-01 -6.95974055e-01 -2.90650000e-01 1.42014599e+02] [ 6.18938998e-01 7.17439483e-01 -3.19679690e-01 1.08164441e+02] [ 4.31012556e-01 3.00117223e-02 9.01846702e-01 9.56405893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.3871056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.04, Y:108.17, Z:95.64 [[ 6.59871731e-01 -6.79472972e-01 -3.20758132e-01 1.42044053e+02] [ 6.20448410e-01 7.33527595e-01 -2.77454568e-01 1.08174698e+02] [ 4.23807821e-01 -1.59294471e-02 9.05612049e-01 9.56440963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:108.19, Z:95.66 [[ 6.60057821e-01 -6.87832955e-01 -3.02009104e-01 1.42060099e+02] [ 6.21326702e-01 7.25833546e-01 -2.95158928e-01 1.08193323e+02] [ 4.22228377e-01 7.17563817e-03 9.06461090e-01 9.56587282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.4471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:108.21, Z:95.67 [[ 6.60157283e-01 -6.88049134e-01 -3.01298441e-01 1.42081089e+02] [ 6.21783323e-01 7.25628312e-01 -2.94701633e-01 1.08207348e+02] [ 4.21399882e-01 7.20708376e-03 9.06846292e-01 9.56711675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:108.22, Z:95.68 [[ 6.60542206e-01 -6.88002789e-01 -3.00559737e-01 1.42100712e+02] [ 6.21964464e-01 7.25670267e-01 -2.94215685e-01 1.08223099e+02] [ 4.20528477e-01 7.40440197e-03 9.07249125e-01 9.56832843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.5071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.12, Y:108.24, Z:95.70 [[ 6.60300177e-01 -6.88288464e-01 -3.00437457e-01 1.42118930e+02] [ 6.22221544e-01 7.25399212e-01 -2.94340507e-01 1.08241308e+02] [ 4.20528270e-01 7.41443070e-03 9.07249139e-01 9.56953677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.13, Y:108.26, Z:95.71 [[ 6.57855928e-01 -6.96297041e-01 -2.87047051e-01 1.42132756e+02] [ 6.20801013e-01 7.17118359e-01 -3.16776516e-01 1.08259171e+02] [ 4.26417261e-01 3.01942087e-02 9.04022472e-01 9.57113579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.56710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.16, Y:108.27, Z:95.72 [[ 6.56443096e-01 -6.87866540e-01 -3.09712909e-01 1.42161536e+02] [ 6.24336048e-01 7.25827169e-01 -2.88754948e-01 1.08270111e+02] [ 4.23422910e-01 -3.81374158e-03 9.05924111e-01 9.57177587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.5971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.18, Y:108.29, Z:95.72 [[ 6.56936250e-01 -7.03839721e-01 -2.70267295e-01 1.42177855e+02] [ 6.29565668e-01 7.09336463e-01 -3.16999767e-01 1.08293497e+02] [ 4.14827474e-01 3.80976283e-02 9.09102160e-01 9.57240201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.62710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.21, Y:108.29, Z:95.74 [[ 6.50142988e-01 -6.81764329e-01 -3.35427332e-01 1.42212893e+02] [ 6.31468195e-01 7.30338757e-01 -2.60486505e-01 1.08294259e+02] [ 4.22565988e-01 -4.24582178e-02 9.05337112e-01 9.57411781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.6571056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.22, Y:108.32, Z:95.75 [[ 6.52120755e-01 -7.13914131e-01 -2.55078682e-01 1.42219064e+02] [ 6.36895710e-01 6.98414369e-01 -3.26467798e-01 1.08324382e+02] [ 4.11220591e-01 5.04379086e-02 9.10139354e-01 9.57472074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.68710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:108.34, Z:95.76 [[ 6.50499396e-01 -7.01682796e-01 -2.90674715e-01 1.42249174e+02] [ 6.36803798e-01 7.12458547e-01 -2.94760481e-01 1.08335078e+02] [ 4.13922043e-01 6.63875284e-03 9.10288124e-01 9.57557158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.28, Y:108.34, Z:95.78 [[ 6.46964597e-01 -6.82621200e-01 -3.39801570e-01 1.42275754e+02] [ 6.30592710e-01 7.29511871e-01 -2.64887268e-01 1.08341084e+02] [ 4.28706944e-01 -4.29037081e-02 9.02424306e-01 9.57761576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.74710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.28, Y:108.37, Z:95.78 [[ 6.52809833e-01 -7.12877097e-01 -2.56213908e-01 1.42281583e+02] [ 6.31346080e-01 6.98919364e-01 -3.36026560e-01 1.08372871e+02] [ 4.18618500e-01 5.76017962e-02 9.06333594e-01 9.57819185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:108.37, Z:95.80 [[ 6.52404777e-01 -6.76063927e-01 -3.42499012e-01 1.42318477e+02] [ 6.25039838e-01 7.35552518e-01 -2.61319141e-01 1.08373034e+02] [ 4.28594456e-01 -4.35896705e-02 9.02444864e-01 9.57960902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.80710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:108.40, Z:95.80 [[ 6.59801817e-01 -7.04958722e-01 -2.60182173e-01 1.42322896e+02] [ 6.25862971e-01 7.07174756e-01 -3.28936781e-01 1.08404168e+02] [ 4.15881117e-01 5.41946976e-02 9.07802749e-01 9.58018049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:108.41, Z:95.82 [[ 6.54516660e-01 -6.85545776e-01 -3.18802340e-01 1.42350094e+02] [ 6.16871987e-01 7.28028951e-01 -2.99069887e-01 1.08408389e+02] [ 4.37123431e-01 -9.14009623e-04 8.99401062e-01 9.58220074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.86710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:108.43, Z:95.83 [[ 6.56212681e-01 -6.80846469e-01 -3.25319848e-01 1.42375782e+02] [ 6.20994568e-01 7.32193778e-01 -2.79746345e-01 1.08425654e+02] [ 4.28661480e-01 -1.84487596e-02 9.03276801e-01 9.58299632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:108.45, Z:95.83 [[ 6.60575899e-01 -7.05461601e-01 -2.56833433e-01 1.42388279e+02] [ 6.24495649e-01 7.06206862e-01 -3.33582152e-01 1.08451291e+02] [ 4.16706931e-01 5.99649683e-02 9.07060933e-01 9.58335260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.92710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:108.46, Z:95.85 [[ 6.58688568e-01 -6.97728000e-01 -2.81611448e-01 1.42412503e+02] [ 6.22289747e-01 7.15564819e-01 -3.17368021e-01 1.08460841e+02] [ 4.22947799e-01 3.38027709e-02 9.05523347e-01 9.58457275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.9571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.45, Y:108.47, Z:95.85 [[ 6.58747125e-01 -6.83603265e-01 -3.14227308e-01 1.42445853e+02] [ 6.27950716e-01 7.29608772e-01 -2.70830090e-01 1.08468754e+02] [ 4.14403334e-01 -1.89107201e-02 9.09896841e-01 9.58470218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.98710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:108.48, Z:95.88 [[ 6.51649654e-01 -6.89810782e-01 -3.15458101e-01 1.42459403e+02] [ 6.22036178e-01 7.23987167e-01 -2.98183794e-01 1.08480028e+02] [ 4.34078013e-01 -1.91498533e-03 9.00873249e-01 9.58784571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.0171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:108.51, Z:95.88 [[ 6.59873884e-01 -6.98600671e-01 -2.76628920e-01 1.42480573e+02] [ 6.26134565e-01 7.14779742e-01 -3.11521152e-01 1.08505874e+02] [ 4.15357634e-01 3.23577438e-02 9.09082511e-01 9.58784294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.04710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:108.51, Z:95.90 [[ 6.55249760e-01 -6.76577914e-01 -3.35991187e-01 1.42506672e+02] [ 6.23080187e-01 7.35536355e-01 -2.66002541e-01 1.08509618e+02] [ 4.27105177e-01 -3.50513506e-02 9.03522313e-01 9.58994328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.0771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:108.53, Z:95.91 [[ 6.59661160e-01 -6.87100579e-01 -3.04532342e-01 1.42520739e+02] [ 6.17584163e-01 7.26483305e-01 -3.01349976e-01 1.08531435e+02] [ 4.28295406e-01 1.07145230e-02 9.03575257e-01 9.59122631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.10710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:108.55, Z:95.92 [[ 6.61633604e-01 -6.84699017e-01 -3.05660320e-01 1.42539468e+02] [ 6.14273421e-01 7.28718244e-01 -3.02717500e-01 1.08548494e+02] [ 4.30010626e-01 1.25290602e-02 9.02736885e-01 9.59237022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.1371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:108.56, Z:95.93 [[ 6.66514061e-01 -6.82359502e-01 -3.00240764e-01 1.42558009e+02] [ 6.04762622e-01 7.30400365e-01 -3.17454686e-01 1.08559792e+02] [ 4.35914185e-01 3.00136204e-02 8.99487635e-01 9.59346325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.16710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:108.58, Z:95.95 [[ 6.66513326e-01 -6.83376139e-01 -2.97921196e-01 1.42576792e+02] [ 6.02993564e-01 7.29177310e-01 -3.23572576e-01 1.08575194e+02] [ 4.38359154e-01 3.60208705e-02 8.98077808e-01 9.59475497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.1971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:108.59, Z:95.96 [[ 6.66660629e-01 -6.73744555e-01 -3.18797554e-01 1.42610020e+02] [ 6.07491977e-01 7.38964109e-01 -2.91351238e-01 1.08586126e+02] [ 4.31876261e-01 5.65443254e-04 9.01932689e-01 9.59571334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.22710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:108.60, Z:95.97 [[ 6.63851015e-01 -6.82892601e-01 -3.04892647e-01 1.42632717e+02] [ 6.11735609e-01 7.30360029e-01 -3.03897637e-01 1.08599071e+02] [ 4.30210850e-01 1.52290661e-02 9.02599967e-01 9.59689086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.2571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:108.63, Z:95.97 [[ 6.64930546e-01 -6.98121471e-01 -2.65506650e-01 1.42653819e+02] [ 6.18123424e-01 7.13887212e-01 -3.29072153e-01 1.08625289e+02] [ 4.19274137e-01 5.46942466e-02 9.06210647e-01 9.59707622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:108.62, Z:95.99 [[ 6.56086897e-01 -6.76919367e-01 -3.33661735e-01 1.42683703e+02] [ 6.20245921e-01 7.35520224e-01 -2.72589430e-01 1.08616323e+02] [ 4.29936019e-01 -2.81099765e-02 9.02421658e-01 9.59913227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.70, Y:108.64, Z:96.00 [[ 6.52762813e-01 -6.94438163e-01 -3.02747995e-01 1.42701181e+02] [ 6.25063696e-01 7.19504111e-01 -3.02670135e-01 1.08639378e+02] [ 4.28014119e-01 8.33502802e-03 9.03733612e-01 9.60028452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.3471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.72, Y:108.65, Z:96.02 [[ 6.51308373e-01 -7.00008881e-01 -2.92890715e-01 1.42723820e+02] [ 6.24901206e-01 7.13764504e-01 -3.16288974e-01 1.08648541e+02] [ 4.30460087e-01 2.29738962e-02 9.02317191e-01 9.60166677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.37710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:108.66, Z:96.03 [[ 6.49439485e-01 -6.93989071e-01 -3.10817512e-01 1.42751554e+02] [ 6.29030247e-01 7.19967498e-01 -2.93202577e-01 1.08661650e+02] [ 4.27257890e-01 -5.09628578e-03 9.04115437e-01 9.60279825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.4071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:108.68, Z:96.04 [[ 6.47920882e-01 -6.99066206e-01 -3.02497884e-01 1.42768905e+02] [ 6.30224692e-01 7.15036634e-01 -3.02554873e-01 1.08679652e+02] [ 4.27802956e-01 5.38998396e-03 9.03855950e-01 9.60386738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.43710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:108.70, Z:96.05 [[ 6.46542285e-01 -7.01316048e-01 -3.00231369e-01 1.42787857e+02] [ 6.30904378e-01 7.12797610e-01 -3.06397180e-01 1.08695781e+02] [ 4.28885462e-01 8.68144799e-03 9.03317161e-01 9.60502451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.4671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:108.71, Z:96.06 [[ 6.44049564e-01 -7.02231399e-01 -3.03432401e-01 1.42810040e+02] [ 6.34636921e-01 7.11948022e-01 -3.00609370e-01 1.08709451e+02] [ 4.27125437e-01 1.03792898e-03 9.04191785e-01 9.60633140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:108.72, Z:96.08 [[ 6.44701687e-01 -7.03947390e-01 -2.98023164e-01 1.42827346e+02] [ 6.32202324e-01 7.10161700e-01 -3.09823469e-01 1.08724954e+02] [ 4.29744059e-01 1.13327758e-02 9.02879622e-01 9.60751008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5271056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.85, Y:108.74, Z:96.09 [[ 6.46795553e-01 -7.00550039e-01 -3.01471648e-01 1.42847503e+02] [ 6.30979309e-01 7.13571975e-01 -3.04434145e-01 1.08741656e+02] [ 4.28393072e-01 6.68427908e-03 9.03567760e-01 9.60883159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:108.76, Z:96.10 [[ 6.53012356e-01 -6.94010182e-01 -3.03190914e-01 1.42867482e+02] [ 6.26699181e-01 7.19949741e-01 -2.98195418e-01 1.08758066e+02] [ 4.25232876e-01 4.71579561e-03 9.05071689e-01 9.61026611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5871056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:142.89, Y:108.78, Z:96.11 [[ 6.56664293e-01 -6.89418881e-01 -3.05767254e-01 1.42885522e+02] [ 6.24371648e-01 7.24362131e-01 -2.92334652e-01 1.08775894e+02] [ 4.23027248e-01 1.05332342e-03 9.06116349e-01 9.61135003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:108.80, Z:96.12 [[ 6.58585740e-01 -6.95948405e-01 -2.86217820e-01 1.42898588e+02] [ 6.18448702e-01 7.17267203e-01 -3.21012402e-01 1.08800473e+02] [ 4.28702725e-01 3.44031508e-02 9.02790340e-01 9.61240353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.6471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.93, Y:108.82, Z:96.13 [[ 6.61111574e-01 -6.96908767e-01 -2.77938227e-01 1.42925063e+02] [ 6.20885410e-01 7.16141475e-01 -3.18814517e-01 1.08822543e+02] [ 4.21227723e-01 3.82041771e-02 9.06149903e-01 9.61281430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:108.82, Z:96.15 [[ 6.58220390e-01 -6.78739960e-01 -3.25665450e-01 1.42946484e+02] [ 6.16843029e-01 7.34240393e-01 -2.83541395e-01 1.08822777e+02] [ 4.31567603e-01 -1.42517345e-02 9.01968010e-01 9.61514498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.7071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.97, Y:108.84, Z:96.16 [[ 6.59471683e-01 -6.85244524e-01 -3.09090669e-01 1.42967752e+02] [ 6.20161340e-01 7.28312883e-01 -2.91479428e-01 1.08840009e+02] [ 4.24849398e-01 5.36345434e-04 9.05263885e-01 9.61615864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.99, Y:108.86, Z:96.17 [[ 6.58905770e-01 -6.89947276e-01 -2.99693081e-01 1.42985797e+02] [ 6.20584902e-01 7.23745472e-01 -3.01772879e-01 1.08858647e+02] [ 4.25108886e-01 1.28548900e-02 9.05050930e-01 9.61723254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.7671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.01, Y:108.87, Z:96.18 [[ 6.58831259e-01 -6.89494607e-01 -3.00896261e-01 1.43007986e+02] [ 6.19383641e-01 7.24166758e-01 -3.03226667e-01 1.08873199e+02] [ 4.26972222e-01 1.34049852e-02 9.04165377e-01 9.61826834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.03, Y:108.89, Z:96.19 [[ 6.58386242e-01 -6.90020359e-01 -3.00665032e-01 1.43028408e+02] [ 6.19961860e-01 7.23668775e-01 -3.03233896e-01 1.08889546e+02] [ 4.26819457e-01 1.32441724e-02 9.04239870e-01 9.61939201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.8271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.05, Y:108.91, Z:96.21 [[ 6.56701680e-01 -6.91937033e-01 -2.99943406e-01 1.43048551e+02] [ 6.22309061e-01 7.21855486e-01 -3.02747569e-01 1.08905183e+02] [ 4.25998048e-01 1.21573377e-02 9.04642395e-01 9.62057218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.07, Y:108.92, Z:96.22 [[ 6.49474127e-01 -6.98788173e-01 -2.99797344e-01 1.43069629e+02] [ 6.29803546e-01 7.15285300e-01 -3.02843908e-01 1.08918998e+02] [ 4.26064374e-01 7.87585231e-03 9.04658565e-01 9.62180356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.8871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.09, Y:108.93, Z:96.23 [[ 6.40293858e-01 -7.06485111e-01 -3.01500520e-01 1.43088787e+02] [ 6.37353938e-01 7.07721519e-01 -3.04811761e-01 1.08933471e+02] [ 4.28723377e-01 3.00655490e-03 9.03430809e-01 9.62305416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.11, Y:108.95, Z:96.24 [[ 6.32120536e-01 -7.13384548e-01 -3.02499777e-01 1.43107502e+02] [ 6.44428435e-01 7.00771141e-01 -3.05993139e-01 1.08951322e+02] [ 4.30273891e-01 -1.51491096e-03 9.02697117e-01 9.62406578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.9471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.13, Y:108.97, Z:96.25 [[ 6.28372961e-01 -7.16902230e-01 -3.01991084e-01 1.43125102e+02] [ 6.48455117e-01 6.97163807e-01 -3.05726329e-01 1.08969747e+02] [ 4.29713141e-01 -3.71750553e-03 9.02957805e-01 9.62514642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.14, Y:108.99, Z:96.26 [[ 6.18301919e-01 -7.27408419e-01 -2.97623468e-01 1.43141823e+02] [ 6.57108967e-01 6.86199592e-01 -3.11990265e-01 1.08992860e+02] [ 4.31173447e-01 -2.66687043e-03 9.02265120e-01 9.62635341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.0071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.16, Y:109.01, Z:96.28 [[ 6.18896013e-01 -7.21644768e-01 -3.10155692e-01 1.43160338e+02] [ 6.58867013e-01 6.91924552e-01 -2.95185829e-01 1.09005855e+02] [ 4.27623648e-01 -2.16620218e-02 9.03697279e-01 9.62752851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.17, Y:109.03, Z:96.29 [[ 6.16056240e-01 -7.29119547e-01 -2.98092931e-01 1.43173750e+02] [ 6.63618270e-01 6.84287858e-01 -3.02259688e-01 1.09027833e+02] [ 4.24364820e-01 -1.16109481e-02 9.05416857e-01 9.62874312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.06710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.19, Y:109.05, Z:96.30 [[ 6.15434994e-01 -7.30111680e-01 -2.96945625e-01 1.43189278e+02] [ 6.65131151e-01 6.83221592e-01 -3.01344997e-01 1.09048152e+02] [ 4.22895165e-01 -1.20495289e-02 9.06098498e-01 9.63001026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.0971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.20, Y:109.07, Z:96.31 [[ 6.16190877e-01 -7.30072316e-01 -2.95471178e-01 1.43198741e+02] [ 6.65648269e-01 6.83268619e-01 -3.00093946e-01 1.09073405e+02] [ 4.20976466e-01 -1.17647267e-02 9.06995263e-01 9.63121012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.12710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.21, Y:109.10, Z:96.32 [[ 6.19727659e-01 -7.27930655e-01 -2.93350625e-01 1.43208878e+02] [ 6.64167880e-01 6.85576498e-01 -2.98103828e-01 1.09099217e+02] [ 4.18113210e-01 -1.00908750e-02 9.08338878e-01 9.63232128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.1571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.22, Y:109.12, Z:96.34 [[ 6.22387618e-01 -7.26242569e-01 -2.91899612e-01 1.43223845e+02] [ 6.62851163e-01 6.87383260e-01 -2.96871337e-01 1.09120310e+02] [ 4.16247509e-01 -8.71695297e-03 9.09209561e-01 9.63352907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.18710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.23, Y:109.15, Z:96.33 [[ 6.28355177e-01 -7.34362419e-01 -2.56674130e-01 1.43229458e+02] [ 6.59989576e-01 6.77901700e-01 -3.23825641e-01 1.09154992e+02] [ 4.11805210e-01 3.40752679e-02 9.10634584e-01 9.63330605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.25, Y:109.16, Z:96.36 [[ 6.29423832e-01 -7.06912879e-01 -3.22645040e-01 1.43252800e+02] [ 6.53597104e-01 7.06194449e-01 -2.72213567e-01 1.09161373e+02] [ 4.20281413e-01 -3.95421569e-02 9.06531826e-01 9.63615121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.24710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.26, Y:109.19, Z:96.37 [[ 6.35835853e-01 -7.13172086e-01 -2.95124286e-01 1.43256629e+02] [ 6.46739144e-01 7.00988956e-01 -3.00571062e-01 1.09193523e+02] [ 4.21237756e-01 2.45429205e-04 9.06950215e-01 9.63697106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.27, Y:109.22, Z:96.38 [[ 6.38054880e-01 -7.12696753e-01 -2.91460647e-01 1.43270853e+02] [ 6.43957158e-01 7.01435167e-01 -3.05463394e-01 1.09217549e+02] [ 4.22143517e-01 7.21423870e-03 9.06500307e-01 9.63827063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.30710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.28, Y:109.24, Z:96.39 [[ 6.45924369e-01 -7.01462472e-01 -3.01217712e-01 1.43284881e+02] [ 6.36156554e-01 7.12706035e-01 -2.95558702e-01 1.09236897e+02] [ 4.22003019e-01 -7.13052976e-04 9.06594145e-01 9.63929111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.30, Y:109.26, Z:96.40 [[ 6.47832061e-01 -7.00498247e-01 -2.99359027e-01 1.43301755e+02] [ 6.33128715e-01 7.13638817e-01 -2.99779369e-01 1.09259868e+02] [ 4.23629144e-01 4.67389044e-03 9.05823660e-01 9.64035141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.36710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.31, Y:109.28, Z:96.41 [[ 6.51840817e-01 -6.97812010e-01 -2.96920778e-01 1.43314995e+02] [ 6.27348100e-01 7.16161215e-01 -3.05855318e-01 1.09282458e+02] [ 4.26072660e-01 1.30962946e-02 9.04594150e-01 9.64125498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.33, Y:109.30, Z:96.42 [[ 6.51584371e-01 -6.97548386e-01 -2.98100750e-01 1.43333112e+02] [ 6.27584136e-01 7.16446104e-01 -3.04701711e-01 1.09300819e+02] [ 4.26117308e-01 1.14555710e-02 9.04595385e-01 9.64246546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.42710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.35, Y:109.32, Z:96.44 [[ 6.53057179e-01 -6.96652391e-01 -2.96970989e-01 1.43348008e+02] [ 6.27050523e-01 7.17305649e-01 -3.03776642e-01 1.09322810e+02] [ 4.24645691e-01 1.21677027e-02 9.05277849e-01 9.64352751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.4571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.36, Y:109.34, Z:96.45 [[ 6.52232327e-01 -6.97702719e-01 -2.96317241e-01 1.43364577e+02] [ 6.28411666e-01 7.16292706e-01 -3.03353816e-01 1.09342696e+02] [ 4.23900661e-01 1.16479538e-02 9.05633786e-01 9.64468750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.48710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.38, Y:109.36, Z:96.46 [[ 6.45929846e-01 -7.04767451e-01 -2.93389629e-01 1.43380600e+02] [ 6.31440574e-01 7.09229002e-01 -3.13491667e-01 1.09363366e+02] [ 4.29019156e-01 1.72355085e-02 9.03130943e-01 9.64577257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.5171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.40, Y:109.38, Z:96.47 [[ 6.42931384e-01 -7.01605563e-01 -3.07227715e-01 1.43402768e+02] [ 6.34248609e-01 7.12562729e-01 -2.99971764e-01 1.09377767e+02] [ 4.29380877e-01 -1.99748944e-03 9.03121294e-01 9.64683871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.54710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.42, Y:109.40, Z:96.48 [[ 6.34422123e-01 -7.12382870e-01 -3.00032025e-01 1.43421373e+02] [ 6.42475836e-01 7.01786608e-01 -3.07766725e-01 1.09396529e+02] [ 4.29806200e-01 2.49069339e-03 9.02917730e-01 9.64785979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.5771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.44, Y:109.41, Z:96.49 [[ 6.29914075e-01 -7.16476953e-01 -2.99781645e-01 1.43439275e+02] [ 6.47008873e-01 6.97610756e-01 -3.07764116e-01 1.09414408e+02] [ 4.29636797e-01 -9.64359691e-05 9.03001780e-01 9.64898401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.60710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.46, Y:109.43, Z:96.50 [[ 6.21994770e-01 -7.24779493e-01 -2.96339658e-01 1.43457897e+02] [ 6.53337619e-01 6.88979140e-01 -3.13779701e-01 1.09432586e+02] [ 4.31592936e-01 1.55948630e-03 9.02067129e-01 9.65024830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.6371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.48, Y:109.45, Z:96.52 [[ 6.15999462e-01 -7.27807311e-01 -3.01398708e-01 1.43478136e+02] [ 6.60467084e-01 6.85699678e-01 -3.05939834e-01 1.09447313e+02] [ 4.29334245e-01 -1.06051524e-02 9.03083405e-01 9.65160598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.66710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.49, Y:109.47, Z:96.53 [[ 6.12564030e-01 -7.32881649e-01 -2.96057085e-01 1.43494883e+02] [ 6.63009342e-01 6.80338083e-01 -3.12343890e-01 1.09466657e+02] [ 4.30330014e-01 -4.95798125e-03 9.02658018e-01 9.65286990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.6971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.52, Y:109.48, Z:96.54 [[ 6.09240944e-01 -7.32562873e-01 -3.03606833e-01 1.43515708e+02] [ 6.66500661e-01 6.80490756e-01 -3.04481854e-01 1.09484650e+02] [ 4.29653745e-01 -1.68513425e-02 9.02836470e-01 9.65406112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.72710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.53, Y:109.50, Z:96.55 [[ 6.03319339e-01 -7.42150196e-01 -2.91922699e-01 1.43531419e+02] [ 6.69510201e-01 6.70229851e-01 -3.20231226e-01 1.09501370e+02] [ 4.33314974e-01 -2.24353291e-03 9.01239757e-01 9.65530853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.7571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.55, Y:109.52, Z:96.57 [[ 6.00505629e-01 -7.39897093e-01 -3.03224805e-01 1.43552043e+02] [ 6.72739837e-01 6.72460369e-01 -3.08574406e-01 1.09516382e+02] [ 4.32219970e-01 -1.86907384e-02 9.01574486e-01 9.65664519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.57, Y:109.53, Z:96.58 [[ 5.97589945e-01 -7.39340908e-01 -3.10260020e-01 1.43572022e+02] [ 6.79618849e-01 6.72389516e-01 -2.93275570e-01 1.09531940e+02] [ 4.25446211e-01 -3.56000263e-02 9.04283230e-01 9.65770996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.81710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.58, Y:109.56, Z:96.59 [[ 5.94691885e-01 -7.51921394e-01 -2.84527290e-01 1.43581340e+02] [ 6.77084845e-01 6.59250232e-01 -3.27024837e-01 1.09556021e+02] [ 4.33471653e-01 1.82990088e-03 9.01165344e-01 9.65901181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.8471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.60, Y:109.57, Z:96.60 [[ 5.98048716e-01 -7.38428597e-01 -3.11546049e-01 1.43604122e+02] [ 6.79929479e-01 6.73256520e-01 -2.90553889e-01 1.09568797e+02] [ 4.24303709e-01 -3.80639626e-02 9.04719568e-01 9.66008160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.87710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.61, Y:109.59, Z:96.62 [[ 5.98524365e-01 -7.51524482e-01 -2.77451865e-01 1.43610847e+02] [ 6.72376567e-01 6.59544390e-01 -3.36022245e-01 1.09593254e+02] [ 4.35520765e-01 1.45653685e-02 9.00060839e-01 9.66153143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.9071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.63, Y:109.61, Z:96.63 [[ 6.07567459e-01 -7.34256259e-01 -3.02868832e-01 1.43631571e+02] [ 6.67917215e-01 6.78666690e-01 -3.05447407e-01 1.09608274e+02] [ 4.29823658e-01 -1.67114017e-02 9.02758191e-01 9.66310793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.93710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.65, Y:109.63, Z:96.64 [[ 6.18448106e-01 -7.23431361e-01 -3.06869689e-01 1.43646212e+02] [ 6.63340347e-01 6.89965248e-01 -2.89702503e-01 1.09630683e+02] [ 4.21309297e-01 -2.43930813e-02 9.06588911e-01 9.66439330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.9671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.65, Y:109.66, Z:96.66 [[ 6.22680865e-01 -7.30246164e-01 -2.81085540e-01 1.43653961e+02] [ 6.56289371e-01 6.83016181e-01 -3.20582529e-01 1.09656188e+02] [ 4.26090134e-01 1.51471540e-02 9.04553902e-01 9.66568442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.67, Y:109.68, Z:96.67 [[ 6.31847892e-01 -7.11242106e-01 -3.08063155e-01 1.43673742e+02] [ 6.48901000e-01 7.02772943e-01 -2.91612214e-01 1.09675515e+02] [ 4.23905335e-01 -1.56479262e-02 9.05571316e-01 9.66650675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.69, Y:109.70, Z:96.68 [[ 6.35031074e-01 -7.13717119e-01 -2.95539182e-01 1.43687000e+02] [ 6.44904115e-01 7.00424872e-01 -3.05783715e-01 1.09698569e+02] [ 4.25246066e-01 3.58772644e-03 9.05070667e-01 9.66757610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.70, Y:109.72, Z:96.69 [[ 6.41662360e-01 -7.06902339e-01 -2.97587799e-01 1.43701728e+02] [ 6.36266719e-01 7.07261617e-01 -3.08132548e-01 1.09721201e+02] [ 4.28292047e-01 8.37184535e-03 9.03601591e-01 9.66855867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.72, Y:109.74, Z:96.69 [[ 6.46466199e-01 -7.01168407e-01 -3.00739618e-01 1.43717644e+02] [ 6.28230006e-01 7.12885538e-01 -3.11642855e-01 1.09743184e+02] [ 4.32907048e-01 1.25329197e-02 9.01351437e-01 9.66945841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.74, Y:109.76, Z:96.71 [[ 6.47685918e-01 -6.99709326e-01 -3.01512539e-01 1.43735142e+02] [ 6.26099167e-01 7.14295208e-01 -3.12701437e-01 1.09761932e+02] [ 4.34169073e-01 1.37555680e-02 9.00726374e-01 9.67051360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.1471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.75, Y:109.78, Z:96.72 [[ 6.49510896e-01 -6.97979048e-01 -3.01597156e-01 1.43754368e+02] [ 6.24023715e-01 7.15958477e-01 -3.13046102e-01 1.09778579e+02] [ 4.34430661e-01 1.51230760e-02 9.00578311e-01 9.67172943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.77, Y:109.79, Z:96.73 [[ 6.52781162e-01 -6.94729631e-01 -3.02038896e-01 1.43773353e+02] [ 6.20087207e-01 7.19057343e-01 -3.13764870e-01 1.09794399e+02] [ 4.35165039e-01 1.75293410e-02 9.00180044e-01 9.67286642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.2071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.79, Y:109.81, Z:96.74 [[ 6.55206752e-01 -6.92486666e-01 -3.01937625e-01 1.43792773e+02] [ 6.17598327e-01 7.21176898e-01 -3.13809160e-01 1.09810986e+02] [ 4.35059098e-01 1.91337084e-02 9.00198579e-01 9.67402188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.81, Y:109.82, Z:96.75 [[ 6.60557798e-01 -6.88037982e-01 -3.00444888e-01 1.43813238e+02] [ 6.13370510e-01 7.25336617e-01 -3.12511455e-01 1.09824252e+02] [ 4.32943429e-01 2.21478445e-02 9.01148967e-01 9.67520029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.2671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.83, Y:109.84, Z:96.76 [[ 6.62557964e-01 -6.86556148e-01 -2.99428789e-01 1.43832253e+02] [ 6.12196278e-01 7.26707768e-01 -3.11627240e-01 1.09840212e+02] [ 4.31546825e-01 2.31619200e-02 9.01793138e-01 9.67642330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.86, Y:109.85, Z:96.78 [[ 6.65454731e-01 -6.84838708e-01 -2.96927506e-01 1.43856135e+02] [ 6.11506692e-01 7.28291558e-01 -3.09274912e-01 1.09852634e+02] [ 4.28053228e-01 2.42352966e-02 9.03428517e-01 9.67765285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.3271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.88, Y:109.87, Z:96.79 [[ 6.65584217e-01 -6.85228435e-01 -2.95735766e-01 1.43876701e+02] [ 6.12435932e-01 7.27930360e-01 -3.08284967e-01 1.09866099e+02] [ 4.26520668e-01 2.40703989e-02 9.04157473e-01 9.67880965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.90, Y:109.88, Z:96.80 [[ 6.62381755e-01 -6.88352495e-01 -2.95670851e-01 1.43901866e+02] [ 6.15821853e-01 7.25037485e-01 -3.08357084e-01 1.09875969e+02] [ 4.26630819e-01 2.21695351e-02 9.04154111e-01 9.68000595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.3871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.93, Y:109.89, Z:96.81 [[ 6.58428005e-01 -6.91208666e-01 -2.97830726e-01 1.43927358e+02] [ 6.17760995e-01 7.22361025e-01 -3.10750548e-01 1.09886778e+02] [ 4.29934780e-01 2.06186580e-02 9.02624482e-01 9.68115829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.95, Y:109.90, Z:96.82 [[ 6.57473847e-01 -6.91967236e-01 -2.98176935e-01 1.43948704e+02] [ 6.18295927e-01 7.21642114e-01 -3.11356398e-01 1.09901783e+02] [ 4.30625460e-01 2.03471040e-02 9.02301340e-01 9.68232021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.4471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.97, Y:109.91, Z:96.84 [[ 6.58370905e-01 -6.90628223e-01 -2.99299865e-01 1.43973108e+02] [ 6.16114874e-01 7.22889601e-01 -3.12782812e-01 1.09912764e+02] [ 4.32377398e-01 2.15240039e-02 9.01435801e-01 9.68357771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.99, Y:109.94, Z:96.84 [[ 6.61256580e-01 -7.01999182e-01 -2.64455827e-01 1.43991101e+02] [ 6.17572573e-01 7.09555937e-01 -3.39314735e-01 1.09939681e+02] [ 4.25844869e-01 6.10534354e-02 9.02733973e-01 9.68362339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.5071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.02, Y:109.93, Z:96.86 [[ 6.61312780e-01 -6.73474584e-01 -3.30298943e-01 1.44022779e+02] [ 6.10591684e-01 7.39086236e-01 -2.84480810e-01 1.09933935e+02] [ 4.35709998e-01 -1.35469919e-02 8.99985154e-01 9.68637392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.04, Y:109.96, Z:96.87 [[ 6.63531998e-01 -6.85593885e-01 -2.99476731e-01 1.44037172e+02] [ 6.10206727e-01 7.27543657e-01 -3.13572921e-01 1.09956720e+02] [ 4.32866073e-01 2.53229509e-02 9.01102497e-01 9.68727717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.56710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.06, Y:109.97, Z:96.89 [[ 6.64172741e-01 -6.84494335e-01 -3.00569584e-01 1.44061628e+02] [ 6.08294854e-01 7.28541531e-01 -3.14967631e-01 1.09968355e+02] [ 4.34570984e-01 2.63579837e-02 9.00251807e-01 9.68852748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.5971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.08, Y:109.98, Z:96.90 [[ 6.63323929e-01 -6.85025266e-01 -3.01233714e-01 1.44082817e+02] [ 6.08398007e-01 7.28045008e-01 -3.15915070e-01 1.09983985e+02] [ 4.35721507e-01 2.62840344e-02 8.99697682e-01 9.68968265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.62710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.11, Y:110.00, Z:96.91 [[ 6.61711541e-01 -6.86059528e-01 -3.02423811e-01 1.44105458e+02] [ 6.08766333e-01 7.27083069e-01 -3.17417332e-01 1.09997266e+02] [ 4.37654418e-01 2.59332776e-02 8.98769201e-01 9.69078872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.6571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.13, Y:110.01, Z:96.92 [[ 6.58094850e-01 -6.89310172e-01 -3.02923515e-01 1.44127985e+02] [ 6.11942190e-01 7.24067512e-01 -3.18202756e-01 1.10012110e+02] [ 4.38677472e-01 2.40359161e-02 8.98323077e-01 9.69182898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.68710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.15, Y:110.03, Z:96.93 [[ 6.54735469e-01 -6.92225200e-01 -3.03555165e-01 1.44147920e+02] [ 6.14682791e-01 7.21335333e-01 -3.19124433e-01 1.10026916e+02] [ 4.39871041e-01 2.23519487e-02 8.97782746e-01 9.69295081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.17, Y:110.04, Z:96.94 [[ 6.45859195e-01 -6.99510129e-01 -3.05861864e-01 1.44171470e+02] [ 6.21383785e-01 7.14402565e-01 -3.21731512e-01 1.10037835e+02] [ 4.43562952e-01 1.77356526e-02 8.96067717e-01 9.69406764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.74710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.19, Y:110.05, Z:96.95 [[ 6.41528065e-01 -7.03355686e-01 -3.06157675e-01 1.44192303e+02] [ 6.25369223e-01 7.10673797e-01 -3.22267109e-01 1.10053406e+02] [ 4.44246640e-01 1.52818071e-02 8.95774184e-01 9.69524113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7771056809999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:144.21, Y:110.07, Z:96.97 [[ 6.32936893e-01 -7.15699853e-01 -2.95236534e-01 1.44210702e+02] [ 6.31466229e-01 6.97866769e-01 -3.37982801e-01 1.10068112e+02] [ 4.47930007e-01 2.74898832e-02 8.93645911e-01 9.69659232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.80710568099994 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:144.23, Y:110.08, Z:96.98 [[ 6.29059466e-01 -7.09983366e-01 -3.16556169e-01 1.44234226e+02] [ 6.38703188e-01 7.04182745e-01 -3.10136903e-01 1.10079565e+02] [ 4.43105434e-01 -7.09087942e-03 8.96441461e-01 9.69813432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8371056809999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:144.25, Y:110.10, Z:96.99 [[ 6.21740144e-01 -7.22292266e-01 -3.02874685e-01 1.44252793e+02] [ 6.47830313e-01 6.91583835e-01 -3.19417727e-01 1.10097563e+02] [ 4.40176190e-01 2.38342134e-03 8.97908259e-01 9.69926091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.86710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.27, Y:110.12, Z:97.01 [[ 6.17626715e-01 -7.26072087e-01 -3.02252485e-01 1.44271166e+02] [ 6.52232258e-01 6.87618581e-01 -3.19020013e-01 1.10115143e+02] [ 4.39465952e-01 -1.03537461e-04 8.98259242e-01 9.70053851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8971056809999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:144.29, Y:110.13, Z:97.02 [[ 6.08469772e-01 -7.37691113e-01 -2.92534371e-01 1.44289982e+02] [ 6.57620183e-01 6.75046827e-01 -3.34436057e-01 1.10133075e+02] [ 4.44184906e-01 1.11177246e-02 8.95866154e-01 9.70164408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.92710568099994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:144.31, Y:110.14, Z:97.03 [[ 6.02091698e-01 -7.34616657e-01 -3.12768213e-01 1.44312510e+02] [ 6.67885277e-01 6.78053329e-01 -3.06876100e-01 1.10143654e+02] [ 4.37509823e-01 -2.41257325e-02 8.98889929e-01 9.70331325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.9571056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:144.33, Y:110.16, Z:97.04 [[ 5.98398336e-01 -7.42617729e-01 -3.00729680e-01 1.44326917e+02] [ 6.71133713e-01 6.69617230e-01 -3.18107378e-01 1.10164853e+02] [ 4.37605954e-01 -1.14749007e-02 8.99093630e-01 9.70422959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.98710568099995 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:144.34, Y:110.19, Z:97.05 [[ 5.91321711e-01 -7.48052733e-01 -3.01256938e-01 1.44342044e+02] [ 6.76828945e-01 6.63462760e-01 -3.18935330e-01 1.10185692e+02] [ 4.38453205e-01 -1.53060301e-02 8.98623677e-01 9.70537251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.0171056809999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:144.36, Y:110.20, Z:97.07 [[ 5.88765280e-01 -7.50113224e-01 -3.01140491e-01 1.44357327e+02] [ 6.79077382e-01 6.61099917e-01 -3.19062390e-01 1.10204469e+02] [ 4.38416872e-01 -1.66448389e-02 8.98617603e-01 9.70650103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.04710568099995 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:144.37, Y:110.23, Z:97.08 [[ 5.82123559e-01 -7.55100741e-01 -3.01587521e-01 1.44371029e+02] [ 6.84372337e-01 6.55295049e-01 -3.19723165e-01 1.10225973e+02] [ 4.39052008e-01 -2.02797700e-02 8.98232746e-01 9.70779646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.0771056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.38, Y:110.26, Z:97.08 [[ 5.76574637e-01 -7.68151010e-01 -2.78398480e-01 1.44380039e+02] [ 6.93595037e-01 6.40262816e-01 -3.30135505e-01 1.10257304e+02] [ 4.31842116e-01 -2.74804490e-03 9.01945029e-01 9.70818928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.10710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.39, Y:110.27, Z:97.10 [[ 5.68958119e-01 -7.62591246e-01 -3.07800666e-01 1.44393572e+02] [ 6.92917558e-01 6.46126531e-01 -3.19977755e-01 1.10273251e+02] [ 4.42890412e-01 -3.12265446e-02 8.96031800e-01 9.71044484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.1371056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:144.41, Y:110.30, Z:97.11 [[ 5.67046288e-01 -7.64144741e-01 -3.07475726e-01 1.44405652e+02] [ 6.95491898e-01 6.44182057e-01 -3.18308810e-01 1.10295055e+02] [ 4.41304349e-01 -3.33510473e-02 8.96737520e-01 9.71145393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.16710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.41, Y:110.32, Z:97.13 [[ 5.62972451e-01 -7.66153929e-01 -3.09951893e-01 1.44413925e+02] [ 7.02946343e-01 6.41114112e-01 -3.07959631e-01 1.10321844e+02] [ 4.34659013e-01 -4.45067613e-02 8.99494686e-01 9.71253981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.1971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.42, Y:110.35, Z:97.14 [[ 5.58535107e-01 -7.74112988e-01 -2.97972507e-01 1.44418025e+02] [ 7.07108930e-01 6.32147990e-01 -3.16837310e-01 1.10354157e+02] [ 4.33630598e-01 -3.37342599e-02 9.00459052e-01 9.71356427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.22710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.43, Y:110.38, Z:97.15 [[ 5.56537123e-01 -7.75526322e-01 -2.98035827e-01 1.44428180e+02] [ 7.08556106e-01 6.30362888e-01 -3.17160645e-01 1.10378160e+02] [ 4.33837153e-01 -3.46634321e-02 9.00324259e-01 9.71466340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.2571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.43, Y:110.42, Z:97.14 [[ 5.53967976e-01 -7.95457591e-01 -2.45696365e-01 1.44426580e+02] [ 7.10064252e-01 6.05508291e-01 -3.59400150e-01 1.10423777e+02] [ 4.34658763e-01 2.46359682e-02 9.00258201e-01 9.71436885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.45, Y:110.45, Z:97.15 [[ 5.56421372e-01 -7.87385866e-01 -2.65365323e-01 1.44447696e+02] [ 7.13740911e-01 6.16444893e-01 -3.32520084e-01 1.10449412e+02] [ 4.25404713e-01 -4.38080612e-03 9.04992618e-01 9.71519883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.47, Y:110.46, Z:97.17 [[ 5.56745417e-01 -7.78991437e-01 -2.88456030e-01 1.44470373e+02] [ 7.13811375e-01 6.26249789e-01 -3.13503627e-01 1.10463278e+02] [ 4.24862169e-01 -3.13614883e-02 9.04714648e-01 9.71676745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.3471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.48, Y:110.50, Z:97.18 [[ 5.54388641e-01 -7.79921577e-01 -2.90474729e-01 1.44475567e+02] [ 7.15422241e-01 6.24921445e-01 -3.12480726e-01 1.10495517e+02] [ 4.25234349e-01 -3.45763166e-02 9.04422593e-01 9.71805584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.37710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.48, Y:110.52, Z:97.19 [[ 5.53643660e-01 -7.79465136e-01 -2.93108852e-01 1.44479696e+02] [ 7.15736161e-01 6.25314904e-01 -3.10971090e-01 1.10520802e+02] [ 4.25676457e-01 -3.76214323e-02 9.04093016e-01 9.71947116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.4071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.49, Y:110.54, Z:97.20 [[ 5.53737890e-01 -7.74542573e-01 -3.05709262e-01 1.44490868e+02] [ 7.17625772e-01 6.30113170e-01 -2.96598456e-01 1.10543910e+02] [ 4.22359563e-01 -5.51470422e-02 9.04749249e-01 9.72044142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.43710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.49, Y:110.58, Z:97.22 [[ 5.55783051e-01 -7.81340275e-01 -2.83923537e-01 1.44489611e+02] [ 7.11611343e-01 6.23706973e-01 -3.23417545e-01 1.10582270e+02] [ 4.29784243e-01 -2.22932197e-02 9.02656367e-01 9.72221420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.4671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.49, Y:110.61, Z:97.24 [[ 5.64310469e-01 -7.73648449e-01 -2.88134988e-01 1.44492461e+02] [ 7.02538543e-01 6.33321987e-01 -3.24565644e-01 1.10610815e+02] [ 4.33581930e-01 -1.92701438e-02 9.00908082e-01 9.72364349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.50, Y:110.63, Z:97.25 [[ 5.69860198e-01 -7.65095734e-01 -2.99813062e-01 1.44504673e+02] [ 6.98860543e-01 6.43160745e-01 -3.12950792e-01 1.10631310e+02] [ 4.32265308e-01 -3.11893192e-02 9.01206930e-01 9.72489742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.51, Y:110.65, Z:97.28 [[ 5.73677678e-01 -7.40885167e-01 -3.49260777e-01 1.44507122e+02] [ 6.87174571e-01 6.67391886e-01 -2.87017735e-01 1.10651300e+02] [ 4.45740991e-01 -7.53474569e-02 8.91985274e-01 9.72758878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.51, Y:110.68, Z:97.29 [[ 5.79365107e-01 -7.49603352e-01 -3.20048259e-01 1.44511461e+02] [ 6.84032300e-01 6.60689717e-01 -3.09174561e-01 1.10684181e+02] [ 4.43210881e-01 -3.97983941e-02 8.95533474e-01 9.72869780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5871056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:144.51, Y:110.72, Z:97.30 [[ 5.91989389e-01 -7.47234178e-01 -3.01976235e-01 1.44510608e+02] [ 6.68035864e-01 6.64551469e-01 -3.34812530e-01 1.10715560e+02] [ 4.50862116e-01 -3.52548923e-03 8.92586647e-01 9.72973943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:144.52, Y:110.74, Z:97.31 [[ 5.96289312e-01 -7.42963935e-01 -3.04045469e-01 1.44522900e+02] [ 6.63725707e-01 6.69325932e-01 -3.33872704e-01 1.10736872e+02] [ 4.51560895e-01 -2.71806898e-03 8.92236163e-01 9.73087112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.6471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.53, Y:110.76, Z:97.32 [[ 5.99870423e-01 -7.41270323e-01 -3.01120880e-01 1.44529034e+02] [ 6.59938562e-01 6.71195861e-01 -3.37605110e-01 1.10763932e+02] [ 4.52367737e-01 3.79803922e-03 8.91823416e-01 9.73234105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:144.54, Y:110.79, Z:97.33 [[ 5.99855702e-01 -7.39385656e-01 -3.05748244e-01 1.44538079e+02] [ 6.61076622e-01 6.73273247e-01 -3.31180970e-01 1.10788579e+02] [ 4.50722571e-01 -3.46222310e-03 8.92657368e-01 9.73323313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.7071056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:144.55, Y:110.82, Z:97.34 [[ 5.96414864e-01 -7.51829571e-01 -2.81143391e-01 1.44550076e+02] [ 6.67064279e-01 6.59065236e-01 -3.47358982e-01 1.10820883e+02] [ 4.46446589e-01 1.96293463e-02 8.94594954e-01 9.73428883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73710568099995 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:144.57, Y:110.84, Z:97.35 [[ 5.94212996e-01 -7.45385984e-01 -3.02176522e-01 1.44572044e+02] [ 6.68412982e-01 6.66606803e-01 -3.29938563e-01 1.10839340e+02] [ 4.47364506e-01 -5.92492765e-03 8.94332094e-01 9.73516112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.7671056809999 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:144.59, Y:110.85, Z:97.37 [[ 5.88541667e-01 -7.41874305e-01 -3.21311720e-01 1.44585680e+02] [ 6.65410465e-01 6.70229481e-01 -3.28666025e-01 1.10851838e+02] [ 4.59181466e-01 -2.03705308e-02 8.88108903e-01 9.73696866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79710568099995 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:144.61, Y:110.87, Z:97.38 [[ 5.87443789e-01 -7.43124259e-01 -3.20431163e-01 1.44605280e+02] [ 6.70409382e-01 6.68653075e-01 -3.21643166e-01 1.10874081e+02] [ 4.53278122e-01 -2.58727784e-02 8.90993571e-01 9.73811368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.8271056809999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:144.61, Y:110.89, Z:97.40 [[ 5.90410479e-01 -7.49777886e-01 -2.98745022e-01 1.44609023e+02] [ 6.65093584e-01 6.61665020e-01 -3.46193480e-01 1.10894479e+02] [ 4.57237346e-01 5.70286060e-03 8.89326423e-01 9.73979047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85710568099995 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:144.63, Y:110.92, Z:97.41 [[ 5.92162930e-01 -7.41807792e-01 -3.14744760e-01 1.44628303e+02] [ 6.67908411e-01 6.70349868e-01 -3.23310082e-01 1.10919103e+02] [ 4.50823046e-01 -1.87684268e-02 8.92416006e-01 9.74088240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.8871056809999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:144.64, Y:110.94, Z:97.42 [[ 5.93577342e-01 -7.43889685e-01 -3.07073405e-01 1.44641932e+02] [ 6.67152917e-01 6.68235428e-01 -3.29193559e-01 1.10939369e+02] [ 4.50081021e-01 -9.46307991e-03 8.92937582e-01 9.74222642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91710568099995 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:144.66, Y:110.96, Z:97.43 [[ 5.93712662e-01 -7.43833065e-01 -3.06948933e-01 1.44657311e+02] [ 6.67021974e-01 6.68301880e-01 -3.29323980e-01 1.10958581e+02] [ 4.50096614e-01 -9.21786619e-03 8.92932287e-01 9.74331839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.9471056809999 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:144.67, Y:110.98, Z:97.44 [[ 5.92450186e-01 -7.44444699e-01 -3.07903991e-01 1.44673129e+02] [ 6.67127389e-01 6.67615027e-01 -3.30501471e-01 1.10978560e+02] [ 4.51601399e-01 -9.60552752e-03 8.92168095e-01 9.74439555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97710568099995 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:144.69, Y:111.00, Z:97.45 [[ 5.89965725e-01 -7.45951854e-01 -3.09024714e-01 1.44689482e+02] [ 6.68093145e-01 6.65915469e-01 -3.31976109e-01 1.10999576e+02] [ 4.53422532e-01 -1.06027672e-02 8.91232623e-01 9.74519363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.0071056809999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:144.71, Y:111.02, Z:97.46 [[ 5.88755121e-01 -7.46543216e-01 -3.09904233e-01 1.44705813e+02] [ 6.68195003e-01 6.65246711e-01 -3.33109968e-01 1.11018654e+02] [ 4.54843759e-01 -1.09562602e-02 8.90503855e-01 9.74645901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03710568099996 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:144.72, Y:111.04, Z:97.48 [[ 5.90991099e-01 -7.45358199e-01 -3.08497450e-01 1.44716645e+02] [ 6.67473381e-01 6.66592386e-01 -3.31864245e-01 1.11040627e+02] [ 4.52999787e-01 -9.78502121e-03 8.91456923e-01 9.74800639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.06710568099993 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:144.73, Y:111.06, Z:97.50 [[ 5.98729925e-01 -7.40271289e-01 -3.05811864e-01 1.44725362e+02] [ 6.63051808e-01 6.72284567e-01 -3.29235114e-01 1.11062319e+02] [ 4.49315899e-01 -5.64619412e-03 8.93355105e-01 9.74972304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.0971056809999 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:144.74, Y:111.08, Z:97.51 [[ 6.04518138e-01 -7.36782685e-01 -3.02835096e-01 1.44740182e+02] [ 6.57635485e-01 6.76127554e-01 -3.32215442e-01 1.11079700e+02] [ 4.49525738e-01 1.67515473e-03 8.93265809e-01 9.75105218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.12710568099993 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:144.76, Y:111.10, Z:97.52 [[ 6.10009378e-01 -7.31335221e-01 -3.05020250e-01 1.44761922e+02] [ 6.53180376e-01 6.82016679e-01 -3.28950827e-01 1.11098893e+02] [ 4.48602224e-01 1.42984783e-03 8.93730385e-01 9.75212491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.1571056809999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:144.78, Y:111.12, Z:97.53 [[ 6.12936370e-01 -7.28942030e-01 -3.04881163e-01 1.44778005e+02] [ 6.50755534e-01 6.84569207e-01 -3.28454313e-01 1.11116833e+02] [ 4.48136410e-01 2.91849033e-03 8.93960425e-01 9.75338033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.18710568099993 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:144.79, Y:111.14, Z:97.55 [[ 6.18769099e-01 -7.24241652e-01 -3.04300561e-01 1.44791294e+02] [ 6.45752994e-01 6.89516171e-01 -3.27979453e-01 1.11138123e+02] [ 4.47356538e-01 6.44055195e-03 8.94332515e-01 9.75476313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2171056809999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:144.81, Y:111.16, Z:97.56 [[ 6.21949696e-01 -7.22573211e-01 -3.01772316e-01 1.44806067e+02] [ 6.41063427e-01 6.91150956e-01 -3.33688534e-01 1.11156255e+02] [ 4.49684620e-01 1.40822879e-02 8.93076386e-01 9.75598830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.24710568099994 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:144.82, Y:111.17, Z:97.57 [[ 6.26867356e-01 -7.17129069e-01 -3.04570542e-01 1.44824339e+02] [ 6.34842331e-01 6.96757365e-01 -3.33922729e-01 1.11171029e+02] [ 4.51677465e-01 1.59709855e-02 8.92038337e-01 9.75699578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2771056809999 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:144.84, Y:111.19, Z:97.59 [[ 6.26613008e-01 -7.22510552e-01 -2.92120936e-01 1.44837292e+02] [ 6.32580805e-01 6.90470674e-01 -3.50844373e-01 1.11190935e+02] [ 4.55189701e-01 3.50535509e-02 8.89704212e-01 9.75873003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.30710568099994 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:144.87, Y:111.21, Z:97.59 [[ 6.26891954e-01 -7.12236352e-01 -3.15794011e-01 1.44867675e+02] [ 6.35199092e-01 7.01938361e-01 -3.22187293e-01 1.11207847e+02] [ 4.51141433e-01 1.38455235e-03 8.92451394e-01 9.75927533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3371056809999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:144.88, Y:111.22, Z:97.61 [[ 6.26026610e-01 -7.22312024e-01 -2.93863954e-01 1.44881819e+02] [ 6.31964103e-01 6.90715164e-01 -3.51473946e-01 1.11221201e+02] [ 4.56850146e-01 3.43205728e-02 8.88881343e-01 9.76132215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.36710568099994 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:144.91, Y:111.23, Z:97.62 [[ 6.25418891e-01 -7.13123195e-01 -3.16712045e-01 1.44907301e+02] [ 6.34678237e-01 7.01034778e-01 -3.25167304e-01 1.11233221e+02] [ 4.53910505e-01 2.35553250e-03 8.91044166e-01 9.76193316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3971056809999 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:144.92, Y:111.25, Z:97.64 [[ 6.17764421e-01 -7.28400402e-01 -2.96310607e-01 1.44923108e+02] [ 6.38788424e-01 6.84594574e-01 -3.51111973e-01 1.11250688e+02] [ 4.58602736e-01 2.76246991e-02 8.88211915e-01 9.76414665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.42710568099994 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:144.95, Y:111.27, Z:97.65 [[ 6.14399131e-01 -7.22301109e-01 -3.17481993e-01 1.44952204e+02] [ 6.45254001e-01 6.91557671e-01 -3.24646365e-01 1.11265584e+02] [ 4.54049537e-01 -5.39408225e-03 8.90960113e-01 9.76486399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.4571056809999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:144.97, Y:111.28, Z:97.66 [[ 6.09614866e-01 -7.30821044e-01 -3.07034715e-01 1.44973517e+02] [ 6.50577434e-01 6.82561503e-01 -3.32954647e-01 1.11278751e+02] [ 4.52900339e-01 3.22424518e-03 8.91555319e-01 9.76622393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.48710568099995 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:144.99, Y:111.30, Z:97.67 [[ 6.07610582e-01 -7.32584035e-01 -3.06806148e-01 1.44993066e+02] [ 6.52535637e-01 6.80673281e-01 -3.32988180e-01 1.11295206e+02] [ 4.52776572e-01 2.12519653e-03 8.91621478e-01 9.76745653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.5171056809999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:145.01, Y:111.31, Z:97.69 [[ 6.06333238e-01 -7.33892214e-01 -3.06206176e-01 1.45014027e+02] [ 6.54192961e-01 6.79264587e-01 -3.32612674e-01 1.11307775e+02] [ 4.52096864e-01 1.35619468e-03 8.91967817e-01 9.76871511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.54710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.03, Y:111.33, Z:97.70 [[ 6.05665512e-01 -7.38683319e-01 -2.95831443e-01 1.45031215e+02] [ 6.54470929e-01 6.73906943e-01 -3.42807870e-01 1.11327315e+02] [ 4.52589319e-01 1.40138251e-02 8.91608951e-01 9.77023257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.5771056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:145.06, Y:111.34, Z:97.71 [[ 6.07506646e-01 -7.28207159e-01 -3.17253854e-01 1.45056743e+02] [ 6.53774867e-01 6.85244460e-01 -3.20964880e-01 1.11337766e+02] [ 4.51125369e-01 -1.24242987e-02 8.92374102e-01 9.77120308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.60710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:145.08, Y:111.35, Z:97.73 [[ 6.09150378e-01 -7.31724636e-01 -3.05802017e-01 1.45075783e+02] [ 6.51720736e-01 6.81592035e-01 -3.32704645e-01 1.11351254e+02] [ 4.51880404e-01 3.36964440e-03 8.92072164e-01 9.77259547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.6371056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:145.10, Y:111.37, Z:97.74 [[ 6.10279661e-01 -7.30905495e-01 -3.05509237e-01 1.45095318e+02] [ 6.50889667e-01 6.82466437e-01 -3.32539026e-01 1.11367068e+02] [ 4.51554401e-01 4.08899819e-03 8.92234220e-01 9.77390920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.66710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.11, Y:111.39, Z:97.74 [[ 6.15393301e-01 -7.48443669e-01 -2.47230982e-01 1.45106082e+02] [ 6.54552001e-01 6.59996247e-01 -3.68736535e-01 1.11394929e+02] [ 4.39150046e-01 6.50924598e-02 8.96052571e-01 9.77437517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.6971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.14, Y:111.39, Z:97.76 [[ 6.11981878e-01 -7.13298794e-01 -3.41588953e-01 1.45143476e+02] [ 6.49804778e-01 6.99703410e-01 -2.96932466e-01 1.11394275e+02] [ 4.50812524e-01 -4.02488455e-02 8.91710771e-01 9.77596171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.72710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.16, Y:111.41, Z:97.77 [[ 6.15385377e-01 -7.25180706e-01 -3.08891213e-01 1.45157104e+02] [ 6.49385738e-01 6.88555828e-01 -3.22783264e-01 1.11411713e+02] [ 4.46765040e-01 -1.95344810e-03 8.94649195e-01 9.77748930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.7571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.18, Y:111.42, Z:97.78 [[ 6.20036050e-01 -7.21366716e-01 -3.08521243e-01 1.45176414e+02] [ 6.46172985e-01 6.92553089e-01 -3.20672252e-01 1.11423665e+02] [ 4.44989630e-01 -5.29735941e-04 8.95535565e-01 9.77843219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.19, Y:111.44, Z:97.80 [[ 6.23349382e-01 -7.30230463e-01 -2.79640875e-01 1.45193363e+02] [ 6.41504825e-01 6.82060290e-01 -3.51091612e-01 1.11443579e+02] [ 4.47109727e-01 3.94617690e-02 8.93608226e-01 9.77998453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.81710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.22, Y:111.46, Z:97.81 [[ 6.29881619e-01 -7.21853796e-01 -2.86663990e-01 1.45219118e+02] [ 6.38585660e-01 6.91405015e-01 -3.37886757e-01 1.11458881e+02] [ 4.42105758e-01 2.97691440e-02 8.96468793e-01 9.78107265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.8471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.24, Y:111.47, Z:97.81 [[ 6.37574039e-01 -7.19939119e-01 -2.74202498e-01 1.45236995e+02] [ 6.36049700e-01 6.92745999e-01 -3.39917283e-01 1.11474897e+02] [ 4.34672433e-01 4.23160188e-02 8.99593925e-01 9.78121992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.87710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.27, Y:111.48, Z:97.84 [[ 6.37294095e-01 -7.01082141e-01 -3.19906342e-01 1.45265518e+02] [ 6.25880023e-01 7.13079679e-01 -3.15898036e-01 1.11481941e+02] [ 4.49589183e-01 1.09696420e-03 8.93234775e-01 9.78364356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.9071056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:145.28, Y:111.50, Z:97.85 [[ 6.38602926e-01 -7.06264347e-01 -3.05576464e-01 1.45282754e+02] [ 6.25643595e-01 7.07708784e-01 -3.28204766e-01 1.11502257e+02] [ 4.48058472e-01 1.84105660e-02 8.93814666e-01 9.78497503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.93710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.31, Y:111.52, Z:97.86 [[ 6.39295627e-01 -7.06670296e-01 -3.03180135e-01 1.45306589e+02] [ 6.24786998e-01 7.07196557e-01 -3.30929352e-01 1.11515899e+02] [ 4.48265891e-01 2.21386816e-02 8.93626079e-01 9.78600484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.9671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.33, Y:111.53, Z:97.87 [[ 6.39426437e-01 -7.08159042e-01 -2.99407086e-01 1.45325409e+02] [ 6.21884939e-01 7.05357482e-01 -3.40191042e-01 1.11530679e+02] [ 4.52098391e-01 3.13303883e-02 8.91417664e-01 9.78737430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.35, Y:111.55, Z:97.88 [[ 6.38592979e-01 -7.06625985e-01 -3.04760110e-01 1.45348515e+02] [ 6.23659472e-01 7.07227036e-01 -3.32984657e-01 1.11547287e+02] [ 4.50830200e-01 2.25751345e-02 8.92324209e-01 9.78839713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.38, Y:111.56, Z:97.89 [[ 6.38666056e-01 -7.02977709e-01 -3.12934512e-01 1.45375368e+02] [ 6.22559906e-01 7.11076287e-01 -3.26786901e-01 1.11558775e+02] [ 4.52244218e-01 1.38872212e-02 8.91786024e-01 9.78933597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05710568099994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:145.39, Y:111.58, Z:97.90 [[ 6.43271059e-01 -7.21358189e-01 -2.56602237e-01 1.45391209e+02] [ 6.24027551e-01 6.88156098e-01 -3.70176715e-01 1.11584291e+02] [ 4.43612399e-01 7.79971018e-02 8.92818286e-01 9.78971698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0871056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:145.43, Y:111.58, Z:97.92 [[ 6.39882706e-01 -6.88032514e-01 -3.42288450e-01 1.45425188e+02] [ 6.19356888e-01 7.25408529e-01 -3.00299037e-01 1.11578101e+02] [ 4.54914462e-01 -1.98425490e-02 8.90314049e-01 9.79220439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.44, Y:111.60, Z:97.93 [[ 6.45931079e-01 -7.02228723e-01 -2.99412528e-01 1.45441775e+02] [ 6.15781686e-01 7.11099609e-01 -3.39337976e-01 1.11597400e+02] [ 4.51205005e-01 3.48161941e-02 8.91740925e-01 9.79348268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.1471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.46, Y:111.62, Z:97.94 [[ 6.50790470e-01 -7.10055999e-01 -2.68872168e-01 1.45461798e+02] [ 6.15410982e-01 7.00714802e-01 -3.60926709e-01 1.11622362e+02] [ 4.44680883e-01 6.94207773e-02 8.92994775e-01 9.79385551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:145.50, Y:111.63, Z:97.95 [[ 6.50733225e-01 -6.92989092e-01 -3.10342372e-01 1.45495634e+02] [ 6.07939160e-01 7.20381244e-01 -3.33857517e-01 1.11626196e+02] [ 4.54924442e-01 2.85828981e-02 8.90071216e-01 9.79548056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.2071056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:145.51, Y:111.65, Z:97.97 [[ 6.50427082e-01 -6.94912521e-01 -3.06661376e-01 1.45511114e+02] [ 6.07956743e-01 7.18309981e-01 -3.38259323e-01 1.11645260e+02] [ 4.55338566e-01 3.35761731e-02 8.89685018e-01 9.79676623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.54, Y:111.66, Z:97.98 [[ 6.52035432e-01 -6.94195769e-01 -3.04863952e-01 1.45537523e+02] [ 6.06432798e-01 7.18849422e-01 -3.39845214e-01 1.11655880e+02] [ 4.55070386e-01 3.67116215e-02 8.89698376e-01 9.79787777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.2671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.56, Y:111.67, Z:97.99 [[ 6.50826257e-01 -6.95545782e-01 -3.04370249e-01 1.45559163e+02] [ 6.05826622e-01 7.17396832e-01 -3.43970767e-01 1.11670854e+02] [ 4.57601669e-01 3.94696070e-02 8.88280847e-01 9.79948293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.59, Y:111.68, Z:98.01 [[ 6.48041105e-01 -6.92338440e-01 -3.17348721e-01 1.45585137e+02] [ 6.07632169e-01 7.21215276e-01 -3.32613399e-01 1.11676416e+02] [ 4.59157787e-01 2.27158625e-02 8.88064252e-01 9.80109060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.3271056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:145.60, Y:111.69, Z:98.03 [[ 6.46138095e-01 -6.96579280e-01 -3.11902017e-01 1.45603960e+02] [ 6.08143808e-01 7.16822963e-01 -3.41065901e-01 1.11691987e+02] [ 4.61157967e-01 3.06943915e-02 8.86787000e-01 9.80250725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35710568099995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:145.63, Y:111.70, Z:98.04 [[ 6.43675840e-01 -6.97867747e-01 -3.14105111e-01 1.45629684e+02] [ 6.09562130e-01 7.15679713e-01 -3.40934830e-01 1.11700895e+02] [ 4.62726077e-01 2.79849326e-02 8.86059491e-01 9.80411376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.3871056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:145.65, Y:111.71, Z:98.06 [[ 6.42468609e-01 -6.98749865e-01 -3.14615182e-01 1.45650348e+02] [ 6.10461825e-01 7.14854181e-01 -3.41056975e-01 1.11713887e+02] [ 4.63217494e-01 2.70578421e-02 8.85831489e-01 9.80554224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.67, Y:111.73, Z:98.07 [[ 6.36394100e-01 -7.12819426e-01 -2.94772820e-01 1.45670182e+02] [ 6.09687657e-01 6.98927691e-01 -3.73873031e-01 1.11734670e+02] [ 4.72528846e-01 5.82112409e-02 8.79390665e-01 9.80734318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.4471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.70, Y:111.74, Z:98.09 [[ 6.37273574e-01 -6.90602059e-01 -3.41981269e-01 1.45698751e+02] [ 6.11124124e-01 7.23223900e-01 -3.21674519e-01 1.11736189e+02] [ 4.69478112e-01 -3.99833347e-03 8.82935057e-01 9.80887583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.72, Y:111.75, Z:98.11 [[ 6.38656948e-01 -6.96856933e-01 -3.26355201e-01 1.45718713e+02] [ 6.11276761e-01 7.17065740e-01 -3.34899158e-01 1.11747444e+02] [ 4.67394934e-01 1.43923240e-02 8.83931466e-01 9.81057788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.5071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.74, Y:111.76, Z:98.12 [[ 6.33344846e-01 -7.08086635e-01 -3.12230082e-01 1.45737438e+02] [ 6.12383649e-01 7.05255952e-01 -3.57211852e-01 1.11763329e+02] [ 4.73139062e-01 3.50336886e-02 8.80290900e-01 9.81215044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.76, Y:111.77, Z:98.14 [[ 6.31503611e-01 -7.01491671e-01 -3.30322002e-01 1.45760856e+02] [ 6.15121722e-01 7.12609483e-01 -3.37361811e-01 1.11774921e+02] [ 4.72047091e-01 9.85696299e-03 8.81518227e-01 9.81372708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.56710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.78, Y:111.79, Z:98.15 [[ 6.24903881e-01 -7.14496661e-01 -3.14626222e-01 1.45780213e+02] [ 6.19629167e-01 6.99076156e-01 -3.56864433e-01 1.11791117e+02] [ 4.74926136e-01 2.80543856e-02 8.79578374e-01 9.81481642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.5971056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:145.81, Y:111.80, Z:98.16 [[ 6.18382898e-01 -7.13165206e-01 -3.30148424e-01 1.45806853e+02] [ 6.26825816e-01 7.00987750e-01 -3.40155217e-01 1.11798748e+02] [ 4.74016866e-01 3.40061371e-03 8.80509198e-01 9.81635828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.62710568099993 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:145.82, Y:111.82, Z:98.18 [[ 6.14572065e-01 -7.21722755e-01 -3.18461052e-01 1.45824022e+02] [ 6.30379246e-01 6.92010056e-01 -3.51772779e-01 1.11816971e+02] [ 4.74260670e-01 1.54384850e-02 8.80249095e-01 9.81752523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.6571056809999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:145.85, Y:111.83, Z:98.19 [[ 6.06288845e-01 -7.28706091e-01 -3.18435658e-01 1.45845720e+02] [ 6.41521937e-01 6.84806104e-01 -3.45673551e-01 1.11829654e+02] [ 4.69961105e-01 5.29455803e-03 8.82671245e-01 9.81897066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.68710568099993 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:145.86, Y:111.85, Z:98.20 [[ 6.00026672e-01 -7.38034263e-01 -3.08663927e-01 1.45862175e+02] [ 6.46645628e-01 6.74617631e-01 -3.56006298e-01 1.11847294e+02] [ 4.70974973e-01 1.40170954e-02 8.82035201e-01 9.82023044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7171056809999 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:145.89, Y:111.86, Z:98.22 [[ 5.87580655e-01 -7.41060319e-01 -3.24928571e-01 1.45885804e+02] [ 6.58559742e-01 6.71289399e-01 -3.40102352e-01 1.11856520e+02] [ 4.70157463e-01 -1.41473132e-02 8.82469157e-01 9.82204079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.74710568099994 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:145.90, Y:111.87, Z:98.24 [[ 5.73504187e-01 -7.48757774e-01 -3.32347323e-01 1.45902763e+02] [ 6.68464303e-01 6.62250649e-01 -3.38496017e-01 1.11869006e+02] [ 4.73548754e-01 -2.80334388e-02 8.80321364e-01 9.82392622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7771056809999 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:145.92, Y:111.89, Z:98.25 [[ 5.68688174e-01 -7.59039639e-01 -3.16942560e-01 1.45917394e+02] [ 6.72755130e-01 6.50910613e-01 -3.51732724e-01 1.11890162e+02] [ 4.73280356e-01 -1.31984929e-02 8.80812979e-01 9.82480743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.80710568099994 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:145.93, Y:111.91, Z:98.26 [[ 5.57952715e-01 -7.68163732e-01 -3.14027464e-01 1.45933733e+02] [ 6.80197913e-01 6.40094057e-01 -3.57225976e-01 1.11911777e+02] [ 4.75415152e-01 -1.42856228e-02 8.79645584e-01 9.82639269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8371056809999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:145.95, Y:111.92, Z:98.28 [[ 5.58274285e-01 -7.63400372e-01 -3.24884126e-01 1.45949531e+02] [ 6.81945854e-01 6.45260610e-01 -3.44366951e-01 1.11924984e+02] [ 4.72524787e-01 -2.93021694e-02 8.80830125e-01 9.82769721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.86710568099994 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:145.96, Y:111.95, Z:98.29 [[ 5.55131172e-01 -7.69280972e-01 -3.16284947e-01 1.45961634e+02] [ 6.84484396e-01 6.38557900e-01 -3.51745533e-01 1.11947797e+02] [ 4.72557397e-01 -2.12272011e-02 8.81044217e-01 9.82887506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8971056809999 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:145.98, Y:111.97, Z:98.30 [[ 5.53600802e-01 -7.70367651e-01 -3.16322358e-01 1.45976309e+02] [ 6.85559526e-01 6.37222027e-01 -3.52074174e-01 1.11968164e+02] [ 4.72794129e-01 -2.19492612e-02 8.80899507e-01 9.83020650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.92710568099994 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:145.99, Y:111.99, Z:98.32 [[ 5.48990162e-01 -7.75535869e-01 -3.11695233e-01 1.45985228e+02] [ 6.87172546e-01 6.31084993e-01 -3.59896684e-01 1.11993552e+02] [ 4.75818971e-01 -1.66086680e-02 8.79386410e-01 9.83159162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.9571056809999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:146.00, Y:112.01, Z:98.33 [[ 5.50429341e-01 -7.65847850e-01 -3.32422339e-01 1.46000752e+02] [ 6.89612417e-01 6.41495403e-01 -3.36033274e-01 1.12010443e+02] [ 4.70597763e-01 -4.42799992e-02 8.81236079e-01 9.83302811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.98710568099995 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:146.01, Y:112.04, Z:98.34 [[ 5.53451855e-01 -7.73361411e-01 -3.09197627e-01 1.46005290e+02] [ 6.83956111e-01 6.33859254e-01 -3.61146071e-01 1.12041519e+02] [ 4.75284212e-01 -1.16006437e-02 8.79755843e-01 9.83391071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.0171056809999 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:146.02, Y:112.08, Z:98.34 [[ 5.61728487e-01 -7.75394442e-01 -2.88486683e-01 1.46015037e+02] [ 6.79765250e-01 6.31331158e-01 -3.73282969e-01 1.12075823e+02] [ 4.71572171e-01 1.35804551e-02 8.81722892e-01 9.83426380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.04710568099995 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:146.03, Y:112.08, Z:98.37 [[ 5.62833067e-01 -7.51191859e-01 -3.44861900e-01 1.46029509e+02] [ 6.76911917e-01 6.58326448e-01 -3.29236305e-01 1.12081783e+02] [ 4.74351342e-01 -4.81360500e-02 8.79018615e-01 9.83714574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.0771056809999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:146.03, Y:112.12, Z:98.38 [[ 5.66491708e-01 -7.63477226e-01 -3.10144597e-01 1.46031256e+02] [ 6.72438596e-01 6.45824020e-01 -3.61576644e-01 1.12117528e+02] [ 4.76354363e-01 -3.72302672e-03 8.79245506e-01 9.83822487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.10710568099995 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:146.05, Y:112.15, Z:98.38 [[ 5.69824726e-01 -7.71454910e-01 -2.83120297e-01 1.46045133e+02] [ 6.76674028e-01 6.35974904e-01 -3.71009678e-01 1.12151261e+02] [ 4.66274642e-01 1.98303361e-02 8.84417727e-01 9.83847618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.1371056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:146.05, Y:112.17, Z:98.40 [[ 5.70117403e-01 -7.64937836e-01 -2.99726968e-01 1.46051573e+02] [ 6.72164006e-01 6.44068836e-01 -3.65199785e-01 1.12169163e+02] [ 4.72399932e-01 6.74107368e-03 8.81358532e-01 9.83976554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.16710568099995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:146.07, Y:112.19, Z:98.41 [[ 5.68385351e-01 -7.54993994e-01 -3.26989545e-01 1.46070165e+02] [ 6.77524374e-01 6.54981428e-01 -3.34604322e-01 1.12188200e+02] [ 4.66796332e-01 -3.13591917e-02 8.83808681e-01 9.84122109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.1971056809999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:146.08, Y:112.22, Z:98.42 [[ 5.61069771e-01 -7.66340565e-01 -3.12926269e-01 1.46077793e+02] [ 6.82367896e-01 6.42193721e-01 -3.49229551e-01 1.12217075e+02] [ 4.68588057e-01 -1.75886950e-02 8.83241683e-01 9.84221482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.22710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:146.09, Y:112.24, Z:98.44 [[ 5.53690906e-01 -7.75691312e-01 -3.02868567e-01 1.46087825e+02] [ 6.83907562e-01 6.31096745e-01 -3.66042820e-01 1.12240728e+02] [ 4.75075602e-01 -4.45952253e-03 8.79933682e-01 9.84364113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.2571056809999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:146.10, Y:112.25, Z:98.47 [[ 5.41741955e-01 -7.51430906e-01 -3.76652688e-01 1.46100128e+02] [ 6.95259155e-01 6.52420725e-01 -3.01598914e-01 1.12247577e+02] [ 4.72366765e-01 -9.84824443e-02 8.75882896e-01 9.84653534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.28710568099996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:146.09, Y:112.29, Z:98.48 [[ 5.31158299e-01 -7.91474699e-01 -3.02388263e-01 1.46092581e+02] [ 6.95849737e-01 6.11119605e-01 -3.77261146e-01 1.12290063e+02] [ 4.83388048e-01 -1.00314051e-02 8.75348711e-01 9.84767964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.10, Y:112.31, Z:98.49 [[ 5.27113942e-01 -7.85917346e-01 -3.23241113e-01 1.46100509e+02] [ 7.03341001e-01 6.16955662e-01 -3.53096512e-01 1.12314888e+02] [ 4.76930108e-01 -4.12266335e-02 8.77973824e-01 9.84917521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.3471056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:146.11, Y:112.34, Z:98.51 [[ 5.25313744e-01 -7.90168880e-01 -3.15719197e-01 1.46109289e+02] [ 7.03282730e-01 6.12049975e-01 -3.61646553e-01 1.12340024e+02] [ 4.78997778e-01 -3.20619543e-02 8.77230391e-01 9.85051189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.37710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.12, Y:112.37, Z:98.52 [[ 5.23674812e-01 -7.86337398e-01 -3.27777650e-01 1.46117529e+02] [ 7.07416873e-01 6.15757327e-01 -3.46993202e-01 1.12368821e+02] [ 4.74685221e-01 -5.01638411e-02 8.78724946e-01 9.85180493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.4071056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:146.12, Y:112.40, Z:98.53 [[ 5.21306022e-01 -7.95005240e-01 -3.10172049e-01 1.46124100e+02] [ 7.04910763e-01 6.06022978e-01 -3.68560668e-01 1.12395607e+02] [ 4.80979051e-01 -2.65107205e-02 8.76331178e-01 9.85317691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.43710568099993 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:146.13, Y:112.42, Z:98.54 [[ 5.20674470e-01 -7.87234852e-01 -3.30392772e-01 1.46132629e+02] [ 7.07511506e-01 6.14457714e-01 -3.49097675e-01 1.12422665e+02] [ 4.77834244e-01 -5.19904404e-02 8.76910161e-01 9.85440780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.4671056809999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:146.14, Y:112.45, Z:98.56 [[ 5.19394664e-01 -7.96351889e-01 -3.09923944e-01 1.46137536e+02] [ 7.04464030e-01 6.04316203e-01 -3.72199353e-01 1.12448764e+02] [ 4.83693719e-01 -2.50119125e-02 8.74879872e-01 9.85599790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49710568099994 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:146.14, Y:112.48, Z:98.57 [[ 5.25910048e-01 -8.00740878e-01 -2.86762391e-01 1.46143882e+02] [ 7.03474716e-01 5.99010622e-01 -3.82504377e-01 1.12482300e+02] [ 4.78060609e-01 -5.67196198e-04 8.78326666e-01 9.85703453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5271056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:146.16, Y:112.49, Z:98.59 [[ 5.27936534e-01 -7.71722181e-01 -3.54581289e-01 1.46160354e+02] [ 7.02114642e-01 6.31491473e-01 -3.29019070e-01 1.12492697e+02] [ 4.77826375e-01 -7.52555274e-02 8.75224863e-01 9.85892525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55710568099994 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:146.16, Y:112.53, Z:98.60 [[ 5.43738318e-01 -7.84849373e-01 -2.97254274e-01 1.46158768e+02] [ 6.93257985e-01 6.19657702e-01 -3.67991439e-01 1.12532668e+02] [ 4.73013751e-01 -5.98285312e-03 8.81034731e-01 9.85974257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5871056809999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:146.17, Y:112.56, Z:98.61 [[ 5.56912998e-01 -7.65644385e-01 -3.21926371e-01 1.46167649e+02] [ 6.80257267e-01 6.42856517e-01 -3.52115818e-01 1.12560327e+02] [ 4.76547965e-01 -2.28948774e-02 8.78850307e-01 9.86116451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61710568099994 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:146.18, Y:112.58, Z:98.63 [[ 5.62218709e-01 -7.52700525e-01 -3.42566845e-01 1.46178239e+02] [ 6.72349688e-01 6.57216962e-01 -3.40604994e-01 1.12578437e+02] [ 4.81514299e-01 -3.88302110e-02 8.75577635e-01 9.86283631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.6471056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:146.18, Y:112.61, Z:98.65 [[ 5.75382856e-01 -7.53638588e-01 -3.17747459e-01 1.46178390e+02] [ 6.60995849e-01 6.57286762e-01 -3.62020166e-01 1.12608515e+02] [ 4.81683565e-01 -1.72955432e-03 8.76343512e-01 9.86456925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67710568099994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:146.19, Y:112.63, Z:98.66 [[ 5.79312784e-01 -7.50556768e-01 -3.17901301e-01 1.46189609e+02] [ 6.57215421e-01 6.60805110e-01 -3.62497582e-01 1.12630111e+02] [ 4.82145818e-01 1.06984652e-03 8.76090330e-01 9.86581099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.7071056809999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:146.20, Y:112.66, Z:98.67 [[ 5.87425455e-01 -7.54779996e-01 -2.91956319e-01 1.46202967e+02] [ 6.54693709e-01 6.55282369e-01 -3.76803880e-01 1.12661228e+02] [ 4.75717859e-01 3.02022254e-02 8.79079259e-01 9.86664217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73710568099995 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:146.22, Y:112.67, Z:98.68 [[ 5.84251286e-01 -7.34887519e-01 -3.44370104e-01 1.46222441e+02] [ 6.52073954e-01 6.77691726e-01 -3.39902167e-01 1.12671966e+02] [ 4.83166630e-01 -2.59664975e-02 8.75143273e-01 9.86784813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.7671056809999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:146.23, Y:112.70, Z:98.69 [[ 5.84508041e-01 -7.45878253e-01 -3.19399408e-01 1.46229351e+02] [ 6.50586236e-01 6.66060006e-01 -3.64830945e-01 1.12696263e+02] [ 4.84858639e-01 5.44976233e-03 8.74575554e-01 9.86928251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79710568099995 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:146.24, Y:112.72, Z:98.70 [[ 5.83600233e-01 -7.46228408e-01 -3.20240428e-01 1.46244627e+02] [ 6.50346730e-01 6.65668788e-01 -3.65970211e-01 1.12716025e+02] [ 4.86271425e-01 5.31298600e-03 8.73791665e-01 9.87048329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.8271056809999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:146.26, Y:112.74, Z:98.72 [[ 5.83216462e-01 -7.46063340e-01 -3.21322349e-01 1.46261629e+02] [ 6.49289532e-01 6.65850511e-01 -3.67513538e-01 1.12735019e+02] [ 4.88141028e-01 5.70870821e-03 8.72746096e-01 9.87169434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85710568099995 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:146.28, Y:112.75, Z:98.73 [[ 5.81468970e-01 -7.47210156e-01 -3.21824205e-01 1.46277078e+02] [ 6.50103247e-01 6.64569093e-01 -3.68393390e-01 1.12751733e+02] [ 4.89141702e-01 4.99036406e-03 8.72190055e-01 9.87317073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.8871056809999 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:146.29, Y:112.77, Z:98.74 [[ 5.81515279e-01 -7.54566031e-01 -3.04088944e-01 1.46293402e+02] [ 6.52819696e-01 6.55858392e-01 -3.79046454e-01 1.12774276e+02] [ 4.85454864e-01 2.19060528e-02 8.73987243e-01 9.87437567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91710568099995 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:146.32, Y:112.78, Z:98.76 [[ 5.74470505e-01 -7.44819498e-01 -3.39451844e-01 1.46316082e+02] [ 6.55533977e-01 6.66992731e-01 -3.54112838e-01 1.12783991e+02] [ 4.90162059e-01 -1.90948361e-02 8.71422138e-01 9.87563529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.9471056809999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:146.33, Y:112.80, Z:98.78 [[ 5.71950669e-01 -7.57843305e-01 -3.13920303e-01 1.46326938e+02] [ 6.57736931e-01 6.52376045e-01 -3.76546976e-01 1.12802509e+02] [ 4.90157691e-01 8.88931861e-03 8.71588445e-01 9.87750764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:146.35, Y:112.82, Z:98.79 [[ 5.65427368e-01 -7.60337337e-01 -3.19654542e-01 1.46346137e+02] [ 6.63345294e-01 6.49525538e-01 -3.71604086e-01 1.12816779e+02] [ 4.90168249e-01 -1.92621583e-03 8.71625709e-01 9.87904988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.0071056809999 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:146.37, Y:112.84, Z:98.80 [[ 5.59340195e-01 -7.68269022e-01 -3.11289665e-01 1.46368162e+02] [ 6.72709810e-01 6.40124442e-01 -3.71082486e-01 1.12836646e+02] [ 4.84355302e-01 -1.84626124e-03 8.74869438e-01 9.88004327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03710568099996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:146.39, Y:112.86, Z:98.81 [[ 5.49933582e-01 -7.65523841e-01 -3.33985485e-01 1.46390510e+02] [ 6.78956108e-01 6.42634794e-01 -3.55019894e-01 1.12855305e+02] [ 4.86406887e-01 -3.15241230e-02 8.73163542e-01 9.88054073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.06710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.40, Y:112.87, Z:98.84 [[ 5.51279216e-01 -7.73407660e-01 -3.12940599e-01 1.46402291e+02] [ 6.75662917e-01 6.33896626e-01 -3.76370415e-01 1.12865343e+02] [ 4.89459752e-01 -3.95717058e-03 8.72016911e-01 9.88354223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.0971056809999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:146.42, Y:112.88, Z:98.85 [[ 5.48339452e-01 -7.69700126e-01 -3.26933573e-01 1.46421440e+02] [ 6.79539590e-01 6.37971695e-01 -3.62240337e-01 1.12882462e+02] [ 4.87390799e-01 -2.35336382e-02 8.72866758e-01 9.88457833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.12710568099993 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:146.44, Y:112.90, Z:98.86 [[ 5.48151224e-01 -7.72728097e-01 -3.20033629e-01 1.46436349e+02] [ 6.79510638e-01 6.34545386e-01 -3.68262740e-01 1.12902281e+02] [ 4.87642829e-01 -1.56025833e-02 8.72903792e-01 9.88598634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.1571056809999 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:146.45, Y:112.92, Z:98.87 [[ 5.45377914e-01 -7.74530387e-01 -3.20414748e-01 1.46451358e+02] [ 6.81199846e-01 6.32307484e-01 -3.68990537e-01 1.12922256e+02] [ 4.88395026e-01 -1.70271876e-02 8.72456517e-01 9.88732334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.18710568099993 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:146.47, Y:112.94, Z:98.89 [[ 5.43453318e-01 -7.75921111e-01 -3.20320027e-01 1.46467306e+02] [ 6.82696299e-01 6.30571920e-01 -3.69194823e-01 1.12939859e+02] [ 4.88450872e-01 -1.80411453e-02 8.72404873e-01 9.88862856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2171056809999 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:146.48, Y:112.96, Z:98.90 [[ 5.38757403e-01 -7.79787457e-01 -3.18860446e-01 1.46481967e+02] [ 6.87928856e-01 6.25685224e-01 -3.67793269e-01 1.12958429e+02] [ 4.86306847e-01 -2.12019553e-02 8.73530839e-01 9.89009491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.24710568099994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:146.50, Y:112.98, Z:98.92 [[ 5.36010820e-01 -7.82020300e-01 -3.18019890e-01 1.46495594e+02] [ 6.90861203e-01 6.22831500e-01 -3.67139920e-01 1.12978292e+02] [ 4.85183676e-01 -2.29166334e-02 8.74111909e-01 9.89157816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2771056809999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:146.50, Y:113.00, Z:98.93 [[ 5.30569988e-01 -7.91757381e-01 -3.02680918e-01 1.46503689e+02] [ 6.92036810e-01 6.10812212e-01 -3.84699227e-01 1.13000571e+02] [ 4.89469653e-01 -5.35647263e-03 8.72003880e-01 9.89337726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.30710568099994 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:146.52, Y:113.02, Z:98.94 [[ 5.31102849e-01 -7.79191917e-01 -3.32850898e-01 1.46522277e+02] [ 6.98065861e-01 6.25034409e-01 -3.49336573e-01 1.13020223e+02] [ 4.80243498e-01 -4.68181996e-02 8.75884832e-01 9.89391829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3371056809999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:146.53, Y:113.04, Z:98.95 [[ 5.31138121e-01 -7.86407409e-01 -3.15365952e-01 1.46531492e+02] [ 6.97205648e-01 6.17154194e-01 -3.64725905e-01 1.13043800e+02] [ 4.81452574e-01 -2.61550906e-02 8.76081806e-01 9.89547357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.36710568099994 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:146.54, Y:113.07, Z:98.97 [[ 5.34441237e-01 -7.84171314e-01 -3.15353635e-01 1.46540254e+02] [ 6.94453374e-01 6.20083106e-01 -3.65008840e-01 1.13068619e+02] [ 4.81774923e-01 -2.39226200e-02 8.75968397e-01 9.89681328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3971056809999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:146.55, Y:113.09, Z:98.98 [[ 5.38999976e-01 -7.80908056e-01 -3.15692310e-01 1.46548572e+02] [ 6.90299543e-01 6.24299262e-01 -3.65700660e-01 1.13093613e+02] [ 4.82665068e-01 -2.08096102e-02 8.75557761e-01 9.89794156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.42710568099994 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:146.56, Y:113.12, Z:99.00 [[ 5.39029100e-01 -7.86217576e-01 -3.02174705e-01 1.46555621e+02] [ 6.84665552e-01 6.17948096e-01 -3.86488334e-01 1.13115387e+02] [ 4.90592205e-01 1.43984790e-03 8.71388097e-01 9.89967144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.4571056809999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:146.57, Y:113.14, Z:99.00 [[ 5.42991388e-01 -7.79786849e-01 -3.11597213e-01 1.46572815e+02] [ 6.85777577e-01 6.25929480e-01 -3.71377707e-01 1.13144334e+02] [ 4.84633334e-01 -1.20314852e-02 8.74634652e-01 9.89990257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.48710568099995 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:146.58, Y:113.16, Z:99.02 [[ 5.40554565e-01 -7.76810367e-01 -3.23057913e-01 1.46584540e+02] [ 6.80473204e-01 6.29502841e-01 -3.75076514e-01 1.13160401e+02] [ 4.94729199e-01 -1.70829310e-02 8.68879274e-01 9.90150328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.5171056809999 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:146.60, Y:113.18, Z:99.03 [[ 5.42231881e-01 -7.73891264e-01 -3.27226066e-01 1.46597760e+02] [ 6.78840508e-01 6.32991728e-01 -3.72151902e-01 1.13184042e+02] [ 4.95136498e-01 -2.03416830e-02 8.68577034e-01 9.90263527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.54710568099995 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:146.61, Y:113.21, Z:99.03 [[ 5.46575082e-01 -7.68138057e-01 -3.33496035e-01 1.46614893e+02] [ 6.80513693e-01 6.39511099e-01 -3.57668376e-01 1.13207160e+02] [ 4.88013108e-01 -3.14559970e-02 8.72269297e-01 9.90340758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.5771056809999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:146.62, Y:113.23, Z:99.05 [[ 5.56173072e-01 -7.71778402e-01 -3.08268733e-01 1.46622736e+02] [ 6.76041741e-01 6.35890173e-01 -3.72305322e-01 1.13232213e+02] [ 4.83362264e-01 -1.33633621e-03 8.75419406e-01 9.90529486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.60710568099995 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:146.64, Y:113.25, Z:99.06 [[ 5.58763797e-01 -7.62995199e-01 -3.24994377e-01 1.46637998e+02] [ 6.74128037e-01 6.46121399e-01 -3.57880604e-01 1.13249369e+02] [ 4.83047004e-01 -1.91170960e-02 8.75385703e-01 9.90649069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.6371056809999 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:146.65, Y:113.27, Z:99.08 [[ 5.65749526e-01 -7.62573053e-01 -3.13703383e-01 1.46650809e+02] [ 6.69654520e-01 6.46891665e-01 -3.64820501e-01 1.13269100e+02] [ 4.81134387e-01 -3.67586280e-03 8.76639145e-01 9.90780904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.66710568099995 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:146.67, Y:113.29, Z:99.09 [[ 5.70494221e-01 -7.59181551e-01 -3.13336425e-01 1.46665696e+02] [ 6.65923074e-01 6.50878569e-01 -3.64559389e-01 1.13288004e+02] [ 4.80710727e-01 -6.78930635e-04 8.76878975e-01 9.90895597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.6971056809999 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:146.68, Y:113.31, Z:99.10 [[ 5.71966271e-01 -7.57983711e-01 -3.13552673e-01 1.46680392e+02] [ 6.64326956e-01 6.52273323e-01 -3.64978366e-01 1.13307369e+02] [ 4.81169700e-01 4.53821591e-04 8.76627352e-01 9.91029023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.72710568099995 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:146.69, Y:113.33, Z:99.12 [[ 5.76758560e-01 -7.54602510e-01 -3.12929090e-01 1.46694369e+02] [ 6.60718336e-01 6.56172883e-01 -3.64538652e-01 1.13327689e+02] [ 4.80417364e-01 3.49280025e-03 8.77033042e-01 9.91167826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.7571056809999 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:146.71, Y:113.35, Z:99.13 [[ 5.80441463e-01 -7.52173590e-01 -3.11965702e-01 1.46710069e+02] [ 6.58415925e-01 6.58940274e-01 -3.63711678e-01 1.13346448e+02] [ 4.79141083e-01 5.71015216e-03 8.77719327e-01 9.91303500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.78710568099996 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:146.72, Y:113.36, Z:99.15 [[ 5.87094861e-01 -7.55575934e-01 -2.90559171e-01 1.46718392e+02] [ 6.47711032e-01 6.53744446e-01 -3.91265406e-01 1.13361521e+02] [ 4.85582169e-01 4.15115285e-02 8.73204873e-01 9.91516641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.81710568099993 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:146.75, Y:113.38, Z:99.15 [[ 5.89690946e-01 -7.36294189e-01 -3.31866622e-01 1.46748793e+02] [ 6.51479205e-01 6.76522229e-01 -3.43354800e-01 1.13381845e+02] [ 4.77325291e-01 -1.37309866e-02 8.78619386e-01 9.91529885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.8471056809999 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:146.76, Y:113.40, Z:99.17 [[ 5.93105155e-01 -7.43072938e-01 -3.09949809e-01 1.46762262e+02] [ 6.49033603e-01 6.69072641e-01 -3.62073451e-01 1.13399376e+02] [ 4.76425920e-01 1.35797888e-02 8.79109738e-01 9.91710088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.87710568099993 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:146.78, Y:113.41, Z:99.18 [[ 5.94245019e-01 -7.41980099e-01 -3.10384262e-01 1.46783162e+02] [ 6.47355244e-01 6.70260489e-01 -3.62880236e-01 1.13414549e+02] [ 4.77288220e-01 1.47108931e-02 8.78623665e-01 9.91830423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.9071056809999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:146.80, Y:113.43, Z:99.20 [[ 5.94709999e-01 -7.41593750e-01 -3.10417022e-01 1.46801855e+02] [ 6.46736062e-01 6.70675873e-01 -3.63216656e-01 1.13430655e+02] [ 4.77548409e-01 1.52506950e-02 8.78473069e-01 9.91960796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.93710568099993 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:146.82, Y:113.44, Z:99.21 [[ 5.95576812e-01 -7.48701854e-01 -2.91090697e-01 1.46817446e+02] [ 6.39796437e-01 6.61235195e-01 -3.91699547e-01 1.13442794e+02] [ 4.85745591e-01 4.70483767e-02 8.72833129e-01 9.92139889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.9671056809999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:146.85, Y:113.46, Z:99.22 [[ 5.96082509e-01 -7.30071470e-01 -3.34187508e-01 1.46849665e+02] [ 6.41803432e-01 6.83334807e-01 -3.48054443e-01 1.13458365e+02] [ 4.82466576e-01 -7.01352420e-03 8.75886302e-01 9.92166982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99710568099994 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:146.87, Y:113.47, Z:99.24 [[ 5.96904330e-01 -7.41883780e-01 -3.05472876e-01 1.46866098e+02] [ 6.38253437e-01 6.69785556e-01 -3.79499485e-01 1.13470593e+02] [ 4.86145833e-01 3.15557726e-02 8.73307771e-01 9.92361333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0271056809999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:146.89, Y:113.48, Z:99.25 [[ 5.94657923e-01 -7.40530715e-01 -3.13043471e-01 1.46886508e+02] [ 6.39908343e-01 6.71672625e-01 -3.73327200e-01 1.13484171e+02] [ 4.86722988e-01 2.16828485e-02 8.73287231e-01 9.92480596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.91, Y:113.50, Z:99.26 [[ 5.89229704e-01 -7.41825026e-01 -3.20162439e-01 1.46914941e+02] [ 6.48908742e-01 6.70581138e-01 -3.59497401e-01 1.13495126e+02] [ 4.81379062e-01 4.07034182e-03 8.76503070e-01 9.92599655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0871056809999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:146.93, Y:113.51, Z:99.28 [[ 5.85751272e-01 -7.52094897e-01 -3.02074020e-01 1.46932556e+02] [ 6.49910177e-01 6.58545497e-01 -3.79387125e-01 1.13509343e+02] [ 4.84264606e-01 2.59055114e-02 8.74537990e-01 9.92779230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.96, Y:113.52, Z:99.29 [[ 5.79262792e-01 -7.49454387e-01 -3.20581878e-01 1.46963792e+02] [ 6.59838979e-01 6.62031885e-01 -3.55424119e-01 1.13518757e+02] [ 4.78609590e-01 -5.64845124e-03 8.78009655e-01 9.92881857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.1471056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:146.98, Y:113.53, Z:99.30 [[ 5.73725170e-01 -7.58451834e-01 -3.09176722e-01 1.46984092e+02] [ 6.65772221e-01 6.51723887e-01 -3.63322618e-01 1.13533417e+02] [ 4.77060561e-01 2.60605722e-03 8.78866560e-01 9.93015838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.00, Y:113.55, Z:99.31 [[ 5.71064036e-01 -7.60424910e-01 -3.09256889e-01 1.47003584e+02] [ 6.67794861e-01 6.49424774e-01 -3.63727213e-01 1.13549402e+02] [ 4.77426319e-01 1.19136929e-03 8.78670980e-01 9.93129714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.2071056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.03, Y:113.56, Z:99.32 [[ 5.67671582e-01 -7.62691973e-01 -3.09919228e-01 1.47027436e+02] [ 6.69800983e-01 6.46761699e-01 -3.64782054e-01 1.13562380e+02] [ 4.78660232e-01 -5.07797785e-04 8.78000071e-01 9.93247805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.04, Y:113.58, Z:99.34 [[ 5.67496759e-01 -7.64744333e-01 -3.05145102e-01 1.47044563e+02] [ 6.68407737e-01 6.44296462e-01 -3.71635799e-01 1.13578870e+02] [ 4.80810281e-01 6.94076446e-03 8.76797182e-01 9.93391114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.2671056809999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:147.06, Y:113.59, Z:99.36 [[ 5.69144972e-01 -7.69658077e-01 -2.89310292e-01 1.47058212e+02] [ 6.62165384e-01 6.37629781e-01 -3.93656279e-01 1.13593925e+02] [ 4.87453593e-01 3.24762316e-02 8.72544720e-01 9.93578548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29710568099995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:147.09, Y:113.61, Z:99.37 [[ 5.78912229e-01 -7.43806453e-01 -3.34084706e-01 1.47087677e+02] [ 6.63148231e-01 6.67891096e-01 -3.37869661e-01 1.13606238e+02] [ 4.74441835e-01 -2.59508031e-02 8.79904257e-01 9.93673333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.3271056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:147.10, Y:113.63, Z:99.38 [[ 5.83448924e-01 -7.52500859e-01 -3.05499280e-01 1.47098841e+02] [ 6.60671119e-01 6.58537659e-01 -3.60335710e-01 1.13626578e+02] [ 4.72335712e-01 8.40293169e-03 8.81378673e-01 9.93832938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:147.12, Y:113.64, Z:99.40 [[ 5.86919501e-01 -7.49981485e-01 -3.05046342e-01 1.47115950e+02] [ 6.57957121e-01 6.61373124e-01 -3.60108342e-01 1.13644186e+02] [ 4.71824041e-01 1.06471952e-02 8.81628443e-01 9.93967705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.3871056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.14, Y:113.66, Z:99.41 [[ 5.91651035e-01 -7.46807533e-01 -3.03689911e-01 1.47135653e+02] [ 6.55092124e-01 6.64906158e-01 -3.58823229e-01 1.13658316e+02] [ 4.69897183e-01 1.33532659e-02 8.82620149e-01 9.94095431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.16, Y:113.67, Z:99.42 [[ 5.93259435e-01 -7.46230108e-01 -3.01966667e-01 1.47156977e+02] [ 6.55440351e-01 6.65543508e-01 -3.57001099e-01 1.13671667e+02] [ 4.67376924e-01 1.38731325e-02 8.83949290e-01 9.94213916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.4471056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:147.18, Y:113.69, Z:99.43 [[ 5.93758041e-01 -7.45896196e-01 -3.01811617e-01 1.47175476e+02] [ 6.55073336e-01 6.65909580e-01 -3.56992095e-01 1.13688779e+02] [ 4.67258293e-01 1.42581837e-02 8.84005878e-01 9.94342576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47710568099995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:147.20, Y:113.70, Z:99.44 [[ 5.95228087e-01 -7.43898047e-01 -3.03840779e-01 1.47197398e+02] [ 6.51347046e-01 6.68096597e-01 -3.59713724e-01 1.13702891e+02] [ 4.70585327e-01 1.62059178e-02 8.82205655e-01 9.94441469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.5071056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:147.22, Y:113.72, Z:99.46 [[ 5.95479489e-01 -7.42855305e-01 -3.05892422e-01 1.47216953e+02] [ 6.48731471e-01 6.69228009e-01 -3.62327684e-01 1.13720287e+02] [ 4.73868819e-01 1.73166639e-02 8.80425168e-01 9.94555923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53710568099996 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:147.24, Y:113.74, Z:99.47 [[ 5.96541122e-01 -7.40526825e-01 -3.09449045e-01 1.47237756e+02] [ 6.43567615e-01 6.71738061e-01 -3.66863328e-01 1.13735731e+02] [ 4.79540837e-01 1.96976771e-02 8.77298459e-01 9.94653929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.56710568099993 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:147.26, Y:113.75, Z:99.48 [[ 5.98562672e-01 -7.38532935e-01 -3.10309253e-01 1.47257311e+02] [ 6.40583040e-01 6.73871466e-01 -3.68171993e-01 1.13751267e+02] [ 4.81015694e-01 2.15951677e-02 8.76445977e-01 9.94769691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.5971056809999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:147.27, Y:113.77, Z:99.49 [[ 5.97678741e-01 -7.40697876e-01 -3.06833471e-01 1.47274908e+02] [ 6.38512869e-01 6.71206291e-01 -3.76541406e-01 1.13769321e+02] [ 4.84851976e-01 2.91336736e-02 8.74110857e-01 9.94920250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.62710568099993 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:147.30, Y:113.78, Z:99.50 [[ 5.98201948e-01 -7.35880071e-01 -3.17230123e-01 1.47299561e+02] [ 6.39488119e-01 6.76942768e-01 -3.64422056e-01 1.13782605e+02] [ 4.82917566e-01 1.51330893e-02 8.75535045e-01 9.95032796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.6571056809999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:147.32, Y:113.80, Z:99.52 [[ 5.97290611e-01 -7.39618270e-01 -3.10175340e-01 1.47319800e+02] [ 6.41499868e-01 6.72690600e-01 -3.68734696e-01 1.13796881e+02] [ 4.81374953e-01 2.12643323e-02 8.76256802e-01 9.95169074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.68710568099993 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:147.34, Y:113.81, Z:99.53 [[ 5.97465069e-01 -7.40105460e-01 -3.08673614e-01 1.47337428e+02] [ 6.42897062e-01 6.72163501e-01 -3.67259574e-01 1.13812285e+02] [ 4.79289953e-01 2.09794073e-02 8.77405838e-01 9.95304680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7171056809999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:147.36, Y:113.82, Z:99.55 [[ 5.99070121e-01 -7.39938472e-01 -3.05951054e-01 1.47358733e+02] [ 6.44392165e-01 6.72343956e-01 -3.64297053e-01 1.13824814e+02] [ 4.75261747e-01 2.10870172e-02 8.79591729e-01 9.95458239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.74710568099994 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:147.38, Y:113.84, Z:99.56 [[ 5.99945315e-01 -7.39347142e-01 -3.05665540e-01 1.47377675e+02] [ 6.43753112e-01 6.72972521e-01 -3.64266271e-01 1.13840557e+02] [ 4.75023735e-01 2.17667002e-02 8.79703735e-01 9.95600139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7771056809999 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:147.40, Y:113.85, Z:99.57 [[ 6.02228452e-01 -7.37194761e-01 -3.06373589e-01 1.47400116e+02] [ 6.40694234e-01 6.75261902e-01 -3.65420665e-01 1.13853395e+02] [ 4.76268612e-01 2.37749295e-02 8.78978363e-01 9.95734328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.80710568099994 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:147.42, Y:113.88, Z:99.58 [[ 6.05596613e-01 -7.46998768e-01 -2.74309283e-01 1.47418870e+02] [ 6.42751171e-01 6.62399568e-01 -3.84834696e-01 1.13878118e+02] [ 4.69173395e-01 5.67419755e-02 8.81281268e-01 9.95822998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8371056809999 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:147.45, Y:113.88, Z:99.60 [[ 6.02821153e-01 -7.23085435e-01 -3.37274534e-01 1.47446330e+02] [ 6.38869838e-01 6.90667723e-01 -3.38856056e-01 1.13877591e+02] [ 4.77966513e-01 -1.12049283e-02 8.78306588e-01 9.96028389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.86710568099994 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:147.46, Y:113.91, Z:99.61 [[ 6.06359486e-01 -7.43750622e-01 -2.81359530e-01 1.47462895e+02] [ 6.41993486e-01 6.66659266e-01 -3.78694846e-01 1.13905179e+02] [ 4.69225465e-01 4.89942264e-02 8.81718225e-01 9.96112265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8971056809999 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:147.49, Y:113.92, Z:99.63 [[ 6.03736537e-01 -7.35179906e-01 -3.08241300e-01 1.47494327e+02] [ 6.43724362e-01 6.77678488e-01 -3.55486725e-01 1.13916949e+02] [ 4.70235195e-01 1.61978903e-02 8.82392480e-01 9.96254355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.92710568099994 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:147.52, Y:113.93, Z:99.64 [[ 6.00910911e-01 -7.33815275e-01 -3.16893072e-01 1.47519358e+02] [ 6.44314103e-01 6.79313972e-01 -3.51271782e-01 1.13926407e+02] [ 4.73038491e-01 6.90437097e-03 8.81014708e-01 9.96396393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.9571056809999 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:147.53, Y:113.93, Z:99.66 [[ 5.94627454e-01 -7.31513779e-01 -3.33625212e-01 1.47530598e+02] [ 6.42768592e-01 6.81793306e-01 -3.49294183e-01 1.13933241e+02] [ 4.82976944e-01 -6.74389694e-03 8.75607099e-01 9.96607104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.98710568099995 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:147.55, Y:113.95, Z:99.67 [[ 5.97232803e-01 -7.40376881e-01 -3.08472128e-01 1.47549236e+02] [ 6.41409491e-01 6.71783080e-01 -3.70541980e-01 1.13949060e+02] [ 4.81567071e-01 2.34428743e-02 8.76095650e-01 9.96730577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.0171056809999 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:147.57, Y:113.97, Z:99.69 [[ 5.96999418e-01 -7.40622903e-01 -3.08333278e-01 1.47565157e+02] [ 6.41626906e-01 6.71511679e-01 -3.70657494e-01 1.13968607e+02] [ 4.81566827e-01 2.34473808e-02 8.76095664e-01 9.96863785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.04710568099995 meters Centerline goodness : 0.998321 Centerline is valid? [True, True] Translation: X:147.58, Y:113.98, Z:99.70 [[ 5.99137231e-01 -7.39042687e-01 -3.07978059e-01 1.47582715e+02] [ 6.39944782e-01 6.73198450e-01 -3.70505766e-01 1.13984835e+02] [ 4.81149929e-01 2.48948468e-02 8.76284767e-01 9.97007507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.0771056809999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:147.61, Y:114.01, Z:99.71 [[ 6.06460587e-01 -7.40038684e-01 -2.90771908e-01 1.47607161e+02] [ 6.38988110e-01 6.71250339e-01 -3.75655663e-01 1.14006506e+02] [ 4.73180464e-01 4.20205621e-02 8.79962795e-01 9.97100755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.10710568099995 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:147.62, Y:114.01, Z:99.73 [[ 6.04554211e-01 -7.25981965e-01 -3.27817622e-01 1.47624601e+02] [ 6.32836397e-01 6.87670926e-01 -3.55846585e-01 1.14012706e+02] [ 4.83768850e-01 7.67362827e-03 8.75162165e-01 9.97296856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.1371056809999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:147.64, Y:114.03, Z:99.74 [[ 6.07256649e-01 -7.31782267e-01 -3.09409236e-01 1.47643608e+02] [ 6.30402601e-01 6.80813918e-01 -3.72940973e-01 1.14029419e+02] [ 4.83561705e-01 3.14184979e-02 8.74746223e-01 9.97400890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.16710568099995 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:147.67, Y:114.04, Z:99.75 [[ 6.05650775e-01 -7.33359819e-01 -3.08821169e-01 1.47666713e+02] [ 6.32468518e-01 6.79167278e-01 -3.72445141e-01 1.14042949e+02] [ 4.82877534e-01 3.02520212e-02 8.75165186e-01 9.97528983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.1971056809999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:147.68, Y:114.06, Z:99.77 [[ 6.00558450e-01 -7.46521759e-01 -2.86417199e-01 1.47682403e+02] [ 6.32818574e-01 6.62719349e-01 -4.00429416e-01 1.14062479e+02] [ 4.88743491e-01 5.92311458e-02 8.70414540e-01 9.97659539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.22710568099995 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:147.71, Y:114.07, Z:99.78 [[ 5.91284007e-01 -7.39007536e-01 -3.22879366e-01 1.47711799e+02] [ 6.41413941e-01 6.73622822e-01 -3.67179043e-01 1.14069054e+02] [ 4.88846990e-01 1.00077689e-02 8.72312137e-01 9.97836326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.2571056809999 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:147.73, Y:114.08, Z:99.80 [[ 5.89943390e-01 -7.39638152e-01 -3.23886094e-01 1.47731450e+02] [ 6.47077638e-01 6.73002404e-01 -3.58271260e-01 1.14082495e+02] [ 4.82967212e-01 1.78031291e-03 8.75636627e-01 9.97952668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.28710568099996 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:147.75, Y:114.10, Z:99.81 [[ 5.83748246e-01 -7.51591613e-01 -3.07161249e-01 1.47752352e+02] [ 6.53626186e-01 6.59434135e-01 -3.71375054e-01 1.14097801e+02] [ 4.81674988e-01 1.60209010e-02 8.76203479e-01 9.98053098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.31710568099993 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:147.77, Y:114.11, Z:99.82 [[ 5.81201658e-01 -7.53578991e-01 -3.07121046e-01 1.47770900e+02] [ 6.55746936e-01 6.57195577e-01 -3.71604535e-01 1.14114635e+02] [ 4.81871964e-01 1.45834864e-02 8.76120273e-01 9.98183449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.3471056809999 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:147.79, Y:114.13, Z:99.83 [[ 5.78603273e-01 -7.55790759e-01 -3.06591882e-01 1.47791269e+02] [ 6.58439026e-01 6.54685154e-01 -3.71275367e-01 1.14130178e+02] [ 4.81327645e-01 1.29490816e-02 8.76445104e-01 9.98288826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.37710568099993 meters Centerline goodness : 0.997435 Centerline is valid? [True, True] Translation: X:147.81, Y:114.15, Z:99.84 [[ 5.75671086e-01 -7.57126319e-01 -3.08808254e-01 1.47812269e+02] [ 6.58276711e-01 6.53155297e-01 -3.74245815e-01 1.14146654e+02] [ 4.85051103e-01 1.21612130e-02 8.74401242e-01 9.98398457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.4071056809999 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:147.83, Y:114.16, Z:99.85 [[ 5.74713431e-01 -7.57411862e-01 -3.09889889e-01 1.47831466e+02] [ 6.57677928e-01 6.52823199e-01 -3.75874465e-01 1.14162694e+02] [ 4.86995087e-01 1.22123630e-02 8.73319325e-01 9.98509682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.43710568099993 meters Centerline goodness : 0.996870 Centerline is valid? [True, True] Translation: X:147.85, Y:114.18, Z:99.86 [[ 5.74371913e-01 -7.57950739e-01 -3.09204759e-01 1.47847869e+02] [ 6.58604432e-01 6.52202603e-01 -3.75329146e-01 1.14180515e+02] [ 4.86145152e-01 1.19348948e-02 8.73796572e-01 9.98645245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.4671056809999 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:147.86, Y:114.20, Z:99.88 [[ 5.72517908e-01 -7.60011916e-01 -3.07579473e-01 1.47863327e+02] [ 6.61894252e-01 6.49826856e-01 -3.73659011e-01 1.14198021e+02] [ 4.83858703e-01 1.03413900e-02 8.75085031e-01 9.98805000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49710568099994 meters Centerline goodness : 0.997925 Centerline is valid? [True, True] Translation: X:147.88, Y:114.22, Z:99.89 [[ 5.70769515e-01 -7.61669786e-01 -3.06726749e-01 1.47877841e+02] [ 6.64186069e-01 6.47900961e-01 -3.72935933e-01 1.14215154e+02] [ 4.82782588e-01 9.13682795e-03 8.75692578e-01 9.98949557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5271056809999 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:147.90, Y:114.25, Z:99.89 [[ 5.72017052e-01 -7.73233693e-01 -2.73689878e-01 1.47897311e+02] [ 6.70988106e-01 6.33029373e-01 -3.86068355e-01 1.14245429e+02] [ 4.71774792e-01 3.71950291e-02 8.80934206e-01 9.98935366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55710568099994 meters Centerline goodness : 0.998153 Centerline is valid? [True, True] Translation: X:147.92, Y:114.26, Z:99.91 [[ 5.69493338e-01 -7.64364098e-01 -3.02365448e-01 1.47917076e+02] [ 6.72513494e-01 6.44775067e-01 -3.63305262e-01 1.14259234e+02] [ 4.72655201e-01 3.55508265e-03 8.81240275e-01 9.99134742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5871056809999 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:147.93, Y:114.28, Z:99.93 [[ 5.64133924e-01 -7.66144211e-01 -3.07857050e-01 1.47933854e+02] [ 6.80419100e-01 6.42579241e-01 -3.52309193e-01 1.14278119e+02] [ 4.67742198e-01 -1.07222492e-02 8.83799904e-01 9.99292644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61710568099994 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:147.95, Y:114.30, Z:99.94 [[ 5.62294872e-01 -7.69532390e-01 -3.02728223e-01 1.47951518e+02] [ 6.83460825e-01 6.38557648e-01 -3.53730732e-01 1.14301710e+02] [ 4.65516678e-01 -8.00190405e-03 8.85002933e-01 9.99403635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.6471056809999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:147.95, Y:114.30, Z:99.97 [[ 5.51507013e-01 -7.61007901e-01 -3.41624047e-01 1.47952028e+02] [ 6.82461878e-01 6.47128290e-01 -3.39809890e-01 1.14304773e+02] [ 4.79672596e-01 -4.57378507e-02 8.76254671e-01 9.99716563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67710568099994 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:147.97, Y:114.35, Z:99.96 [[ 5.54405429e-01 -7.88866146e-01 -2.65188281e-01 1.47967814e+02] [ 6.85191236e-01 6.13513226e-01 -3.92574185e-01 1.14350431e+02] [ 4.72385002e-01 3.59405727e-02 8.80659233e-01 9.99597182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.7071056809999 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:147.98, Y:114.35, Z:100.00 [[ 5.48015778e-01 -7.63454547e-01 -3.41783355e-01 1.47979524e+02] [ 6.83162298e-01 6.44285282e-01 -3.43781545e-01 1.14348948e+02] [ 4.82667569e-01 -4.50957916e-02 8.74641863e-01 9.99975724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73710568099995 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:147.98, Y:114.38, Z:100.01 [[ 5.46018678e-01 -7.81131358e-01 -3.02815795e-01 1.47984672e+02] [ 6.82539344e-01 6.24366287e-01 -3.79877328e-01 1.14378623e+02] [ 4.85802066e-01 7.36422818e-04 8.74068539e-01 1.00005999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.7671056809999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:148.00, Y:114.40, Z:100.02 [[ 5.45539992e-01 -7.80217847e-01 -3.06016712e-01 1.47995393e+02] [ 6.82367531e-01 6.25503158e-01 -3.78312506e-01 1.14399677e+02] [ 4.86580589e-01 -2.43126723e-03 8.73632314e-01 1.00020669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79710568099995 meters Centerline goodness : 0.998045 Centerline is valid? [True, True] Translation: X:148.01, Y:114.42, Z:100.03 [[ 5.55162509e-01 -7.67334789e-01 -3.20923527e-01 1.48007453e+02] [ 6.80442526e-01 6.40898986e-01 -3.55311776e-01 1.14420222e+02] [ 4.78322650e-01 -2.11142381e-02 8.77930311e-01 1.00030151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.8271056809999 meters Centerline goodness : 0.998399 Centerline is valid? [True, True] Translation: X:148.02, Y:114.45, Z:100.04 [[ 5.59482258e-01 -7.71555010e-01 -3.02791132e-01 1.48017665e+02] [ 6.76796020e-01 6.36158289e-01 -3.70472373e-01 1.14445542e+02] [ 4.78462903e-01 2.34488648e-03 8.78104636e-01 1.00041859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85710568099995 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:148.03, Y:114.49, Z:100.04 [[ 5.71376602e-01 -7.81584108e-01 -2.50309929e-01 1.48028092e+02] [ 6.69912741e-01 6.20365748e-01 -4.07876523e-01 1.14488018e+02] [ 4.74073515e-01 6.53652913e-02 8.78055625e-01 1.00039982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.8871056809999 meters Centerline goodness : 0.998024 Centerline is valid? [True, True] Translation: X:148.05, Y:114.51, Z:100.06 [[ 5.75936167e-01 -7.61954166e-01 -2.96181332e-01 1.48049599e+02] [ 6.66335331e-01 6.47441209e-01 -3.69887965e-01 1.14506383e+02] [ 4.73597675e-01 1.56757710e-02 8.80601790e-01 1.00057077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91710568099995 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:148.06, Y:114.51, Z:100.09 [[ 5.76577520e-01 -7.37940538e-01 -3.50716590e-01 1.48055302e+02] [ 6.59447140e-01 6.73737693e-01 -3.33477122e-01 1.14514643e+02] [ 4.82377273e-01 -3.90036404e-02 8.75094785e-01 1.00086953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.9471056809999 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:148.07, Y:114.54, Z:100.09 [[ 5.83662526e-01 -7.48110758e-01 -3.15702946e-01 1.48069241e+02] [ 6.57701616e-01 6.63573732e-01 -3.56508746e-01 1.14541250e+02] [ 4.76200210e-01 4.42456789e-04 8.79336775e-01 1.00085826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97710568099995 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:148.09, Y:114.58, Z:100.08 [[ 5.90221272e-01 -7.70054309e-01 -2.42188378e-01 1.48089544e+02] [ 6.63152233e-01 6.33604760e-01 -3.98464708e-01 1.14583233e+02] [ 4.60291175e-01 7.45745833e-02 8.84630242e-01 1.00075393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.0071056809999 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:148.11, Y:114.59, Z:100.10 [[ 5.82289009e-01 -7.52638496e-01 -3.07367541e-01 1.48107181e+02] [ 6.64449139e-01 6.58431980e-01 -3.53517566e-01 1.14587814e+02] [ 4.68451548e-01 1.61929528e-03 8.83487705e-01 1.00101196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03710568099996 meters Centerline goodness : 0.998324 Centerline is valid? [True, True] Translation: X:148.12, Y:114.61, Z:100.11 [[ 5.80650226e-01 -7.54183777e-01 -3.06679221e-01 1.48124274e+02] [ 6.66061241e-01 6.56662396e-01 -3.53775242e-01 1.14610118e+02] [ 4.68196260e-01 1.15253145e-03 8.83623751e-01 1.00114838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.06710568099993 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:148.13, Y:114.62, Z:100.14 [[ 5.72833713e-01 -7.37896564e-01 -3.56889618e-01 1.48131832e+02] [ 6.62619577e-01 6.73174078e-01 -3.28286395e-01 1.14616719e+02] [ 4.82490242e-01 -4.84285330e-02 8.74561515e-01 1.00139781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.0971056809999 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:148.14, Y:114.66, Z:100.13 [[ 5.79814057e-01 -7.75629400e-01 -2.49428735e-01 1.48144478e+02] [ 6.66788977e-01 6.27660086e-01 -4.01790091e-01 1.14662380e+02] [ 4.68196668e-01 6.66472117e-02 8.81107274e-01 1.00127765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.12710568099993 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:148.16, Y:114.66, Z:100.16 [[ 5.70879608e-01 -7.39369345e-01 -3.56972610e-01 1.48163135e+02] [ 6.63239883e-01 6.71573072e-01 -3.30306626e-01 1.14656455e+02] [ 4.83951786e-01 -4.81931548e-02 8.73766610e-01 1.00164606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.1571056809999 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:148.18, Y:114.71, Z:100.15 [[ 5.74462013e-01 -7.81101365e-01 -2.44691752e-01 1.48175486e+02] [ 6.68602066e-01 6.20232695e-01 -4.10222721e-01 1.14705436e+02] [ 4.72191352e-01 7.20559592e-02 8.78546109e-01 1.00154081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.18710568099993 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:148.19, Y:114.69, Z:100.19 [[ 5.69418111e-01 -7.37377238e-01 -3.63370094e-01 1.48193163e+02] [ 6.66669032e-01 6.72842523e-01 -3.20679500e-01 1.14694240e+02] [ 4.80952615e-01 -5.96468733e-02 8.74715287e-01 1.00193174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2171056809999 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:148.20, Y:114.73, Z:100.20 [[ 5.69382554e-01 -7.66778987e-01 -2.96400898e-01 1.48200153e+02] [ 6.68029142e-01 6.41698450e-01 -3.76776014e-01 1.14728192e+02] [ 4.79103927e-01 1.65252521e-02 8.77602611e-01 1.00201363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.24710568099994 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:148.22, Y:114.75, Z:100.22 [[ 5.69110035e-01 -7.64051218e-01 -3.03874160e-01 1.48216940e+02] [ 6.67944272e-01 6.45103376e-01 -3.71068841e-01 1.14746977e+02] [ 4.79545846e-01 8.20799609e-03 8.77478439e-01 1.00215148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2771056809999 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:148.23, Y:114.77, Z:100.23 [[ 5.66892674e-01 -7.65905784e-01 -3.03349675e-01 1.48233847e+02] [ 6.69443884e-01 6.42904144e-01 -3.72181605e-01 1.14767109e+02] [ 4.80080807e-01 7.91144087e-03 8.77188593e-01 1.00230348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.30710568099994 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:148.25, Y:114.78, Z:100.24 [[ 5.65930949e-01 -7.63744708e-01 -3.10509553e-01 1.48249249e+02] [ 6.70628767e-01 6.45516877e-01 -3.65465482e-01 1.14783763e+02] [ 4.79561485e-01 -1.40841166e-03 8.77507150e-01 1.00242247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3371056809999 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:148.26, Y:114.80, Z:100.25 [[ 5.62608121e-01 -7.68180768e-01 -3.05565722e-01 1.48263522e+02] [ 6.71532477e-01 6.40215871e-01 -3.73051968e-01 1.14804174e+02] [ 4.82199371e-01 4.68476041e-03 8.76048982e-01 1.00254583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.36710568099994 meters Centerline goodness : 0.997426 Centerline is valid? [True, True] Translation: X:148.28, Y:114.82, Z:100.27 [[ 5.66801100e-01 -7.58368345e-01 -3.21891233e-01 1.48280764e+02] [ 6.72637626e-01 6.51584937e-01 -3.50707421e-01 1.14816656e+02] [ 4.75704885e-01 -1.77348030e-02 8.79426142e-01 1.00266045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3971056809999 meters Centerline goodness : 0.997102 Centerline is valid? [True, True] Translation: X:148.30, Y:114.86, Z:100.25 [[ 5.77637453e-01 -7.82616473e-01 -2.32048334e-01 1.48299409e+02] [ 6.78160225e-01 6.18316688e-01 -3.97219314e-01 1.14862346e+02] [ 4.54349736e-01 7.20828033e-02 8.87902240e-01 1.00251520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.42710568099994 meters Centerline goodness : 0.997731 Centerline is valid? [True, True] Translation: X:148.31, Y:114.86, Z:100.28 [[ 5.80593233e-01 -7.58040834e-01 -2.97128914e-01 1.48314918e+02] [ 6.72945608e-01 6.52201688e-01 -3.48965853e-01 1.14863793e+02] [ 4.58318346e-01 2.65561526e-03 8.88784137e-01 1.00276783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.4571056809999 meters Centerline goodness : 0.997406 Centerline is valid? [True, True] Translation: X:148.33, Y:114.89, Z:100.29 [[ 5.80859668e-01 -7.65893902e-01 -2.75696530e-01 1.48327259e+02] [ 6.71850270e-01 6.42311489e-01 -3.68853856e-01 1.14889502e+02] [ 4.59585967e-01 2.90255404e-02 8.87658863e-01 1.00292090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.48710568099995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:148.35, Y:114.89, Z:100.33 [[ 5.86176999e-01 -7.19700043e-01 -3.72059638e-01 1.48346687e+02] [ 6.64186411e-01 6.89857091e-01 -2.88016676e-01 1.14888102e+02] [ 4.63953593e-01 -7.82882049e-02 8.82393348e-01 1.00325131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.5171056809999 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:148.35, Y:114.94, Z:100.31 [[ 5.93201356e-01 -7.73749307e-01 -2.22315454e-01 1.48350820e+02] [ 6.66320682e-01 6.26862912e-01 -4.03806437e-01 1.14937117e+02] [ 4.51806264e-01 9.14051408e-02 8.87421095e-01 1.00312820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.54710568099995 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:148.38, Y:114.93, Z:100.35 [[ 5.90741782e-01 -7.23412410e-01 -3.57349453e-01 1.48378813e+02] [ 6.57396328e-01 6.88320075e-01 -3.06668458e-01 1.14929871e+02] [ 4.67818570e-01 -5.37583472e-02 8.82188090e-01 1.00351218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.5771056809999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:148.39, Y:114.96, Z:100.36 [[ 5.93230278e-01 -7.45906694e-01 -3.02821796e-01 1.48391518e+02] [ 6.58452110e-01 6.65995339e-01 -3.50558166e-01 1.14959503e+02] [ 4.63161587e-01 8.56806723e-03 8.86232437e-01 1.00355767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.60710568099995 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:148.41, Y:114.98, Z:100.36 [[ 5.94937240e-01 -7.46967742e-01 -2.96797697e-01 1.48410174e+02] [ 6.56289339e-01 6.64624673e-01 -3.57153117e-01 1.14979684e+02] [ 4.64040929e-01 1.76985251e-02 8.85636934e-01 1.00363776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.6371056809999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:148.42, Y:115.00, Z:100.37 [[ 5.95519391e-01 -7.50254819e-01 -2.87183498e-01 1.48424911e+02] [ 6.51728391e-01 6.60213530e-01 -3.73320504e-01 1.14996984e+02] [ 4.69687938e-01 3.51539600e-02 8.82132326e-01 1.00373081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.66710568099995 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:148.45, Y:115.01, Z:100.39 [[ 5.94658151e-01 -7.46931385e-01 -2.97447795e-01 1.48446408e+02] [ 6.49965455e-01 6.64389681e-01 -3.68959699e-01 1.15011838e+02] [ 4.73208824e-01 2.60741008e-02 8.80564336e-01 1.00385941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.6971056809999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:148.48, Y:115.05, Z:100.37 [[ 6.04089931e-01 -7.57980658e-01 -2.46050154e-01 1.48479554e+02] [ 6.56341084e-01 6.48336219e-01 -3.85845212e-01 1.15049402e+02] [ 4.51986434e-01 7.15923829e-02 8.89147229e-01 1.00374795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.72710568099995 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:148.52, Y:115.07, Z:100.39 [[ 6.04972782e-01 -7.42720512e-01 -2.87009014e-01 1.48515541e+02] [ 6.61944665e-01 6.69455771e-01 -3.37132366e-01 1.15071865e+02] [ 4.42534964e-01 1.39718198e-02 8.96642400e-01 1.00389259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.7571056809999 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:148.51, Y:115.07, Z:100.42 [[ 5.90174017e-01 -7.43247312e-01 -3.15084215e-01 1.48511260e+02] [ 6.62128522e-01 6.68952356e-01 -3.37769989e-01 1.15069453e+02] [ 4.61822965e-01 -9.28317460e-03 8.86923544e-01 1.00421593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.78710568099996 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:148.54, Y:115.10, Z:100.42 [[ 5.92850222e-01 -7.51837455e-01 -2.88563781e-01 1.48543605e+02] [ 6.67747265e-01 6.59234250e-01 -3.45722134e-01 1.15098689e+02] [ 4.50157977e-01 1.22737680e-02 8.92864576e-01 1.00418586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.81710568099993 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:148.54, Y:115.09, Z:100.46 [[ 5.71598485e-01 -7.41234742e-01 -3.51917930e-01 1.48540791e+02] [ 6.69253403e-01 6.69300599e-01 -3.22702016e-01 1.15087633e+02] [ 4.74736827e-01 -5.10662887e-02 8.78645082e-01 1.00464915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.8471056809999 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:148.55, Y:115.13, Z:100.45 [[ 5.73118817e-01 -7.79529333e-01 -2.52722851e-01 1.48554077e+02] [ 6.76413668e-01 6.24102127e-01 -3.91102397e-01 1.15129453e+02] [ 4.62600660e-01 5.32029524e-02 8.84968969e-01 1.00451335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.87710568099993 meters Centerline goodness : 0.998022 Centerline is valid? [True, True] Translation: X:148.58, Y:115.13, Z:100.49 [[ 5.58766342e-01 -7.64098429e-01 -3.22387601e-01 1.48575069e+02] [ 6.79151315e-01 6.44693637e-01 -3.50889735e-01 1.15128430e+02] [ 4.75955530e-01 -2.28845898e-02 8.79171558e-01 1.00487789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.9071056809999 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:148.59, Y:115.16, Z:100.48 [[ 5.59938054e-01 -7.85232766e-01 -2.64346133e-01 1.48591500e+02] [ 6.83864103e-01 6.18138340e-01 -3.87601447e-01 1.15162083e+02] [ 4.67759837e-01 3.62559689e-02 8.83111680e-01 1.00482631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.93710568099993 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:148.61, Y:115.18, Z:100.50 [[ 5.58793563e-01 -7.74221064e-01 -2.97206154e-01 1.48610256e+02] [ 6.83884423e-01 6.32915114e-01 -3.62933264e-01 1.15175767e+02] [ 4.69096844e-01 -4.49887634e-04 8.83146618e-01 1.00501745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.9671056809999 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:148.63, Y:115.20, Z:100.52 [[ 5.54512787e-01 -7.80432126e-01 -2.88862021e-01 1.48626188e+02] [ 6.88376754e-01 6.25219921e-01 -3.67746510e-01 1.15198573e+02] [ 4.67603480e-01 5.07424189e-03 8.83923774e-01 1.00515331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99710568099994 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:148.64, Y:115.22, Z:100.53 [[ 5.52338077e-01 -7.81146550e-01 -2.91088845e-01 1.48638953e+02] [ 6.90430610e-01 6.24347159e-01 -3.65371315e-01 1.15218779e+02] [ 4.67149036e-01 8.31841246e-04 8.84178198e-01 1.00528093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0271056809999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:148.65, Y:115.23, Z:100.55 [[ 5.55646552e-01 -7.72475106e-01 -3.07472144e-01 1.48653497e+02] [ 6.87409399e-01 6.34859185e-01 -3.52735217e-01 1.15234796e+02] [ 4.67680689e-01 -1.53631348e-02 8.83763966e-01 1.00545173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05710568099994 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:148.67, Y:115.26, Z:100.55 [[ 5.58332835e-01 -7.80376427e-01 -2.81561855e-01 1.48666230e+02] [ 6.83651774e-01 6.25055176e-01 -3.76731043e-01 1.15262632e+02] [ 4.69983720e-01 1.78510497e-02 8.82494557e-01 1.00554897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0871056809999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:148.68, Y:115.28, Z:100.58 [[ 5.67661331e-01 -7.64742097e-01 -3.04844448e-01 1.48679373e+02] [ 6.76262695e-01 6.44327261e-01 -3.57087031e-01 1.15280286e+02] [ 4.69499074e-01 -3.45042879e-03 8.82926223e-01 1.00578526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11710568099994 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:148.69, Y:115.29, Z:100.60 [[ 5.75096386e-01 -7.47127145e-01 -3.33264424e-01 1.48689465e+02] [ 6.65541748e-01 6.64172798e-01 -3.40483004e-01 1.15289182e+02] [ 4.75729260e-01 -2.59908427e-02 8.79207682e-01 1.00600617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.1471056809999 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:148.70, Y:115.32, Z:100.60 [[ 5.80260700e-01 -7.70419110e-01 -2.64105880e-01 1.48703116e+02] [ 6.67088666e-01 6.35630711e-01 -3.88543833e-01 1.15323750e+02] [ 4.67215402e-01 4.92746777e-02 8.82769378e-01 1.00600687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17710568099994 meters Centerline goodness : 0.998373 Centerline is valid? [True, True] Translation: X:148.75, Y:115.35, Z:100.61 [[ 5.92493317e-01 -7.44652247e-01 -3.07318565e-01 1.48747035e+02] [ 6.61003431e-01 6.67452642e-01 -3.42901494e-01 1.15346530e+02] [ 4.60462956e-01 2.82174979e-05 8.87678920e-01 1.00608439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.2071056809999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:148.74, Y:115.34, Z:100.64 [[ 5.77369644e-01 -7.51130757e-01 -3.20073241e-01 1.48736981e+02] [ 6.60271836e-01 6.60137706e-01 -3.58133092e-01 1.15344604e+02] [ 4.80297196e-01 -4.56017074e-03 8.77093957e-01 1.00642836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23710568099995 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:148.75, Y:115.37, Z:100.65 [[ 5.77170686e-01 -7.61556496e-01 -2.94797730e-01 1.48752781e+02] [ 6.60736411e-01 6.47645661e-01 -3.79450250e-01 1.15371885e+02] [ 4.79897274e-01 2.42239674e-02 8.76990197e-01 1.00648247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.2671056809999 meters Centerline goodness : 0.997231 Centerline is valid? [True, True] Translation: X:148.78, Y:115.40, Z:100.64 [[ 5.80647711e-01 -7.52999745e-01 -3.09579747e-01 1.48781752e+02] [ 6.65569657e-01 6.58018967e-01 -3.52176193e-01 1.15397782e+02] [ 4.68897928e-01 -1.55658586e-03 8.83250989e-01 1.00635182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29710568099995 meters Centerline goodness : 0.998256 Centerline is valid? [True, True] Translation: X:148.79, Y:115.42, Z:100.66 [[ 5.80917247e-01 -7.73608383e-01 -2.53111087e-01 1.48790344e+02] [ 6.61026886e-01 6.29826972e-01 -4.07874296e-01 1.15419899e+02] [ 4.74951164e-01 6.96279793e-02 8.77253291e-01 1.00662533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.3271056809999 meters Centerline goodness : 0.998005 Centerline is valid? [True, True] Translation: X:148.81, Y:115.43, Z:100.69 [[ 5.80436901e-01 -7.52950197e-01 -3.10095155e-01 1.48812486e+02] [ 6.58288252e-01 6.58028025e-01 -3.65589518e-01 1.15426850e+02] [ 4.79322002e-01 8.06964893e-03 8.77602017e-01 1.00686013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35710568099995 meters Centerline goodness : 0.997956 Centerline is valid? [True, True] Translation: X:148.82, Y:115.44, Z:100.70 [[ 5.82126072e-01 -7.57570966e-01 -2.95322651e-01 1.48824627e+02] [ 6.59537861e-01 6.52361649e-01 -3.73408744e-01 1.15444693e+02] [ 4.75540794e-01 2.25944958e-02 8.79403458e-01 1.00695502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.3871056809999 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:148.84, Y:115.46, Z:100.73 [[ 5.75840242e-01 -7.49889702e-01 -3.25689193e-01 1.48839620e+02] [ 6.56594925e-01 6.61542185e-01 -3.62277576e-01 1.15457969e+02] [ 4.87125364e-01 -5.23186399e-03 8.73316385e-01 1.00725686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41710568099995 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:148.86, Y:115.49, Z:100.72 [[ 5.80034544e-01 -7.61484376e-01 -2.89312068e-01 1.48861081e+02] [ 6.59296820e-01 6.47441536e-01 -3.82291983e-01 1.15486058e+02] [ 4.78422022e-01 3.10000298e-02 8.77582684e-01 1.00722541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.4471056809999 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:148.88, Y:115.51, Z:100.74 [[ 5.77028089e-01 -7.65090487e-01 -2.85788613e-01 1.48877842e+02] [ 6.64292155e-01 6.43230236e-01 -3.80750307e-01 1.15505524e+02] [ 4.75136315e-01 2.98564885e-02 8.79405522e-01 1.00737344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47710568099995 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:148.90, Y:115.51, Z:100.76 [[ 5.51409571e-01 -7.32826495e-01 -3.98638701e-01 1.48897760e+02] [ 6.81024101e-01 6.71410942e-01 -2.92255917e-01 1.15510186e+02] [ 4.81823265e-01 -1.10329853e-01 8.69294924e-01 1.00762012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.5071056809999 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:148.90, Y:115.54, Z:100.76 [[ 5.63918817e-01 -7.93333674e-01 -2.29384502e-01 1.48902661e+02] [ 6.68660217e-01 6.01637940e-01 -4.36950002e-01 1.15544607e+02] [ 4.84653569e-01 9.30240377e-02 8.69745622e-01 1.00762591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53710568099996 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:148.93, Y:115.55, Z:100.79 [[ 5.54421403e-01 -7.76438126e-01 -2.99600976e-01 1.48926017e+02] [ 6.72946177e-01 6.30054473e-01 -3.87523941e-01 1.15550082e+02] [ 4.89653297e-01 1.32362354e-02 8.71816753e-01 1.00786535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.56710568099993 meters Centerline goodness : 0.996656 Centerline is valid? [True, True] Translation: X:148.95, Y:115.57, Z:100.80 [[ 5.47599390e-01 -7.81367449e-01 -2.99332286e-01 1.48945347e+02] [ 6.78566077e-01 6.24005110e-01 -3.87512195e-01 1.15568139e+02] [ 4.89574291e-01 9.08470715e-03 8.71914263e-01 1.00797854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.5971056809999 meters Centerline goodness : 0.996584 Centerline is valid? [True, True] Translation: X:148.96, Y:115.59, Z:100.81 [[ 5.43503000e-01 -7.89380957e-01 -2.85450860e-01 1.48959252e+02] [ 6.78955522e-01 6.13374632e-01 -4.03473618e-01 1.15586473e+02] [ 4.93582707e-01 2.54806844e-02 8.69325512e-01 1.00809716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.62710568099993 meters Centerline goodness : 0.997152 Centerline is valid? [True, True] Translation: X:148.98, Y:115.61, Z:100.82 [[ 5.40145163e-01 -7.95331462e-01 -2.75120100e-01 1.48980746e+02] [ 6.86579358e-01 6.05504703e-01 -4.02458494e-01 1.15614930e+02] [ 4.86674416e-01 2.84942271e-02 8.73118601e-01 1.00818424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.6571056809999 meters Centerline goodness : 0.997291 Centerline is valid? [True, True] Translation: X:149.00, Y:115.63, Z:100.83 [[ 5.41639660e-01 -7.88633544e-01 -2.91004489e-01 1.49000054e+02] [ 6.89454992e-01 6.14826134e-01 -3.82936861e-01 1.15634919e+02] [ 4.80914019e-01 6.77929394e-03 8.76741551e-01 1.00834337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.68710568099993 meters Centerline goodness : 0.997291 Centerline is valid? [True, True] Translation: X:149.01, Y:115.64, Z:100.87 [[ 5.41172402e-01 -7.66390144e-01 -3.46090419e-01 1.49009478e+02] [ 6.83179166e-01 6.40668896e-01 -3.50441996e-01 1.15636828e+02] [ 4.90304659e-01 -4.67922270e-02 8.70294105e-01 1.00867920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7171056809999 meters Centerline goodness : 0.996937 Centerline is valid? [True, True] Translation: X:149.02, Y:115.68, Z:100.86 [[ 5.45312239e-01 -8.02042999e-01 -2.43642339e-01 1.49016396e+02] [ 6.83167016e-01 5.93669751e-01 -4.25251755e-01 1.15679292e+02] [ 4.85713279e-01 6.54465770e-02 8.71664704e-01 1.00860412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.74710568099994 meters Centerline goodness : 0.997182 Centerline is valid? [True, True] Translation: X:149.04, Y:115.67, Z:100.90 [[ 5.50278613e-01 -7.56862941e-01 -3.52635698e-01 1.49037339e+02] [ 6.73893170e-01 6.51928927e-01 -3.47644458e-01 1.15673276e+02] [ 4.93012619e-01 -4.63374784e-02 8.68787313e-01 1.00900104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7771056809999 meters Centerline goodness : 0.997391 Centerline is valid? [True, True] Translation: X:149.05, Y:115.71, Z:100.90 [[ 5.54800287e-01 -7.75662738e-01 -3.00905233e-01 1.49048752e+02] [ 6.73644877e-01 6.31056726e-01 -3.84668674e-01 1.15705706e+02] [ 4.88261428e-01 1.07110220e-02 8.72631682e-01 1.00903248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.80710568099994 meters Centerline goodness : 0.996729 Centerline is valid? [True, True] Translation: X:149.06, Y:115.73, Z:100.92 [[ 5.58348181e-01 -7.79583357e-01 -2.83720106e-01 1.49060868e+02] [ 6.65129743e-01 6.25058146e-01 -4.08539764e-01 1.15730631e+02] [ 4.95832364e-01 3.93967530e-02 8.67524157e-01 1.00915174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8371056809999 meters Centerline goodness : 0.996655 Centerline is valid? [True, True] Translation: X:149.08, Y:115.75, Z:100.92 [[ 5.64163721e-01 -7.77922602e-01 -2.76687046e-01 1.49076836e+02] [ 6.69665102e-01 6.27140177e-01 -3.97798756e-01 1.15754389e+02] [ 4.82978206e-01 3.91359673e-02 8.74757354e-01 1.00921928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.86710568099994 meters Centerline goodness : 0.996840 Centerline is valid? [True, True] Translation: X:149.09, Y:115.77, Z:100.94 [[ 5.66029852e-01 -7.68716778e-01 -2.97799802e-01 1.49093399e+02] [ 6.60540352e-01 6.39045996e-01 -3.94089657e-01 1.15770276e+02] [ 4.93251103e-01 2.63577239e-02 8.69487562e-01 1.00943747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8971056809999 meters Centerline goodness : 0.996671 Centerline is valid? [True, True] Translation: X:149.11, Y:115.77, Z:100.97 [[ 5.66460551e-01 -7.44263580e-01 -3.53827880e-01 1.49108664e+02] [ 6.54144706e-01 6.67227015e-01 -3.56234212e-01 1.15774975e+02] [ 5.01215670e-01 -2.96620065e-02 8.64813863e-01 1.00969946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.92710568099994 meters Centerline goodness : 0.996925 Centerline is valid? [True, True] Translation: X:149.12, Y:115.81, Z:100.97 [[ 5.70070944e-01 -7.63648769e-01 -3.03083613e-01 1.49121080e+02] [ 6.51968074e-01 6.44948474e-01 -3.98721828e-01 1.15805841e+02] [ 4.99956747e-01 2.96988889e-02 8.65541003e-01 1.00970562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.9571056809999 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:149.14, Y:115.83, Z:100.98 [[ 5.67842391e-01 -7.65752250e-01 -3.01957797e-01 1.49139796e+02] [ 6.51175776e-01 6.42291978e-01 -4.04266154e-01 1.15825422e+02] [ 5.03512788e-01 3.29318567e-02 8.63359928e-01 1.00984729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.98710568099995 meters Centerline goodness : 0.997008 Centerline is valid? [True, True] Translation: X:149.17, Y:115.86, Z:100.97 [[ 5.78295132e-01 -7.66064233e-01 -2.80571438e-01 1.49168709e+02] [ 6.58252919e-01 6.41303518e-01 -3.94249785e-01 1.15861433e+02] [ 4.81952109e-01 4.33057636e-02 8.75126720e-01 1.00974078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.0171056809999 meters Centerline goodness : 0.996338 Centerline is valid? [True, True] Translation: X:149.17, Y:115.87, Z:101.00 [[ 5.69885879e-01 -7.74865584e-01 -2.73520404e-01 1.49171435e+02] [ 6.62194002e-01 6.30149321e-01 -4.05476186e-01 1.15871560e+02] [ 4.86548238e-01 4.99515817e-02 8.72224542e-01 1.00997882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.04710568099995 meters Centerline goodness : 0.996126 Centerline is valid? [True, True] Translation: X:149.19, Y:115.88, Z:101.02 [[ 5.70575420e-01 -7.57582586e-01 -3.17036773e-01 1.49190772e+02] [ 6.64461435e-01 6.52732339e-01 -3.63911383e-01 1.15879144e+02] [ 4.82633081e-01 -3.01981855e-03 8.75817441e-01 1.01021379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.0771056809999 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:149.21, Y:115.90, Z:101.04 [[ 5.68517364e-01 -7.67358740e-01 -2.96561243e-01 1.49205243e+02] [ 6.63353934e-01 6.40806573e-01 -3.86430452e-01 1.15902285e+02] [ 4.86569178e-01 2.29673546e-02 8.73340103e-01 1.01035077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.10710568099995 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:149.22, Y:115.92, Z:101.05 [[ 5.66318104e-01 -7.67510137e-01 -3.00353118e-01 1.49224494e+02] [ 6.63065610e-01 6.40723272e-01 -3.87062896e-01 1.15921253e+02] [ 4.89517928e-01 2.00469018e-02 8.71762766e-01 1.01051250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.1371056809999 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:149.24, Y:115.94, Z:101.06 [[ 5.66639372e-01 -7.72904017e-01 -2.85550702e-01 1.49241024e+02] [ 6.65451904e-01 6.33635106e-01 -3.94563449e-01 1.15941492e+02] [ 4.85894624e-01 3.35549261e-02 8.73373048e-01 1.01061037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.16710568099995 meters Centerline goodness : 0.995558 Centerline is valid? [True, True] Translation: X:149.26, Y:115.94, Z:101.09 [[ 5.62717367e-01 -7.52659415e-01 -3.41837636e-01 1.49258490e+02] [ 6.58942808e-01 6.58098156e-01 -3.64281749e-01 1.15944376e+02] [ 4.99142806e-01 -2.02637851e-02 8.66282770e-01 1.01090106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.1971056809999 meters Centerline goodness : 0.995607 Centerline is valid? [True, True] Translation: X:149.27, Y:115.98, Z:101.09 [[ 5.67216899e-01 -7.79497002e-01 -2.65799574e-01 1.49273828e+02] [ 6.65977888e-01 6.24000127e-01 -4.08775358e-01 1.15980869e+02] [ 4.84498134e-01 5.48476518e-02 8.73071184e-01 1.01085745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.22710568099995 meters Centerline goodness : 0.994497 Centerline is valid? [True, True] Translation: X:149.29, Y:116.00, Z:101.09 [[ 5.60825621e-01 -7.63162486e-01 -3.21025922e-01 1.49289612e+02] [ 6.72590906e-01 6.46064809e-01 -3.60862488e-01 1.15996066e+02] [ 4.82800265e-01 -1.35381873e-02 8.75625846e-01 1.01092889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.2571056809999 meters Centerline goodness : 0.995022 Centerline is valid? [True, True] Translation: X:149.30, Y:116.02, Z:101.11 [[ 5.65963791e-01 -7.87340435e-01 -2.44499543e-01 1.49304059e+02] [ 6.64645365e-01 6.11213468e-01 -4.29726233e-01 1.16017384e+02] [ 4.87782253e-01 8.07040002e-02 8.69226862e-01 1.01111180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.28710568099996 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:149.32, Y:116.02, Z:101.14 [[ 5.63794689e-01 -7.69910740e-01 -2.98953176e-01 1.49324619e+02] [ 6.64170336e-01 6.37795338e-01 -3.89993424e-01 1.16023256e+02] [ 4.90931068e-01 2.13203896e-02 8.70937499e-01 1.01138351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.31710568099993 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:149.34, Y:116.05, Z:101.14 [[ 5.52573339e-01 -7.62691349e-01 -3.36102085e-01 1.49341514e+02] [ 6.79352678e-01 6.45773467e-01 -3.48506196e-01 1.16048062e+02] [ 4.82848470e-01 -3.57566189e-02 8.74973611e-01 1.01138943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.3471056809999 meters Centerline goodness : 0.994651 Centerline is valid? [True, True] Translation: X:149.36, Y:116.07, Z:101.16 [[ 5.63411625e-01 -7.81751204e-01 -2.67268397e-01 1.49357821e+02] [ 6.68876673e-01 6.21499980e-01 -4.07850183e-01 1.16068740e+02] [ 4.84944674e-01 5.10179379e-02 8.73055458e-01 1.01158176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.37710568099993 meters Centerline goodness : 0.995952 Centerline is valid? [True, True] Translation: X:149.38, Y:116.08, Z:101.17 [[ 5.62739514e-01 -7.75684191e-01 -2.85724124e-01 1.49375169e+02] [ 6.65212145e-01 6.30131666e-01 -4.00533252e-01 1.16078379e+02] [ 4.90731130e-01 3.53287303e-02 8.70594532e-01 1.01174960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.4071056809999 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:149.40, Y:116.09, Z:101.20 [[ 5.62877953e-01 -7.61973977e-01 -3.20256254e-01 1.49396453e+02] [ 6.65331097e-01 6.47595222e-01 -3.71422885e-01 1.16092827e+02] [ 4.90410993e-01 -4.01069142e-03 8.71482055e-01 1.01197717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.43710568099993 meters Centerline goodness : 0.995774 Centerline is valid? [True, True] Translation: X:149.41, Y:116.11, Z:101.21 [[ 5.62842687e-01 -7.64225173e-01 -3.14909501e-01 1.49411584e+02] [ 6.62442220e-01 6.44922571e-01 -3.81110460e-01 1.16111581e+02] [ 4.94346452e-01 5.89588580e-03 8.69244973e-01 1.01211169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.4671056809999 meters Centerline goodness : 0.995854 Centerline is valid? [True, True] Translation: X:149.43, Y:116.13, Z:101.22 [[ 5.62722969e-01 -7.73618434e-01 -2.91302899e-01 1.49427827e+02] [ 6.62911208e-01 6.32842028e-01 -4.00074615e-01 1.16134047e+02] [ 4.93853814e-01 3.20232189e-02 8.68955076e-01 1.01218573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49710568099994 meters Centerline goodness : 0.995385 Centerline is valid? [True, True] Translation: X:149.45, Y:116.15, Z:101.24 [[ 5.51198842e-01 -7.51182726e-01 -3.63186383e-01 1.49446066e+02] [ 6.69857593e-01 6.57915444e-01 -3.44148331e-01 1.16148145e+02] [ 4.97464212e-01 -5.35889946e-02 8.65827684e-01 1.01241614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5271056809999 meters Centerline goodness : 0.995675 Centerline is valid? [True, True] Translation: X:149.46, Y:116.18, Z:101.24 [[ 5.59563489e-01 -7.88943171e-01 -2.53884571e-01 1.49457864e+02] [ 6.66632711e-01 6.10455750e-01 -4.27720242e-01 1.16179144e+02] [ 4.92432260e-01 7.00888716e-02 8.67524074e-01 1.01235986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55710568099994 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:149.48, Y:116.18, Z:101.26 [[ 5.56292742e-01 -7.69799581e-01 -3.12964838e-01 1.49475565e+02] [ 6.59652288e-01 6.38122430e-01 -3.97062494e-01 1.16179168e+02] [ 5.05368425e-01 1.44350117e-02 8.62782931e-01 1.01263633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5871056809999 meters Centerline goodness : 0.995521 Centerline is valid? [True, True] Translation: X:149.49, Y:116.21, Z:101.27 [[ 5.56047205e-01 -7.79677778e-01 -2.87948029e-01 1.49492941e+02] [ 6.68825786e-01 6.25418640e-01 -4.01899979e-01 1.16207091e+02] [ 4.93440548e-01 3.08882939e-02 8.69230890e-01 1.01272747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61710568099994 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:149.51, Y:116.22, Z:101.29 [[ 5.52125165e-01 -7.78385902e-01 -2.98786196e-01 1.49506074e+02] [ 6.66634512e-01 6.27362623e-01 -4.02510332e-01 1.16222802e+02] [ 5.00755659e-01 2.30548939e-02 8.65281597e-01 1.01290751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.6471056809999 meters Centerline goodness : 0.995511 Centerline is valid? [True, True] Translation: X:149.52, Y:116.24, Z:101.31 [[ 5.52239417e-01 -7.71313616e-01 -3.16396794e-01 1.49523613e+02] [ 6.69169650e-01 6.36455257e-01 -3.83584001e-01 1.16238438e+02] [ 4.97235966e-01 1.07073394e-04 8.67615343e-01 1.01308641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67710568099994 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:149.53, Y:116.28, Z:101.29 [[ 5.40932307e-01 -7.87158457e-01 -2.96266440e-01 1.49534050e+02] [ 6.85819382e-01 6.16723253e-01 -3.86399023e-01 1.16276805e+02] [ 4.86871661e-01 5.83044854e-03 8.73454058e-01 1.01292492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.7071056809999 meters Centerline goodness : 0.995633 Centerline is valid? [True, True] Translation: X:149.55, Y:116.28, Z:101.33 [[ 5.50779919e-01 -7.81203827e-01 -2.93874227e-01 1.49552053e+02] [ 6.71610750e-01 6.23860962e-01 -3.99670490e-01 1.16283710e+02] [ 4.95560774e-01 2.27613906e-02 8.68274979e-01 1.01329157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73710568099995 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:149.56, Y:116.30, Z:101.34 [[ 5.50972545e-01 -7.85615378e-01 -2.81491976e-01 1.49564231e+02] [ 6.72668904e-01 6.17719246e-01 -4.07356696e-01 1.16304475e+02] [ 4.93908696e-01 3.50914570e-02 8.68805381e-01 1.01340118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.7671056809999 meters Centerline goodness : 0.995051 Centerline is valid? [True, True] Translation: X:149.58, Y:116.32, Z:101.37 [[ 5.50297025e-01 -7.71776623e-01 -3.18644046e-01 1.49581694e+02] [ 6.72917589e-01 6.35861280e-01 -3.77971362e-01 1.16315406e+02] [ 4.94322872e-01 -6.42466721e-03 8.69254636e-01 1.01366117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79710568099995 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:149.59, Y:116.34, Z:101.38 [[ 5.49000763e-01 -7.80016285e-01 -3.00287790e-01 1.49594229e+02] [ 6.74615457e-01 6.25634403e-01 -3.91759593e-01 1.16340176e+02] [ 4.93449234e-01 1.24975310e-02 8.69684808e-01 1.01376340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.8271056809999 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:149.61, Y:116.36, Z:101.39 [[ 5.48465303e-01 -7.81035824e-01 -2.98611543e-01 1.49607928e+02] [ 6.75120839e-01 6.24330845e-01 -3.92966726e-01 1.16360297e+02] [ 4.93353488e-01 1.39297388e-02 8.69717367e-01 1.01389512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85710568099995 meters Centerline goodness : 0.995763 Centerline is valid? [True, True] Translation: X:149.62, Y:116.39, Z:101.39 [[ 5.46309944e-01 -7.94735860e-01 -2.64462393e-01 1.49618858e+02] [ 6.79017852e-01 6.05092293e-01 -4.15689877e-01 1.16388831e+02] [ 4.90387807e-01 4.75208276e-02 8.70207774e-01 1.01394539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.8871056809999 meters Centerline goodness : 0.996039 Centerline is valid? [True, True] Translation: X:149.64, Y:116.40, Z:101.42 [[ 5.41609335e-01 -7.83999529e-01 -3.03321721e-01 1.49635623e+02] [ 6.82509725e-01 6.20758414e-01 -3.85797184e-01 1.16397456e+02] [ 4.90754321e-01 1.93133205e-03 8.71295855e-01 1.01418364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91710568099995 meters Centerline goodness : 0.995878 Centerline is valid? [True, True] Translation: X:149.65, Y:116.42, Z:101.43 [[ 5.38043304e-01 -7.88916013e-01 -2.96851695e-01 1.49649451e+02] [ 6.84546474e-01 6.14451163e-01 -3.92231937e-01 1.16418673e+02] [ 4.91838925e-01 7.82898657e-03 8.70651009e-01 1.01432376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.9471056809999 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:149.66, Y:116.45, Z:101.42 [[ 5.30699214e-01 -7.87817800e-01 -3.12572324e-01 1.49663505e+02] [ 7.00621975e-01 6.15304811e-01 -3.61287749e-01 1.16450108e+02] [ 4.76956174e-01 -2.72599151e-02 8.78504243e-01 1.01420347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97710568099995 meters Centerline goodness : 0.995660 Centerline is valid? [True, True] Translation: X:149.67, Y:116.46, Z:101.46 [[ 5.34080770e-01 -7.92246526e-01 -2.95132466e-01 1.49672992e+02] [ 6.81179211e-01 6.10012584e-01 -4.04820367e-01 1.16456911e+02] [ 5.00752048e-01 1.51686732e-02 8.65457854e-01 1.01457488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.0071056809999 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:149.69, Y:116.48, Z:101.47 [[ 5.33427000e-01 -7.90911462e-01 -2.99857792e-01 1.49687374e+02] [ 6.86817211e-01 6.11921856e-01 -3.92216472e-01 1.16479768e+02] [ 4.93698040e-01 3.27136391e-03 8.69627244e-01 1.01472274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03710568099996 meters Centerline goodness : 0.995704 Centerline is valid? [True, True] Translation: X:149.70, Y:116.50, Z:101.48 [[ 5.34895227e-01 -7.92344909e-01 -2.93388209e-01 1.49698854e+02] [ 6.79220538e-01 6.09770953e-01 -4.08459112e-01 1.16498786e+02] [ 5.02540105e-01 1.92075325e-02 8.64340508e-01 1.01484634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.06710568099993 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:149.71, Y:116.53, Z:101.49 [[ 5.36659597e-01 -7.94517296e-01 -2.84145638e-01 1.49713745e+02] [ 6.84135722e-01 6.06814835e-01 -4.04640668e-01 1.16525203e+02] [ 4.93917798e-01 2.27601165e-02 8.69210669e-01 1.01494565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.0971056809999 meters Centerline goodness : 0.995938 Centerline is valid? [True, True] Translation: X:149.73, Y:116.55, Z:101.51 [[ 5.39264853e-01 -7.92488318e-01 -2.84878366e-01 1.49728254e+02] [ 6.83045613e-01 6.09473433e-01 -4.02480838e-01 1.16545516e+02] [ 4.92587158e-01 2.24588520e-02 8.69973271e-01 1.01507516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.12710568099993 meters Centerline goodness : 0.995342 Centerline is valid? [True, True] Translation: X:149.74, Y:116.57, Z:101.52 [[ 5.41369071e-01 -7.92534795e-01 -2.80727854e-01 1.49742171e+02] [ 6.81356713e-01 6.09164550e-01 -4.05797462e-01 1.16566475e+02] [ 4.92618065e-01 2.84103872e-02 8.69781750e-01 1.01517382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.1571056809999 meters Centerline goodness : 0.995360 Centerline is valid? [True, True] Translation: X:149.76, Y:116.57, Z:101.54 [[ 5.40075496e-01 -7.73298547e-01 -3.32156312e-01 1.49757423e+02] [ 6.73416247e-01 6.33782385e-01 -3.80565954e-01 1.16571779e+02] [ 5.04805919e-01 -1.81451107e-02 8.63042142e-01 1.01544615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.18710568099993 meters Centerline goodness : 0.995738 Centerline is valid? [True, True] Translation: X:149.77, Y:116.61, Z:101.54 [[ 5.45079622e-01 -7.99304745e-01 -2.52982472e-01 1.49769775e+02] [ 6.79479971e-01 5.97936979e-01 -4.25180360e-01 1.16609494e+02] [ 4.91116254e-01 5.98606270e-02 8.69034827e-01 1.01539715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2171056809999 meters Centerline goodness : 0.995343 Centerline is valid? [True, True] Translation: X:149.79, Y:116.61, Z:101.58 [[ 5.43143666e-01 -7.71456120e-01 -3.31436891e-01 1.49787655e+02] [ 6.72749182e-01 6.36036882e-01 -3.77975691e-01 1.16609229e+02] [ 5.02397747e-01 -1.76787951e-02 8.64455878e-01 1.01575393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.24710568099994 meters Centerline goodness : 0.996341 Centerline is valid? [True, True] Translation: X:149.81, Y:116.64, Z:101.56 [[ 5.56741964e-01 -7.81137385e-01 -2.82600019e-01 1.49813252e+02] [ 6.76726646e-01 6.23797867e-01 -3.91046376e-01 1.16640898e+02] [ 4.81746233e-01 2.64689638e-02 8.75910932e-01 1.01560101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2771056809999 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:149.81, Y:116.66, Z:101.58 [[ 5.44999778e-01 -7.93771002e-01 -2.70005257e-01 1.49810921e+02] [ 6.79884441e-01 6.06846573e-01 -4.11696956e-01 1.16663434e+02] [ 4.90644870e-01 4.08023763e-02 8.70403802e-01 1.01583212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.30710568099994 meters Centerline goodness : 0.995968 Centerline is valid? [True, True] Translation: X:149.83, Y:116.68, Z:101.59 [[ 5.47806836e-01 -7.90547489e-01 -2.73755984e-01 1.49828190e+02] [ 6.76222433e-01 6.11074030e-01 -4.11475092e-01 1.16681389e+02] [ 4.92575773e-01 4.02889303e-02 8.69336477e-01 1.01593871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3371056809999 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:149.85, Y:116.69, Z:101.62 [[ 5.49410692e-01 -7.77079494e-01 -3.07075482e-01 1.49847737e+02] [ 6.71830862e-01 6.29347807e-01 -3.90595226e-01 1.16694150e+02] [ 4.96780822e-01 8.29440799e-03 8.67836400e-01 1.01617777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.36710568099994 meters Centerline goodness : 0.996656 Centerline is valid? [True, True] Translation: X:149.86, Y:116.72, Z:101.63 [[ 5.52973451e-01 -7.81165941e-01 -2.89827767e-01 1.49860518e+02] [ 6.70465486e-01 6.23700349e-01 -4.01838160e-01 1.16715982e+02] [ 4.94667964e-01 2.78863199e-02 8.68634537e-01 1.01627217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3971056809999 meters Centerline goodness : 0.995732 Centerline is valid? [True, True] Translation: X:149.87, Y:116.73, Z:101.64 [[ 5.55677561e-01 -7.80457068e-01 -2.86547052e-01 1.49874191e+02] [ 6.68705544e-01 6.24351442e-01 -4.03755088e-01 1.16733749e+02] [ 4.94019577e-01 3.27420406e-02 8.68834055e-01 1.01641651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.42710568099994 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:149.89, Y:116.75, Z:101.66 [[ 5.57359181e-01 -7.79487240e-01 -2.85920245e-01 1.49887469e+02] [ 6.67577670e-01 6.25482320e-01 -4.03871170e-01 1.16753144e+02] [ 4.93650482e-01 3.42273338e-02 8.68986589e-01 1.01655276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.4571056809999 meters Centerline goodness : 0.996139 Centerline is valid? [True, True] Translation: X:149.91, Y:116.78, Z:101.66 [[ 5.63840541e-01 -7.81983471e-01 -2.65679686e-01 1.49906873e+02] [ 6.65684343e-01 6.20715406e-01 -4.14218228e-01 1.16779389e+02] [ 4.88823282e-01 5.66942226e-02 8.70538663e-01 1.01663334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.48710568099995 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:149.92, Y:116.79, Z:101.68 [[ 5.61484429e-01 -7.67701739e-01 -3.08819165e-01 1.49919376e+02] [ 6.61597596e-01 6.40643366e-01 -3.89698215e-01 1.16787093e+02] [ 4.97014946e-01 1.44954620e-02 8.67620899e-01 1.01683228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.5171056809999 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:149.94, Y:116.81, Z:101.69 [[ 5.62814152e-01 -7.82323196e-01 -2.66853232e-01 1.49935918e+02] [ 6.59036247e-01 6.19564173e-01 -4.26393550e-01 1.16810379e+02] [ 4.98910267e-01 6.41143715e-02 8.64278828e-01 1.01688543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.54710568099995 meters Centerline goodness : 0.996042 Centerline is valid? [True, True] Translation: X:149.96, Y:116.82, Z:101.71 [[ 5.62415475e-01 -7.71563564e-01 -2.97285217e-01 1.49958598e+02] [ 6.61619997e-01 6.35575603e-01 -3.97872634e-01 1.16820363e+02] [ 4.95931258e-01 2.70798826e-02 8.67939437e-01 1.01712778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.5771056809999 meters Centerline goodness : 0.996500 Centerline is valid? [True, True] Translation: X:149.97, Y:116.85, Z:101.72 [[ 5.59810537e-01 -7.85053352e-01 -2.65147880e-01 1.49970236e+02] [ 6.61340431e-01 6.16096258e-01 -4.27848379e-01 1.16847136e+02] [ 4.99240421e-01 6.41610181e-02 8.64084699e-01 1.01716908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.60710568099995 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:149.99, Y:116.86, Z:101.74 [[ 5.58878057e-01 -7.70574641e-01 -3.06382179e-01 1.49993729e+02] [ 6.62316816e-01 6.37111939e-01 -3.94239537e-01 1.16856135e+02] [ 4.98990734e-01 1.74097574e-02 8.66432426e-01 1.01739877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.6371056809999 meters Centerline goodness : 0.997501 Centerline is valid? [True, True] Translation: X:150.01, Y:116.88, Z:101.75 [[ 5.57951613e-01 -7.84364254e-01 -2.71040060e-01 1.50009032e+02] [ 6.65334278e-01 6.18002502e-01 -4.18811659e-01 1.16882702e+02] [ 4.96004330e-01 5.33443979e-02 8.66679918e-01 1.01745321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.66710568099995 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:150.03, Y:116.89, Z:101.77 [[ 5.57424212e-01 -7.78961621e-01 -2.87222981e-01 1.50026987e+02] [ 6.65719847e-01 6.26088462e-01 -4.05993009e-01 1.16894733e+02] [ 4.96079967e-01 3.51002947e-02 8.67567079e-01 1.01765308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.6971056809999 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:150.05, Y:116.91, Z:101.79 [[ 5.54788201e-01 -7.78865136e-01 -2.92539147e-01 1.50049280e+02] [ 6.66842022e-01 6.26531822e-01 -4.03459531e-01 1.16907567e+02] [ 4.97525647e-01 2.87571910e-02 8.66972464e-01 1.01786759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.72710568099995 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:150.07, Y:116.93, Z:101.80 [[ 5.53335141e-01 -7.81407304e-01 -2.88483704e-01 1.50065224e+02] [ 6.67009567e-01 6.23117013e-01 -4.08440236e-01 1.16926652e+02] [ 4.98917288e-01 3.35829449e-02 8.65998687e-01 1.01801890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.7571056809999 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:150.08, Y:116.94, Z:101.82 [[ 5.51862163e-01 -7.74565112e-01 -3.09025955e-01 1.50083563e+02] [ 6.63296406e-01 6.32293375e-01 -4.00303592e-01 1.16940006e+02] [ 5.05456260e-01 1.59366008e-02 8.62705045e-01 1.01819784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.78710568099996 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:150.10, Y:116.97, Z:101.82 [[ 5.52210026e-01 -7.84137234e-01 -2.83183484e-01 1.50098311e+02] [ 6.66802635e-01 6.19291077e-01 -4.14551333e-01 1.16966208e+02] [ 5.00438141e-01 4.00919091e-02 8.64843516e-01 1.01824902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.81710568099993 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:150.12, Y:116.99, Z:101.84 [[ 5.49350414e-01 -7.87022485e-01 -2.80730708e-01 1.50117423e+02] [ 6.63775209e-01 6.15099968e-01 -4.25504996e-01 1.16985247e+02] [ 5.07559448e-01 4.74092614e-02 8.60311437e-01 1.01842706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.8471056809999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:150.14, Y:116.99, Z:101.87 [[ 5.50618522e-01 -7.74879246e-01 -3.10453536e-01 1.50137001e+02] [ 6.60227546e-01 6.31835174e-01 -4.06058986e-01 1.16990645e+02] [ 5.10802145e-01 1.86136227e-02 8.59496773e-01 1.01870831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.87710568099993 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:150.15, Y:117.01, Z:101.88 [[ 5.50297206e-01 -7.78985568e-01 -3.00590203e-01 1.50150566e+02] [ 6.59346901e-01 6.26289437e-01 -4.15960582e-01 1.17012299e+02] [ 5.12283759e-01 3.07087268e-02 8.58267047e-01 1.01881860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.9071056809999 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:150.16, Y:117.04, Z:101.89 [[ 5.54328265e-01 -7.82185783e-01 -2.84439054e-01 1.50162940e+02] [ 6.59926789e-01 6.21309745e-01 -4.22458084e-01 1.17035277e+02] [ 5.07165464e-01 4.64715048e-02 8.60594906e-01 1.01889103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.93710568099993 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:150.18, Y:117.05, Z:101.92 [[ 5.55397361e-01 -7.70927755e-01 -3.11775829e-01 1.50179678e+02] [ 6.55945829e-01 6.36584504e-01 -4.05580127e-01 1.17046675e+02] [ 5.11144638e-01 2.07500779e-02 8.59244199e-01 1.01917089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.9671056809999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:150.19, Y:117.07, Z:101.92 [[ 5.56831350e-01 -7.81070277e-01 -2.82609396e-01 1.50193834e+02] [ 6.60578786e-01 6.22682936e-01 -4.19406281e-01 1.17071617e+02] [ 5.03561828e-01 4.68527934e-02 8.62687835e-01 1.01920743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99710568099994 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:150.21, Y:117.08, Z:101.95 [[ 5.56306758e-01 -7.73940715e-01 -3.02553402e-01 1.50209929e+02] [ 6.61578758e-01 6.32816380e-01 -4.02314524e-01 1.17083507e+02] [ 5.02828339e-01 2.36473844e-02 8.64062765e-01 1.01945520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0271056809999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:150.23, Y:117.10, Z:101.96 [[ 5.53905725e-01 -7.79012720e-01 -2.93815638e-01 1.50225006e+02] [ 6.62490121e-01 6.26133766e-01 -4.11173136e-01 1.17104930e+02] [ 5.04276995e-01 3.31011967e-02 8.62907308e-01 1.01957392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05710568099994 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:150.24, Y:117.13, Z:101.97 [[ 5.51018513e-01 -7.82391129e-01 -2.90245965e-01 1.50238300e+02] [ 6.60742918e-01 6.21491684e-01 -4.20911966e-01 1.17127139e+02] [ 5.09703242e-01 4.01523191e-02 8.59412821e-01 1.01966794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0871056809999 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:150.25, Y:117.14, Z:101.99 [[ 5.48133160e-01 -7.74086963e-01 -3.16763970e-01 1.50252203e+02] [ 6.58254814e-01 6.32903802e-01 -4.07594623e-01 1.17137955e+02] [ 5.15994805e-01 1.49047208e-02 8.56462031e-01 1.01993137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11710568099994 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:150.27, Y:117.17, Z:101.99 [[ 5.44828602e-01 -7.89962176e-01 -2.81285540e-01 1.50268337e+02] [ 6.66494095e-01 6.11512854e-01 -4.26424261e-01 1.17170388e+02] [ 5.08868760e-01 4.48529824e-02 8.59674819e-01 1.01991069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.1471056809999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:150.28, Y:117.17, Z:102.03 [[ 5.39976038e-01 -7.79257964e-01 -3.18092603e-01 1.50282416e+02] [ 6.61942088e-01 6.26596663e-01 -4.11350572e-01 1.17173573e+02] [ 5.19863973e-01 1.15605702e-02 8.54170827e-01 1.02025903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17710568099994 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:150.30, Y:117.19, Z:102.05 [[ 5.36315993e-01 -7.77367809e-01 -3.28731572e-01 1.50296729e+02] [ 6.62253308e-01 6.29046024e-01 -4.07089248e-01 1.17188193e+02] [ 5.23245365e-01 6.24903378e-04 8.52181846e-01 1.02047582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.2071056809999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:150.31, Y:117.23, Z:102.03 [[ 5.38724466e-01 -8.01618424e-01 -2.59198480e-01 1.50312906e+02] [ 6.72039800e-01 5.94431508e-01 -4.41603543e-01 1.17233494e+02] [ 5.08073279e-01 6.37109383e-02 8.58954282e-01 1.02029639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23710568099995 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:150.33, Y:117.24, Z:102.05 [[ 5.36222602e-01 -7.93038375e-01 -2.89059608e-01 1.50326951e+02] [ 6.71485082e-01 6.08286474e-01 -4.23196586e-01 1.17243924e+02] [ 5.11442183e-01 3.28283599e-02 8.58690394e-01 1.02051815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.2671056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:150.34, Y:117.24, Z:102.10 [[ 5.32027782e-01 -7.72139850e-01 -3.47485959e-01 1.50340555e+02] [ 6.66979295e-01 6.34984440e-01 -3.89786326e-01 1.17241898e+02] [ 5.21617733e-01 -2.43887856e-02 8.52830656e-01 1.02099839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29710568099995 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:150.36, Y:117.29, Z:102.07 [[ 5.38585405e-01 -8.04686660e-01 -2.49810209e-01 1.50356288e+02] [ 6.67209552e-01 5.88374696e-01 -4.56778537e-01 1.17287999e+02] [ 5.14545601e-01 7.93384960e-02 8.53784650e-01 1.02070334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.3271056809999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:150.37, Y:117.28, Z:102.13 [[ 5.34191960e-01 -7.75800771e-01 -3.35815595e-01 1.50366533e+02] [ 6.62040012e-01 6.30946986e-01 -4.04485999e-01 1.17283826e+02] [ 5.25682387e-01 -6.25019220e-03 8.50657959e-01 1.02126999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35710568099995 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:150.39, Y:117.32, Z:102.11 [[ 5.36360124e-01 -7.88273319e-01 -3.01567559e-01 1.50386236e+02] [ 6.70652667e-01 6.14993538e-01 -4.14738409e-01 1.17323171e+02] [ 5.12389322e-01 2.02020565e-02 8.58515614e-01 1.02110170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.3871056809999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:150.40, Y:117.34, Z:102.12 [[ 5.40769350e-01 -7.94746885e-01 -2.75582835e-01 1.50397178e+02] [ 6.71564146e-01 6.05187477e-01 -4.27492357e-01 1.17344781e+02] [ 5.06527500e-01 4.61032129e-02 8.60990352e-01 1.02124800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41710568099995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:150.41, Y:117.36, Z:102.15 [[ 5.39735264e-01 -7.89020680e-01 -2.93482896e-01 1.50413427e+02] [ 6.71529281e-01 6.13774118e-01 -4.15126194e-01 1.17359042e+02] [ 5.07675358e-01 2.69758880e-02 8.61126026e-01 1.02148257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.4471056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:150.43, Y:117.37, Z:102.17 [[ 5.34022705e-01 -7.89877312e-01 -3.01518794e-01 1.50429503e+02] [ 6.72912624e-01 6.12994501e-01 -4.14036643e-01 1.17374334e+02] [ 5.11867513e-01 1.82091651e-02 8.58871396e-01 1.02168548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47710568099995 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:150.44, Y:117.36, Z:102.22 [[ 5.24905953e-01 -7.46282132e-01 -4.09312497e-01 1.50439698e+02] [ 6.68853809e-01 6.59064932e-01 -3.43901145e-01 1.17361667e+02] [ 5.26410793e-01 -9.32544647e-02 8.45100753e-01 1.02215197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.5071056809999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:150.46, Y:117.40, Z:102.20 [[ 5.30929415e-01 -7.88865901e-01 -3.09523094e-01 1.50457677e+02] [ 6.62947836e-01 6.14167476e-01 -4.28133716e-01 1.17402965e+02] [ 5.27839107e-01 2.21111186e-02 8.49056521e-01 1.02202882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.5371056809999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:150.47, Y:117.46, Z:102.18 [[ 5.30454441e-01 -8.17721242e-01 -2.23495093e-01 1.50466941e+02] [ 6.72931693e-01 5.66523468e-01 -4.75619698e-01 1.17458566e+02] [ 5.15539545e-01 1.01897650e-01 8.50785429e-01 1.02175926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.56710568099993 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:150.48, Y:117.47, Z:102.21 [[ 5.25106732e-01 -8.15454853e-01 -2.43508323e-01 1.50475445e+02] [ 6.72016812e-01 5.72871645e-01 -4.69266963e-01 1.17472548e+02] [ 5.22165036e-01 8.27735538e-02 8.48818128e-01 1.02205466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.5971056809999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:150.49, Y:117.46, Z:102.27 [[ 5.20582895e-01 -7.76920909e-01 -3.54100763e-01 1.50488369e+02] [ 6.67118696e-01 6.28957018e-01 -3.99206357e-01 1.17458010e+02] [ 5.32865925e-01 -2.84072382e-02 8.45722729e-01 1.02271720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.62710568099993 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:150.50, Y:117.50, Z:102.25 [[ 5.25690551e-01 -8.07235972e-01 -2.68364547e-01 1.50502979e+02] [ 6.70796782e-01 5.87370778e-01 -4.52799344e-01 1.17503463e+02] [ 5.23145411e-01 5.80142624e-02 8.50266561e-01 1.02248625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.6571056809999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:150.51, Y:117.52, Z:102.28 [[ 5.24178258e-01 -7.95502128e-01 -3.03995918e-01 1.50514911e+02] [ 6.68941822e-01 6.05528422e-01 -4.31105751e-01 1.17515258e+02] [ 5.27023711e-01 2.26206782e-02 8.49549476e-01 1.02275394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.68710568099993 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:150.52, Y:117.52, Z:102.31 [[ 5.23235644e-01 -7.77922267e-01 -3.47938798e-01 1.50524408e+02] [ 6.60308603e-01 6.28195140e-01 -4.11537866e-01 1.17520877e+02] [ 5.38717931e-01 -1.44157018e-02 8.42362854e-01 1.02312774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7171056809999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:150.54, Y:117.57, Z:102.29 [[ 5.29443528e-01 -8.08237261e-01 -2.57763614e-01 1.50538841e+02] [ 6.67970873e-01 5.84473873e-01 -4.60657362e-01 1.17568406e+02] [ 5.22976542e-01 7.17134730e-02 8.49324858e-01 1.02287775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.74710568099994 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:150.55, Y:117.58, Z:102.32 [[ 5.27829727e-01 -7.94948706e-01 -2.99085831e-01 1.50553772e+02] [ 6.66685341e-01 6.05950137e-01 -4.33998948e-01 1.17577494e+02] [ 5.26238003e-01 2.96814070e-02 8.49819145e-01 1.02316760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7771056809999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:150.57, Y:117.60, Z:102.34 [[ 5.28179358e-01 -7.92138413e-01 -3.05848492e-01 1.50568718e+02] [ 6.65305346e-01 6.09871119e-01 -4.30611211e-01 1.17595229e+02] [ 5.27631843e-01 2.39573160e-02 8.49135257e-01 1.02337588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.80710568099994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:150.58, Y:117.61, Z:102.35 [[ 5.29354732e-01 -7.89581085e-01 -3.10395358e-01 1.50581597e+02] [ 6.66051535e-01 6.13384205e-01 -4.24423339e-01 1.17611709e+02] [ 5.25508250e-01 1.79311985e-02 8.50599525e-01 1.02354959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8371056809999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:150.60, Y:117.63, Z:102.37 [[ 5.29104395e-01 -7.95325316e-01 -2.95814435e-01 1.50595145e+02] [ 6.65033823e-01 6.05182920e-01 -4.37588446e-01 1.17634802e+02] [ 5.27047012e-01 3.48033656e-02 8.49123179e-01 1.02369056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.86710568099994 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:150.60, Y:117.64, Z:102.40 [[ 5.23740555e-01 -7.82364819e-01 -3.37047654e-01 1.50602420e+02] [ 6.63682207e-01 6.22784462e-01 -4.14325286e-01 1.17640762e+02] [ 5.34061569e-01 -6.69357613e-03 8.45419089e-01 1.02401703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8971056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:150.62, Y:117.67, Z:102.41 [[ 5.24181189e-01 -7.95174731e-01 -3.04846238e-01 1.50616009e+02] [ 6.66032743e-01 6.05862943e-01 -4.35121224e-01 1.17669876e+02] [ 5.30692441e-01 2.50447849e-02 8.47194365e-01 1.02405435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.92710568099994 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:150.63, Y:117.69, Z:102.41 [[ 5.25247384e-01 -7.98906710e-01 -2.93024325e-01 1.50631035e+02] [ 6.68295231e-01 6.00445501e-01 -4.39143126e-01 1.17693227e+02] [ 5.26779527e-01 3.48320190e-02 8.49287973e-01 1.02412251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.9571056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:150.65, Y:117.70, Z:102.43 [[ 5.28710997e-01 -7.82297600e-01 -3.29355653e-01 1.50650760e+02] [ 6.68063810e-01 6.22886289e-01 -4.07066844e-01 1.17703640e+02] [ 5.23598536e-01 -4.80987537e-03 8.51951547e-01 1.02427941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.98710568099995 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:150.65, Y:117.73, Z:102.45 [[ 5.11923214e-01 -8.02883520e-01 -3.05471236e-01 1.50653184e+02] [ 6.73121447e-01 5.95845010e-01 -4.38036805e-01 1.17725718e+02] [ 5.33706043e-01 1.86219684e-02 8.45465009e-01 1.02453173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.0171056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:150.67, Y:117.76, Z:102.45 [[ 5.08119671e-01 -8.16692468e-01 -2.73546728e-01 1.50666651e+02] [ 6.81307077e-01 5.75429458e-01 -4.52439616e-01 1.17758240e+02] [ 5.26910872e-01 4.35241476e-02 8.48805385e-01 1.02450685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.04710568099995 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:150.68, Y:117.77, Z:102.47 [[ 4.99103318e-01 -8.16071034e-01 -2.91417132e-01 1.50676028e+02] [ 6.89321530e-01 5.77692422e-01 -4.37158202e-01 1.17773703e+02] [ 5.25101615e-01 1.73070055e-02 8.50863539e-01 1.02468719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.0771056809999 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:150.69, Y:117.79, Z:102.48 [[ 4.96175160e-01 -8.19187718e-01 -2.87648558e-01 1.50689309e+02] [ 6.90099267e-01 5.73150141e-01 -4.41884508e-01 1.17793202e+02] [ 5.26852173e-01 2.07460582e-02 8.49703706e-01 1.02482101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.10710568099995 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:150.71, Y:117.79, Z:102.53 [[ 4.90281459e-01 -8.00505006e-01 -3.44696715e-01 1.50705378e+02] [ 6.88959368e-01 5.98193595e-01 -4.09266921e-01 1.17794832e+02] [ 5.33815587e-01 -3.68260475e-02 8.44798652e-01 1.02529452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.1371056809999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:150.72, Y:117.83, Z:102.53 [[ 4.86968489e-01 -8.17908157e-01 -3.06411385e-01 1.50715353e+02] [ 6.89709869e-01 5.75342208e-01 -4.39638079e-01 1.17825371e+02] [ 5.35874974e-01 2.75493515e-03 8.44292854e-01 1.02527459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.16710568099995 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:150.73, Y:117.85, Z:102.54 [[ 4.84992239e-01 -8.21498936e-01 -2.99870014e-01 1.50727822e+02] [ 6.92227946e-01 5.70167216e-01 -4.42413626e-01 1.17850627e+02] [ 5.34418375e-01 6.98877126e-03 8.45191196e-01 1.02538801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.1971056809999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:150.74, Y:117.87, Z:102.56 [[ 4.81319117e-01 -8.24123906e-01 -2.98582813e-01 1.50736314e+02] [ 6.92388702e-01 5.66346734e-01 -4.47045034e-01 1.17868437e+02] [ 5.37521900e-01 8.43595522e-03 8.43207591e-01 1.02555874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.22710568099995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:150.75, Y:117.89, Z:102.57 [[ 4.83232534e-01 -8.17136186e-01 -3.14284539e-01 1.50748709e+02] [ 6.98972232e-01 5.76249098e-01 -4.23526618e-01 1.17885217e+02] [ 5.27185107e-01 -1.50143252e-02 8.49617816e-01 1.02574332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.2571056809999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:150.76, Y:117.90, Z:102.59 [[ 4.82105037e-01 -8.18212096e-01 -3.13215102e-01 1.50758318e+02] [ 7.00474629e-01 5.74710099e-01 -4.23135434e-01 1.17904199e+02] [ 5.26222413e-01 -1.54035080e-02 8.50207448e-01 1.02591026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.2871056809999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:150.76, Y:117.94, Z:102.59 [[ 4.82170824e-01 -8.35680192e-01 -2.62963711e-01 1.50760881e+02] [ 7.01197384e-01 5.48068886e-01 -4.56007374e-01 1.17937524e+02] [ 5.25198558e-01 3.54839847e-02 8.50239590e-01 1.02586143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.31710568099993 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:150.77, Y:117.95, Z:102.62 [[ 4.82679590e-01 -8.18643580e-01 -3.11196245e-01 1.50774464e+02] [ 7.02808650e-01 5.74080839e-01 -4.20108547e-01 1.17949897e+02] [ 5.22570966e-01 -1.59335915e-02 8.52446894e-01 1.02620449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.3471056809999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:150.78, Y:117.98, Z:102.63 [[ 4.83783241e-01 -8.25713474e-01 -2.90087977e-01 1.50779047e+02] [ 6.97531404e-01 5.63972562e-01 -4.42023631e-01 1.17980510e+02] [ 5.28586527e-01 1.14981506e-02 8.48801553e-01 1.02625830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.37710568099993 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:150.79, Y:118.01, Z:102.64 [[ 4.87112756e-01 -8.25039903e-01 -2.86409359e-01 1.50786828e+02] [ 6.93546477e-01 5.64747009e-01 -4.47274076e-01 1.18006653e+02] [ 5.30767790e-01 1.92347059e-02 8.47298991e-01 1.02639875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.4071056809999 meters Centerline goodness : 0.998446 Centerline is valid? [True, True] Translation: X:150.80, Y:118.02, Z:102.66 [[ 4.88282730e-01 -8.13954350e-01 -3.14735273e-01 1.50796335e+02] [ 6.92809640e-01 5.80853011e-01 -4.27345975e-01 1.18020758e+02] [ 5.30655046e-01 -9.38597176e-03 8.47535914e-01 1.02663234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.43710568099993 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:150.80, Y:118.05, Z:102.67 [[ 4.90895890e-01 -8.17419929e-01 -3.01406511e-01 1.50802134e+02] [ 6.92145665e-01 5.76021644e-01 -4.34894750e-01 1.18052135e+02] [ 5.29108310e-01 4.87083566e-03 8.48540318e-01 1.02668854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.4671056809999 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:150.81, Y:118.08, Z:102.67 [[ 4.89444614e-01 -8.09576011e-01 -3.24084327e-01 1.50811664e+02] [ 6.95889012e-01 5.86574614e-01 -4.14329223e-01 1.18078535e+02] [ 5.25530639e-01 -2.27355159e-02 8.50470837e-01 1.02672976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49710568099994 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:150.82, Y:118.10, Z:102.68 [[ 4.97895605e-01 -8.20421994e-01 -2.81083117e-01 1.50818279e+02] [ 6.86008711e-01 5.70874755e-01 -4.51103162e-01 1.18101805e+02] [ 5.30558211e-01 3.17768153e-02 8.47052666e-01 1.02682739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5271056809999 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:150.83, Y:118.12, Z:102.71 [[ 4.98924536e-01 -8.24086846e-01 -2.68244622e-01 1.50829234e+02] [ 6.72817424e-01 5.63410031e-01 -4.79464129e-01 1.18119204e+02] [ 5.46251793e-01 5.87367623e-02 8.35559077e-01 1.02711428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55710568099994 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:150.84, Y:118.13, Z:102.73 [[ 5.01351377e-01 -7.92486291e-01 -3.47292781e-01 1.50842663e+02] [ 6.81665595e-01 6.08974086e-01 -4.05564519e-01 1.18132096e+02] [ 5.32896625e-01 -3.34072100e-02 8.45520636e-01 1.02730561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5871056809999 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:150.85, Y:118.16, Z:102.74 [[ 5.07975017e-01 -8.15843426e-01 -2.76334737e-01 1.50852865e+02] [ 6.76654225e-01 5.76463817e-01 -4.58070440e-01 1.18159126e+02] [ 5.33010734e-01 4.57052724e-02 8.44873118e-01 1.02740803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61710568099994 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:150.87, Y:118.17, Z:102.76 [[ 5.07259422e-01 -8.02968469e-01 -3.12936922e-01 1.50865923e+02] [ 6.75894658e-01 5.95961923e-01 -4.33584821e-01 1.18170482e+02] [ 5.34653429e-01 8.42759163e-03 8.45029400e-01 1.02764183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.6471056809999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:150.88, Y:118.20, Z:102.77 [[ 5.03924218e-01 -8.13924080e-01 -2.89115849e-01 1.50875830e+02] [ 6.76629025e-01 5.80036475e-01 -4.53575627e-01 1.18198264e+02] [ 5.36873863e-01 3.29435686e-02 8.43019084e-01 1.02774183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67710568099994 meters Centerline goodness : 0.997254 Centerline is valid? [True, True] Translation: X:150.88, Y:118.22, Z:102.77 [[ 4.99006466e-01 -8.17321633e-01 -2.88058839e-01 1.50884179e+02] [ 6.77538242e-01 5.75204251e-01 -4.58347031e-01 1.18219597e+02] [ 5.40309613e-01 3.35472524e-02 8.40797303e-01 1.02772451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.7071056809999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:150.90, Y:118.23, Z:102.80 [[ 4.97052085e-01 -8.13286032e-01 -3.02498026e-01 1.50899970e+02] [ 6.75945653e-01 5.81501012e-01 -4.52718508e-01 1.18234717e+02] [ 5.44092547e-01 2.05524528e-02 8.38773448e-01 1.02801100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73710568099995 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:150.91, Y:118.26, Z:102.82 [[ 4.91931729e-01 -8.06533906e-01 -3.27881430e-01 1.50911087e+02] [ 6.84398178e-01 5.91013360e-01 -4.26968784e-01 1.18257345e+02] [ 5.38147106e-01 -1.43619612e-02 8.42728560e-01 1.02818069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.7671056809999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:150.92, Y:118.28, Z:102.83 [[ 4.92392243e-01 -8.27776931e-01 -2.68952099e-01 1.50924782e+02] [ 6.82757822e-01 5.58997037e-01 -4.70493432e-01 1.18281516e+02] [ 5.39807036e-01 4.80381676e-02 8.40416979e-01 1.02827225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79710568099995 meters Centerline goodness : 0.997652 Centerline is valid? [True, True] Translation: X:150.94, Y:118.31, Z:102.83 [[ 4.83294060e-01 -8.13364366e-01 -3.23829060e-01 1.50943887e+02] [ 7.00673626e-01 5.81134742e-01 -4.13931010e-01 1.18307009e+02] [ 5.24865051e-01 -2.68480835e-02 8.50761929e-01 1.02829978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.8271056809999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:150.96, Y:118.32, Z:102.86 [[ 4.85719887e-01 -8.19708177e-01 -3.03569918e-01 1.50962995e+02] [ 6.80253724e-01 5.72564092e-01 -4.57630015e-01 1.18318177e+02] [ 5.48936300e-01 1.57754323e-02 8.35715307e-01 1.02864340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85710568099995 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:150.96, Y:118.33, Z:102.89 [[ 4.71877844e-01 -8.35175051e-01 -2.82513602e-01 1.50957883e+02] [ 6.84574435e-01 5.49000395e-01 -4.79537704e-01 1.18334016e+02] [ 5.55598005e-01 3.28816279e-02 8.30800611e-01 1.02886838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.8871056809999 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:150.97, Y:118.35, Z:102.91 [[ 4.69498348e-01 -8.17455878e-01 -3.33672278e-01 1.50973906e+02] [ 6.94790657e-01 5.75252730e-01 -4.31683031e-01 1.18349456e+02] [ 5.44827720e-01 -2.91579115e-02 8.38040913e-01 1.02909387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91710568099995 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:150.98, Y:118.37, Z:102.92 [[ 4.65987055e-01 -8.25309077e-01 -3.18937286e-01 1.50983150e+02] [ 6.95957372e-01 5.64478370e-01 -4.43855275e-01 1.18367002e+02] [ 5.46350987e-01 -1.51359429e-02 8.37419550e-01 1.02924351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.9471056809999 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:151.00, Y:118.39, Z:102.93 [[ 4.64393844e-01 -8.32193836e-01 -3.02971578e-01 1.50995377e+02] [ 6.98466083e-01 5.54482770e-01 -4.52431199e-01 1.18390407e+02] [ 5.44502975e-01 -1.50910817e-03 8.38757553e-01 1.02934775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97710568099995 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:151.01, Y:118.41, Z:102.95 [[ 4.60185433e-01 -8.33253853e-01 -3.06459433e-01 1.51005873e+02] [ 6.98480994e-01 5.52868378e-01 -4.54379641e-01 1.18408396e+02] [ 5.48045316e-01 -4.95719764e-03 8.36433953e-01 1.02953319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.0071056809999 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:151.02, Y:118.43, Z:102.97 [[ 4.58902782e-01 -8.33185751e-01 -3.08560758e-01 1.51016456e+02] [ 6.97998848e-01 5.52954227e-01 -4.55015638e-01 1.18427511e+02] [ 5.49732522e-01 -6.56711148e-03 8.35314927e-01 1.02969193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.0371056809999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:151.04, Y:118.45, Z:102.97 [[ 4.70506133e-01 -8.20743540e-01 -3.24043238e-01 1.51037884e+02] [ 7.00880266e-01 5.70713448e-01 -4.27846951e-01 1.18451292e+02] [ 5.36088455e-01 -2.58108961e-02 8.43767128e-01 1.02965077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.06710568099993 meters Centerline goodness : 0.997575 Centerline is valid? [True, True] Translation: X:151.03, Y:118.49, Z:102.96 [[ 4.54569037e-01 -8.40335763e-01 -2.95301197e-01 1.51034972e+02] [ 7.15176875e-01 5.41963282e-01 -4.41359081e-01 1.18493267e+02] [ 5.30932226e-01 -1.05644145e-02 8.47348432e-01 1.02962573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.0971056809999 meters Centerline goodness : 0.998298 Centerline is valid? [True, True] Translation: X:151.04, Y:118.50, Z:103.01 [[ 4.61725660e-01 -8.42191648e-01 -2.78428884e-01 1.51040939e+02] [ 6.97043161e-01 5.38623220e-01 -4.73303136e-01 1.18495783e+02] [ 5.48580210e-01 2.44592535e-02 8.35740090e-01 1.03007643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.12710568099993 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:151.05, Y:118.52, Z:103.03 [[ 4.67931414e-01 -8.27816128e-01 -3.09452177e-01 1.51050752e+02] [ 6.99364186e-01 5.60925311e-01 -4.43003985e-01 1.18515340e+02] [ 5.40305402e-01 -9.12428898e-03 8.41419527e-01 1.03032441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.1571056809999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:151.06, Y:118.54, Z:103.05 [[ 4.72067362e-01 -8.26510334e-01 -3.06648126e-01 1.51062861e+02] [ 6.97364709e-01 5.62904232e-01 -4.43645453e-01 1.18537985e+02] [ 5.39291079e-01 -4.41504233e-03 8.42107855e-01 1.03045504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.18710568099993 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:151.07, Y:118.55, Z:103.07 [[ 4.78870339e-01 -8.18153379e-01 -3.18289564e-01 1.51070352e+02] [ 6.92963723e-01 5.74870613e-01 -4.35114993e-01 1.18552896e+02] [ 5.38966118e-01 -1.21994569e-02 8.42239097e-01 1.03065401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2171056809999 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:151.08, Y:118.58, Z:103.08 [[ 4.79926552e-01 -8.30475219e-01 -2.82809857e-01 1.51081449e+02] [ 6.84888919e-01 5.56120776e-01 -4.70804473e-01 1.18578968e+02] [ 5.48267885e-01 3.22582302e-02 8.35680401e-01 1.03076910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.24710568099994 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:151.09, Y:118.59, Z:103.10 [[ 4.86431609e-01 -8.06690500e-01 -3.35610976e-01 1.51091945e+02] [ 6.86417928e-01 5.90490379e-01 -4.24442623e-01 1.18594208e+02] [ 5.40568884e-01 -2.39070827e-02 8.40960007e-01 1.03097282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2771056809999 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:151.10, Y:118.62, Z:103.11 [[ 4.91886021e-01 -8.15625564e-01 -3.04635982e-01 1.51104145e+02] [ 6.82553953e-01 5.78460283e-01 -4.46658485e-01 1.18622041e+02] [ 5.40525895e-01 1.17745713e-02 8.41244980e-01 1.03105886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.30710568099994 meters Centerline goodness : 0.996926 Centerline is valid? [True, True] Translation: X:151.11, Y:118.65, Z:103.11 [[ 4.89952223e-01 -8.12743687e-01 -3.15268963e-01 1.51110647e+02] [ 6.87756890e-01 5.82602954e-01 -4.33086894e-01 1.18646067e+02] [ 5.35665268e-01 -4.63651493e-03 8.44417683e-01 1.03107599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3371056809999 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:151.12, Y:118.67, Z:103.13 [[ 5.02043715e-01 -8.18131557e-01 -2.80379857e-01 1.51124250e+02] [ 6.77202966e-01 5.73529063e-01 -4.60934439e-01 1.18668157e+02] [ 5.37911006e-01 4.15351675e-02 8.41977778e-01 1.03127900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.36710568099994 meters Centerline goodness : 0.997749 Centerline is valid? [True, True] Translation: X:151.14, Y:118.69, Z:103.15 [[ 5.04106314e-01 -8.08378482e-01 -3.03975416e-01 1.51137446e+02] [ 6.73833643e-01 5.88305078e-01 -4.47040665e-01 1.18685945e+02] [ 5.40208335e-01 2.05271598e-02 8.41280922e-01 1.03148613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3971056809999 meters Centerline goodness : 0.996391 Centerline is valid? [True, True] Translation: X:151.15, Y:118.71, Z:103.16 [[ 5.06777177e-01 -8.10123299e-01 -2.94749273e-01 1.51148824e+02] [ 6.67699376e-01 5.85126812e-01 -4.60221856e-01 1.18706226e+02] [ 5.45302151e-01 3.64260276e-02 8.37447735e-01 1.03159511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.42710568099994 meters Centerline goodness : 0.996836 Centerline is valid? [True, True] Translation: X:151.16, Y:118.73, Z:103.18 [[ 5.06436090e-01 -8.07363235e-01 -3.02798768e-01 1.51162724e+02] [ 6.66492217e-01 5.89320404e-01 -4.56606598e-01 1.18725006e+02] [ 5.47092873e-01 2.94290375e-02 8.36554434e-01 1.03177838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.4571056809999 meters Centerline goodness : 0.997427 Centerline is valid? [True, True] Translation: X:151.18, Y:118.74, Z:103.19 [[ 5.04321132e-01 -8.07243147e-01 -3.06624685e-01 1.51176863e+02] [ 6.66116574e-01 5.89641853e-01 -4.56739746e-01 1.18744555e+02] [ 5.49498778e-01 2.60957211e-02 8.35086886e-01 1.03192173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.48710568099995 meters Centerline goodness : 0.997146 Centerline is valid? [True, True] Translation: X:151.19, Y:118.77, Z:103.20 [[ 5.02427228e-01 -8.13103806e-01 -2.93988234e-01 1.51188589e+02] [ 6.68273260e-01 5.80941778e-01 -4.64669238e-01 1.18766245e+02] [ 5.48614373e-01 3.69980021e-02 8.35256498e-01 1.03200891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.5171056809999 meters Centerline goodness : 0.996990 Centerline is valid? [True, True] Translation: X:151.21, Y:118.78, Z:103.22 [[ 5.00027407e-01 -8.11970593e-01 -3.01125137e-01 1.51205931e+02] [ 6.69551847e-01 5.83001787e-01 -4.60227380e-01 1.18784313e+02] [ 5.49247592e-01 2.85074115e-02 8.35173282e-01 1.03216688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.54710568099995 meters Centerline goodness : 0.997250 Centerline is valid? [True, True] Translation: X:151.22, Y:118.80, Z:103.23 [[ 4.96394102e-01 -8.14696172e-01 -2.99771653e-01 1.51221547e+02] [ 6.71239438e-01 5.79192181e-01 -4.62573274e-01 1.18800658e+02] [ 5.50482073e-01 2.84000887e-02 8.34363783e-01 1.03234112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.5771056809999 meters Centerline goodness : 0.995988 Centerline is valid? [True, True] Translation: X:151.24, Y:118.82, Z:103.25 [[ 4.93682094e-01 -8.16739967e-01 -2.98686820e-01 1.51235450e+02] [ 6.73595331e-01 5.76363334e-01 -4.62682005e-01 1.18818920e+02] [ 5.50043016e-01 2.72237738e-02 8.34692486e-01 1.03250042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.60710568099995 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:151.26, Y:118.84, Z:103.27 [[ 4.87834226e-01 -8.16313706e-01 -3.09272860e-01 1.51256957e+02] [ 6.76665464e-01 5.77449295e-01 -4.56810861e-01 1.18836039e+02] [ 5.51490361e-01 1.35737097e-02 8.34070822e-01 1.03272009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.6371056809999 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:151.27, Y:118.86, Z:103.29 [[ 4.86421646e-01 -8.14815995e-01 -3.15386868e-01 1.51269409e+02] [ 6.76881207e-01 5.79675064e-01 -4.53661385e-01 1.18855982e+02] [ 5.52472456e-01 7.19127369e-03 8.33500133e-01 1.03289774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.66710568099995 meters Centerline goodness : 0.997405 Centerline is valid? [True, True] Translation: X:151.28, Y:118.88, Z:103.30 [[ 4.80547024e-01 -8.23301672e-01 -3.02074353e-01 1.51278729e+02] [ 6.83643714e-01 5.67430235e-01 -4.58970806e-01 1.18877007e+02] [ 5.49277553e-01 1.40458229e-02 8.35521923e-01 1.03297673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.6971056809999 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:151.29, Y:118.90, Z:103.31 [[ 4.71930388e-01 -8.32103562e-01 -2.91350940e-01 1.51293971e+02] [ 6.90896587e-01 5.54337103e-01 -4.64082194e-01 1.18896335e+02] [ 5.47671083e-01 1.77211199e-02 8.36506035e-01 1.03311468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.72710568099995 meters Centerline goodness : 0.997546 Centerline is valid? [True, True] Translation: X:151.31, Y:118.91, Z:103.33 [[ 4.67325306e-01 -8.33693155e-01 -2.94215537e-01 1.51308471e+02] [ 6.93841529e-01 5.52099075e-01 -4.62353267e-01 1.18913908e+02] [ 5.47896880e-01 1.19304241e-02 8.36460803e-01 1.03330141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.7571056809999 meters Centerline goodness : 0.997159 Centerline is valid? [True, True] Translation: X:151.32, Y:118.93, Z:103.35 [[ 4.61598925e-01 -8.29363127e-01 -3.14774897e-01 1.51321002e+02] [ 6.99054310e-01 5.58535974e-01 -4.46498195e-01 1.18927013e+02] [ 5.46122243e-01 -1.39416612e-02 8.37589473e-01 1.03354473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.7871056809999 meters Centerline goodness : 0.997018 Centerline is valid? [True, True] Translation: X:151.33, Y:118.95, Z:103.37 [[ 4.58120500e-01 -8.39008663e-01 -2.93581456e-01 1.51332205e+02] [ 7.01254091e-01 5.44093582e-01 -4.60657002e-01 1.18952271e+02] [ 5.46231002e-01 5.16121879e-03 8.37618681e-01 1.03365566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.81710568099993 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:151.35, Y:118.97, Z:103.39 [[ 4.58858869e-01 -8.32824813e-01 -3.09598725e-01 1.51347933e+02] [ 6.99543716e-01 5.53460769e-01 -4.52017441e-01 1.18967931e+02] [ 5.47802088e-01 -9.16563087e-03 8.36557746e-01 1.03388538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.8471056809999 meters Centerline goodness : 0.997634 Centerline is valid? [True, True] Translation: X:151.36, Y:118.99, Z:103.41 [[ 4.56338282e-01 -8.30975524e-01 -3.18174561e-01 1.51357955e+02] [ 6.99361395e-01 5.56031720e-01 -4.49135131e-01 1.18988560e+02] [ 5.50135449e-01 -1.75614508e-02 8.34890761e-01 1.03407350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.87710568099993 meters Centerline goodness : 0.998026 Centerline is valid? [True, True] Translation: X:151.37, Y:119.00, Z:103.42 [[ 4.56154359e-01 -8.36193702e-01 -3.04472155e-01 1.51365312e+02] [ 6.94045503e-01 5.48432355e-01 -4.66393388e-01 1.19004076e+02] [ 5.56977595e-01 1.42984685e-03 8.30526288e-01 1.03417825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.9071056809999 meters Centerline goodness : 0.998047 Centerline is valid? [True, True] Translation: X:151.37, Y:119.04, Z:103.43 [[ 4.53435949e-01 -8.39717680e-01 -2.98780953e-01 1.51372610e+02] [ 7.05513014e-01 5.43006227e-01 -4.55407098e-01 1.19037316e+02] [ 5.44653310e-01 -4.29590116e-03 8.38650295e-01 1.03425495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.93710568099993 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:151.38, Y:119.04, Z:103.46 [[ 4.49900828e-01 -8.23918414e-01 -3.44597871e-01 1.51379697e+02] [ 6.85483414e-01 5.65907763e-01 -4.58105765e-01 1.19037060e+02] [ 5.72452386e-01 -3.01139625e-02 8.19384779e-01 1.03462945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.9671056809999 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:151.39, Y:119.08, Z:103.47 [[ 4.49350556e-01 -8.43049380e-01 -2.95553413e-01 1.51389993e+02] [ 7.02579111e-01 5.37833386e-01 -4.65959056e-01 1.19076323e+02] [ 5.51784986e-01 1.72930619e-03 8.33984615e-01 1.03465484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99710568099994 meters Centerline goodness : 0.997430 Centerline is valid? [True, True] Translation: X:151.40, Y:119.10, Z:103.48 [[ 4.48039111e-01 -8.39567305e-01 -3.07225806e-01 1.51399447e+02] [ 7.04224927e-01 5.43134109e-01 -4.57244564e-01 1.19095158e+02] [ 5.50752401e-01 -1.14926229e-02 8.34589547e-01 1.03484264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0271056809999 meters Centerline goodness : 0.997235 Centerline is valid? [True, True] Translation: X:151.41, Y:119.12, Z:103.50 [[ 4.48154976e-01 -8.43827893e-01 -2.95146751e-01 1.51406934e+02] [ 7.07184808e-01 5.36608515e-01 -4.60370448e-01 1.19120409e+02] [ 5.46851685e-01 -2.40599068e-03 8.37226043e-01 1.03496449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05710568099994 meters Centerline goodness : 0.996743 Centerline is valid? [True, True] Translation: X:151.41, Y:119.14, Z:103.52 [[ 4.45120728e-01 -8.39091915e-01 -3.12717596e-01 1.51410646e+02] [ 6.90784437e-01 5.43975050e-01 -4.76348619e-01 1.19136098e+02] [ 5.69810845e-01 -3.98780500e-03 8.21766207e-01 1.03523872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0871056809999 meters Centerline goodness : 0.996816 Centerline is valid? [True, True] Translation: X:151.42, Y:119.17, Z:103.52 [[ 4.47854433e-01 -8.62203699e-01 -2.36709080e-01 1.51416824e+02] [ 6.94818848e-01 5.02234307e-01 -5.14769336e-01 1.19172739e+02] [ 5.62719446e-01 6.60717989e-02 8.24003242e-01 1.03522780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11710568099994 meters Centerline goodness : 0.997071 Centerline is valid? [True, True] Translation: X:151.43, Y:119.16, Z:103.57 [[ 4.50141722e-01 -8.03329699e-01 -3.89915151e-01 1.51428900e+02] [ 6.85874280e-01 5.90654782e-01 -4.25092225e-01 1.19163662e+02] [ 5.71794458e-01 -7.60810281e-02 8.16861540e-01 1.03569121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.1471056809999 meters Centerline goodness : 0.996837 Centerline is valid? [True, True] Translation: X:151.44, Y:119.21, Z:103.55 [[ 4.60268125e-01 -8.47121058e-01 -2.65592104e-01 1.51437301e+02] [ 6.95950541e-01 5.30028581e-01 -4.84481731e-01 1.19214333e+02] [ 5.51186083e-01 3.81525296e-02 8.33509620e-01 1.03554572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17710568099994 meters Centerline goodness : 0.996957 Centerline is valid? [True, True] Translation: X:151.44, Y:119.22, Z:103.59 [[ 4.60922962e-01 -8.21330412e-01 -3.36104711e-01 1.51443015e+02] [ 6.77903729e-01 5.70280626e-01 -4.63925146e-01 1.19218996e+02] [ 5.72709837e-01 -1.40128847e-02 8.19638385e-01 1.03588078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.2071056809999 meters Centerline goodness : 0.996985 Centerline is valid? [True, True] Translation: X:151.45, Y:119.25, Z:103.60 [[ 4.64797091e-01 -8.32060029e-01 -3.02720619e-01 1.51451584e+02] [ 6.76260880e-01 5.54295256e-01 -4.85209225e-01 1.19246414e+02] [ 5.71519805e-01 2.08057242e-02 8.20324469e-01 1.03597064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23710568099995 meters Centerline goodness : 0.997165 Centerline is valid? [True, True] Translation: X:151.46, Y:119.27, Z:103.61 [[ 4.69854073e-01 -8.29199725e-01 -3.02762228e-01 1.51459093e+02] [ 6.72484838e-01 5.58409793e-01 -4.85739278e-01 1.19270337e+02] [ 5.71840269e-01 2.46235701e-02 8.19995358e-01 1.03610949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.2671056809999 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:151.47, Y:119.29, Z:103.63 [[ 4.71771531e-01 -8.28126159e-01 -3.02718825e-01 1.51468808e+02] [ 6.70939753e-01 5.59927459e-01 -4.86128675e-01 1.19290622e+02] [ 5.72076455e-01 2.62355756e-02 8.19780595e-01 1.03625491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29710568099995 meters Centerline goodness : 0.997487 Centerline is valid? [True, True] Translation: X:151.48, Y:119.31, Z:103.64 [[ 4.74331712e-01 -8.26787226e-01 -3.02377761e-01 1.51478573e+02] [ 6.69411969e-01 5.61810514e-01 -4.86062302e-01 1.19313231e+02] [ 5.71749108e-01 2.81394716e-02 8.19945808e-01 1.03640171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.3271056809999 meters Centerline goodness : 0.997925 Centerline is valid? [True, True] Translation: X:151.49, Y:119.34, Z:103.66 [[ 4.71507785e-01 -8.35719885e-01 -2.81518529e-01 1.51488240e+02] [ 6.68540925e-01 5.46930586e-01 -5.03904719e-01 1.19337006e+02] [ 5.75094288e-01 4.93883398e-02 8.16594974e-01 1.03655205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35710568099995 meters Centerline goodness : 0.997848 Centerline is valid? [True, True] Translation: X:151.50, Y:119.35, Z:103.67 [[ 4.70145841e-01 -8.20306625e-01 -3.25668434e-01 1.51502891e+02] [ 6.70517570e-01 5.71911284e-01 -4.72571341e-01 1.19350390e+02] [ 5.73906854e-01 3.81104321e-03 8.18911716e-01 1.03674999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.3871056809999 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:151.51, Y:119.37, Z:103.69 [[ 4.68639536e-01 -8.29842807e-01 -3.02882651e-01 1.51514784e+02] [ 6.71426750e-01 5.57414657e-01 -4.88339042e-01 1.19373113e+02] [ 5.74075870e-01 2.54914682e-02 8.18405206e-01 1.03685074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41710568099995 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:151.53, Y:119.39, Z:103.70 [[ 4.62447696e-01 -8.33307929e-01 -3.02886157e-01 1.51527965e+02] [ 6.75192315e-01 5.52388311e-01 -4.88858356e-01 1.19392511e+02] [ 5.74680316e-01 2.15650149e-02 8.18093811e-01 1.03699160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.4471056809999 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:151.54, Y:119.41, Z:103.71 [[ 4.55488514e-01 -8.37170676e-01 -3.02779578e-01 1.51541112e+02] [ 6.79584990e-01 5.46675685e-01 -4.89193149e-01 1.19412757e+02] [ 5.75060392e-01 1.70574039e-02 8.17933121e-01 1.03713684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47710568099995 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:151.56, Y:119.44, Z:103.73 [[ 4.55382776e-01 -8.37471785e-01 -3.02105175e-01 1.51555526e+02] [ 6.89520318e-01 5.46419448e-01 -4.75381444e-01 1.19436635e+02] [ 5.63194690e-01 8.17286522e-03 8.26283817e-01 1.03725576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.5071056809999 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:151.56, Y:119.45, Z:103.75 [[ 4.51292747e-01 -8.40759013e-01 -2.99097207e-01 1.51564533e+02] [ 6.83185978e-01 5.41144403e-01 -4.90326070e-01 1.19452197e+02] [ 5.74100842e-01 1.69415808e-02 8.18609312e-01 1.03745534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.5371056809999 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:151.57, Y:119.48, Z:103.75 [[ 4.48538586e-01 -8.62363104e-01 -2.34825498e-01 1.51572850e+02] [ 6.84963023e-01 5.00453676e-01 -5.29501440e-01 1.19480905e+02] [ 5.74141789e-01 7.66550440e-02 8.15159623e-01 1.03753742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.56710568099993 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:151.59, Y:119.48, Z:103.79 [[ 4.42708920e-01 -8.37569100e-01 -3.20135618e-01 1.51585298e+02] [ 6.88851703e-01 5.46247849e-01 -4.76546554e-01 1.19484281e+02] [ 5.74014062e-01 -9.55455507e-03 8.18789697e-01 1.03786154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.5971056809999 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:151.60, Y:119.51, Z:103.80 [[ 4.38095676e-01 -8.50012238e-01 -2.92491665e-01 1.51596088e+02] [ 6.91579669e-01 5.26568300e-01 -4.94412163e-01 1.19509147e+02] [ 5.74273228e-01 1.43185414e-02 8.18538477e-01 1.03799286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.62710568099993 meters Centerline goodness : 0.998154 Centerline is valid? [True, True] Translation: X:151.61, Y:119.53, Z:103.82 [[ 4.33761995e-01 -8.50287860e-01 -2.98095767e-01 1.51606665e+02] [ 6.92724166e-01 5.26265854e-01 -4.93130287e-01 1.19527031e+02] [ 5.76180320e-01 7.40303553e-03 8.17289076e-01 1.03816073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.6571056809999 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:151.62, Y:119.55, Z:103.83 [[ 4.33049857e-01 -8.48724503e-01 -3.03536718e-01 1.51620638e+02] [ 6.95842751e-01 5.28834674e-01 -4.85939043e-01 1.19547078e+02] [ 5.72949114e-01 -7.77992582e-04 8.19590573e-01 1.03831026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.68710568099993 meters Centerline goodness : 0.997678 Centerline is valid? [True, True] Translation: X:151.63, Y:119.57, Z:103.85 [[ 4.31005425e-01 -8.55423288e-01 -2.87202580e-01 1.51629665e+02] [ 6.93881322e-01 5.17668088e-01 -5.00548161e-01 1.19567783e+02] [ 5.76856164e-01 1.64544671e-02 8.16679996e-01 1.03845149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7171056809999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:151.64, Y:119.58, Z:103.87 [[ 4.25623394e-01 -8.40167034e-01 -3.36101296e-01 1.51637079e+02] [ 6.94418913e-01 5.41403127e-01 -4.73988426e-01 1.19584683e+02] [ 5.80195743e-01 -3.16545341e-02 8.13861715e-01 1.03871146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.74710568099994 meters Centerline goodness : 0.997778 Centerline is valid? [True, True] Translation: X:151.64, Y:119.62, Z:103.87 [[ 4.29763324e-01 -8.63101305e-01 -2.65253884e-01 1.51644378e+02] [ 6.94196638e-01 5.03685223e-01 -5.14190845e-01 1.19617504e+02] [ 5.77403251e-01 3.68420121e-02 8.15627459e-01 1.03867975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7771056809999 meters Centerline goodness : 0.997870 Centerline is valid? [True, True] Translation: X:151.65, Y:119.64, Z:103.89 [[ 4.30521911e-01 -8.53127500e-01 -2.94659725e-01 1.51653481e+02] [ 6.91851022e-01 5.21584476e-01 -4.99291295e-01 1.19635306e+02] [ 5.79649072e-01 1.10952107e-02 8.14790678e-01 1.03889961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.80710568099994 meters Centerline goodness : 0.998302 Centerline is valid? [True, True] Translation: X:151.66, Y:119.66, Z:103.91 [[ 4.29561773e-01 -8.56497554e-01 -2.86161882e-01 1.51661436e+02] [ 6.89544242e-01 5.15719350e-01 -5.08490207e-01 1.19655526e+02] [ 5.83099839e-01 2.11066770e-02 8.12126275e-01 1.03908755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8371056809999 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:151.67, Y:119.67, Z:103.93 [[ 4.30809687e-01 -8.47775076e-01 -3.09322541e-01 1.51669413e+02] [ 6.89379888e-01 5.30355522e-01 -4.93435295e-01 1.19673499e+02] [ 5.82373062e-01 -6.64034013e-04 8.12921384e-01 1.03929079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.86710568099994 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:151.68, Y:119.69, Z:103.95 [[ 4.34906271e-01 -8.43363849e-01 -3.15585097e-01 1.51681285e+02] [ 6.91324138e-01 5.37282433e-01 -4.83113365e-01 1.19691050e+02] [ 5.76998676e-01 -8.06256302e-03 8.16705285e-01 1.03945641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8971056809999 meters Centerline goodness : 0.997724 Centerline is valid? [True, True] Translation: X:151.69, Y:119.71, Z:103.96 [[ 4.38067023e-01 -8.50501307e-01 -2.91109620e-01 1.51691339e+02] [ 6.88996761e-01 5.25664710e-01 -4.98958992e-01 1.19714684e+02] [ 5.77391329e-01 1.80038951e-02 8.16269020e-01 1.03960784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.92710568099994 meters Centerline goodness : 0.997880 Centerline is valid? [True, True] Translation: X:151.70, Y:119.73, Z:103.98 [[ 4.40845913e-01 -8.46437782e-01 -2.98660278e-01 1.51702307e+02] [ 6.87536313e-01 5.32343720e-01 -4.93866361e-01 1.19732112e+02] [ 5.77017071e-01 1.23791806e-02 8.16638265e-01 1.03979105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.9571056809999 meters Centerline goodness : 0.998068 Centerline is valid? [True, True] Translation: X:151.71, Y:119.75, Z:104.00 [[ 4.45446707e-01 -8.37516456e-01 -3.16454449e-01 1.51712296e+02] [ 6.86028894e-01 5.46403347e-01 -4.80424541e-01 1.19751400e+02] [ 5.75275229e-01 -3.09336566e-03 8.17954059e-01 1.03999609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.98710568099995 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:151.72, Y:119.77, Z:104.01 [[ 4.52505191e-01 -8.39596990e-01 -3.00526117e-01 1.51724196e+02] [ 6.81318034e-01 5.42930948e-01 -4.90949817e-01 1.19772465e+02] [ 5.75364918e-01 1.74034769e-02 8.17711643e-01 1.04011941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.0171056809999 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:151.74, Y:119.79, Z:104.03 [[ 4.54926219e-01 -8.38179575e-01 -3.00827420e-01 1.51736945e+02] [ 6.79014486e-01 5.45046904e-01 -4.91795893e-01 1.19792119e+02] [ 5.76178326e-01 1.94646698e-02 8.17092200e-01 1.04027558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.04710568099995 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:151.75, Y:119.82, Z:104.03 [[ 4.62847800e-01 -8.50296674e-01 -2.50534387e-01 1.51750216e+02] [ 6.77540755e-01 5.21593433e-01 -5.18535259e-01 1.19819530e+02] [ 5.71585898e-01 7.02556463e-02 8.17529024e-01 1.04028832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.0771056809999 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:151.76, Y:119.82, Z:104.06 [[ 4.61400688e-01 -8.23244608e-01 -3.30723027e-01 1.51764858e+02] [ 6.71195983e-01 5.67683162e-01 -4.76688347e-01 1.19824545e+02] [ 5.80177005e-01 -2.03563555e-03 8.14487875e-01 1.04063108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.10710568099995 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:151.78, Y:119.85, Z:104.07 [[ 4.65159103e-01 -8.35156620e-01 -2.93496897e-01 1.51778415e+02] [ 6.72093756e-01 5.48967277e-01 -4.96915398e-01 1.19848625e+02] [ 5.76122376e-01 3.38872888e-02 8.16660676e-01 1.04070026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.1371056809999 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:151.80, Y:119.87, Z:104.09 [[ 4.69764085e-01 -8.37701119e-01 -2.78529244e-01 1.51796457e+02] [ 6.70631873e-01 5.43816542e-01 -5.04496245e-01 1.19869041e+02] [ 5.74085879e-01 5.02036282e-02 8.17254550e-01 1.04087170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.16710568099995 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:151.81, Y:119.88, Z:104.11 [[ 4.70509882e-01 -8.27499678e-01 -3.06373521e-01 1.51812319e+02] [ 6.69413146e-01 5.60949881e-01 -4.87053663e-01 1.19877758e+02] [ 5.74896939e-01 2.40730993e-02 8.17871625e-01 1.04108105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.1971056809999 meters Centerline goodness : 0.996774 Centerline is valid? [True, True] Translation: X:151.83, Y:119.90, Z:104.11 [[ 4.72020655e-01 -8.31767007e-01 -2.92164589e-01 1.51831821e+02] [ 6.71416517e-01 5.53942946e-01 -4.92287592e-01 1.19901253e+02] [ 5.71311091e-01 3.62057808e-02 8.19934619e-01 1.04112779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.22710568099995 meters Centerline goodness : 0.997561 Centerline is valid? [True, True] Translation: X:151.85, Y:119.92, Z:104.13 [[ 4.73958988e-01 -8.30123371e-01 -2.93697236e-01 1.51847903e+02] [ 6.69256144e-01 5.56359537e-01 -4.92504090e-01 1.19917217e+02] [ 5.72240414e-01 3.68680608e-02 8.19256770e-01 1.04130121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.2571056809999 meters Centerline goodness : 0.996847 Centerline is valid? [True, True] Translation: X:151.87, Y:119.94, Z:104.13 [[ 4.69715916e-01 -8.41384802e-01 -2.67279952e-01 1.51867130e+02] [ 6.72794771e-01 5.37193386e-01 -5.08694862e-01 1.19941008e+02] [ 5.71589148e-01 5.91175194e-02 8.18407579e-01 1.04134233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.2871056809999 meters Centerline goodness : 0.996558 Centerline is valid? [True, True] Translation: X:151.89, Y:119.96, Z:104.16 [[ 4.60010358e-01 -8.43646069e-01 -2.76860580e-01 1.51889780e+02] [ 6.74358413e-01 5.34793305e-01 -5.09153073e-01 1.19955510e+02] [ 5.77608173e-01 4.75124259e-02 8.14930284e-01 1.04155601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.31710568099993 meters Centerline goodness : 0.997376 Centerline is valid? [True, True] Translation: X:151.91, Y:119.96, Z:104.18 [[ 4.57075241e-01 -8.33364869e-01 -3.10781625e-01 1.51908574e+02] [ 6.76556566e-01 5.52588236e-01 -4.86741671e-01 1.19963605e+02] [ 5.77367679e-01 1.22162177e-02 8.16392875e-01 1.04176676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.3471056809999 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:151.93, Y:119.97, Z:104.20 [[ 4.49106687e-01 -8.34801827e-01 -3.18447944e-01 1.51928274e+02] [ 6.77057077e-01 5.50537975e-01 -4.88366309e-01 1.19968794e+02] [ 5.83006773e-01 3.72114111e-03 8.12458772e-01 1.04200016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.37710568099993 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:151.94, Y:119.99, Z:104.22 [[ 4.41556872e-01 -8.46890886e-01 -2.96316311e-01 1.51943441e+02] [ 6.82644003e-01 5.31419942e-01 -5.01587490e-01 1.19994643e+02] [ 5.82258271e-01 1.92008502e-02 8.12777112e-01 1.04216452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.4071056809999 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:151.96, Y:120.02, Z:104.21 [[ 4.38755413e-01 -8.56805641e-01 -2.70883336e-01 1.51962663e+02] [ 6.95040182e-01 5.14645315e-01 -5.02055122e-01 1.20024175e+02] [ 5.69572500e-01 3.20045990e-02 8.21317766e-01 1.04210482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.43710568099993 meters Centerline goodness : 0.998026 Centerline is valid? [True, True] Translation: X:151.98, Y:120.03, Z:104.25 [[ 4.31740739e-01 -8.42276055e-01 -3.22755297e-01 1.51975593e+02] [ 6.92648714e-01 5.38792993e-01 -4.79520459e-01 1.20026809e+02] [ 5.77786893e-01 -1.65275241e-02 8.16020311e-01 1.04253786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.4671056809999 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:151.99, Y:120.04, Z:104.28 [[ 4.26086743e-01 -8.44438431e-01 -3.24613344e-01 1.51991240e+02] [ 6.88900236e-01 5.35430062e-01 -4.88601181e-01 1.20041040e+02] [ 5.86401358e-01 -1.54397234e-02 8.09873485e-01 1.04276959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49710568099994 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:152.00, Y:120.07, Z:104.27 [[ 4.29387678e-01 -8.54307243e-01 -2.92891374e-01 1.52003929e+02] [ 6.98340613e-01 5.19724082e-01 -4.92145575e-01 1.20069310e+02] [ 5.72666230e-01 6.78330451e-03 8.19760560e-01 1.04273784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5271056809999 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:152.02, Y:120.09, Z:104.29 [[ 4.30603134e-01 -8.51657677e-01 -2.98764359e-01 1.52016012e+02] [ 6.96216282e-01 5.24088594e-01 -4.90524244e-01 1.20087113e+02] [ 5.74337731e-01 3.21666588e-03 8.18612133e-01 1.04291841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55710568099994 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:152.03, Y:120.11, Z:104.31 [[ 4.29747245e-01 -8.50470741e-01 -3.03342750e-01 1.52027486e+02] [ 6.95946230e-01 5.26021339e-01 -4.88835757e-01 1.20106110e+02] [ 5.75305268e-01 -1.03442363e-03 8.17938127e-01 1.04310279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5871056809999 meters Centerline goodness : 0.998550 Centerline is valid? [True, True] Translation: X:152.04, Y:120.13, Z:104.33 [[ 4.34071655e-01 -8.50337217e-01 -2.97503641e-01 1.52037963e+02] [ 6.90171474e-01 5.26136723e-01 -4.96833458e-01 1.20126122e+02] [ 5.79003571e-01 1.03327949e-02 8.15259528e-01 1.04328111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61710568099994 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:152.06, Y:120.14, Z:104.34 [[ 4.48966683e-01 -8.24497485e-01 -3.44431146e-01 1.52063882e+02] [ 6.85632242e-01 5.65063885e-01 -4.58923997e-01 1.20144639e+02] [ 5.73007283e-01 -3.01115141e-02 8.18996917e-01 1.04343080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.6471056809999 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:152.05, Y:120.18, Z:104.34 [[ 4.43295473e-01 -8.60344081e-01 -2.51589319e-01 1.52054441e+02] [ 6.84418651e-01 5.06116451e-01 -5.24802103e-01 1.20176631e+02] [ 5.78843877e-01 6.04499746e-02 8.13194667e-01 1.04343737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67710568099994 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:152.07, Y:120.19, Z:104.38 [[ 4.46575883e-01 -8.36126016e-01 -3.18532991e-01 1.52069109e+02] [ 6.81989797e-01 5.48536066e-01 -4.83733501e-01 1.20185245e+02] [ 5.79188999e-01 -1.21253462e-03 8.15192390e-01 1.04375052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.7071056809999 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:152.08, Y:120.21, Z:104.39 [[ 4.52500168e-01 -8.38497629e-01 -3.03587424e-01 1.52079610e+02] [ 6.79291667e-01 5.44660381e-01 -4.91841337e-01 1.20206695e+02] [ 5.77759837e-01 1.63338807e-02 8.16043366e-01 1.04388164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73710568099995 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:152.09, Y:120.23, Z:104.41 [[ 4.54311090e-01 -8.39220169e-01 -2.98849362e-01 1.52091214e+02] [ 6.77940111e-01 5.43332026e-01 -4.95164130e-01 1.20228222e+02] [ 5.77926154e-01 2.23565859e-02 8.15782779e-01 1.04405154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.7671056809999 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:152.10, Y:120.25, Z:104.42 [[ 4.54089776e-01 -8.41429630e-01 -2.92914072e-01 1.52103185e+02] [ 6.77285953e-01 5.39603529e-01 -5.00111758e-01 1.20247288e+02] [ 5.78866318e-01 2.87090498e-02 8.14916914e-01 1.04418763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79710568099995 meters Centerline goodness : 0.998092 Centerline is valid? [True, True] Translation: X:152.11, Y:120.26, Z:104.44 [[ 4.51057421e-01 -8.37044139e-01 -3.09684215e-01 1.52114112e+02] [ 6.76769541e-01 5.46988735e-01 -4.92733511e-01 1.20264857e+02] [ 5.81833474e-01 1.26662626e-02 8.13209306e-01 1.04435364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.8271056809999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:152.13, Y:120.29, Z:104.45 [[ 4.53529723e-01 -8.45553519e-01 -2.81691384e-01 1.52131208e+02] [ 6.74231116e-01 5.32213124e-01 -5.12017181e-01 1.20288592e+02] [ 5.82857781e-01 4.22899142e-02 8.11472963e-01 1.04447476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85710568099995 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:152.14, Y:120.30, Z:104.47 [[ 4.47781320e-01 -8.40934913e-01 -3.03842658e-01 1.52138991e+02] [ 6.72574599e-01 5.40693269e-01 -5.05266463e-01 1.20303789e+02] [ 5.89181889e-01 2.18920304e-02 8.07703807e-01 1.04473019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.8871056809999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:152.15, Y:120.32, Z:104.49 [[ 4.48714057e-01 -8.33554639e-01 -3.22245804e-01 1.52150466e+02] [ 6.78053766e-01 5.52436203e-01 -4.84827115e-01 1.20317337e+02] [ 5.82150139e-01 -9.51238758e-04 8.13080753e-01 1.04491794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91710568099995 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:152.16, Y:120.34, Z:104.50 [[ 4.48824628e-01 -8.42737876e-01 -2.97236146e-01 1.52161566e+02] [ 6.77187365e-01 5.37783700e-01 -5.02201121e-01 1.20340384e+02] [ 5.83072660e-01 2.41156694e-02 8.12062010e-01 1.04504857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.9471056809999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:152.17, Y:120.36, Z:104.52 [[ 4.48086185e-01 -8.41891439e-01 -3.00728407e-01 1.52172897e+02] [ 6.75646149e-01 5.39194387e-01 -5.02764054e-01 1.20358977e+02] [ 5.85423823e-01 2.20956368e-02 8.10426265e-01 1.04523121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97710568099995 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:152.18, Y:120.38, Z:104.54 [[ 4.47433160e-01 -8.37927290e-01 -3.12540276e-01 1.52184225e+02] [ 6.74648336e-01 5.45659377e-01 -4.97097040e-01 1.20376092e+02] [ 5.87071708e-01 1.15629228e-02 8.09452351e-01 1.04544805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.0071056809999 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:152.20, Y:120.40, Z:104.56 [[ 4.49475136e-01 -8.41711049e-01 -2.99156500e-01 1.52196692e+02] [ 6.74280323e-01 5.39348541e-01 -5.04429576e-01 1.20395803e+02] [ 5.85933569e-01 2.50132107e-02 8.09972957e-01 1.04555770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.0371056809999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:152.21, Y:120.41, Z:104.58 [[ 4.47607712e-01 -8.43188374e-01 -2.97793054e-01 1.52209237e+02] [ 6.71501656e-01 5.36854285e-01 -5.10757284e-01 1.20414468e+02] [ 5.90536080e-01 2.86503704e-02 8.06502507e-01 1.04576439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.06710568099993 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:152.22, Y:120.43, Z:104.60 [[ 4.47719947e-01 -8.39440071e-01 -3.08037686e-01 1.52222734e+02] [ 6.69701985e-01 5.43065750e-01 -5.06536122e-01 1.20432473e+02] [ 5.92491435e-01 2.04928759e-02 8.05316051e-01 1.04595866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.0971056809999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:152.24, Y:120.45, Z:104.61 [[ 4.48161208e-01 -8.37026673e-01 -3.13907440e-01 1.52235744e+02] [ 6.69817477e-01 5.46962067e-01 -5.02172326e-01 1.20451226e+02] [ 5.92027093e-01 1.47934672e-02 8.05782275e-01 1.04612927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.12710568099993 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:152.25, Y:120.47, Z:104.62 [[ 4.47792409e-01 -8.45849380e-01 -2.89863389e-01 1.52247037e+02] [ 6.64270567e-01 5.31708714e-01 -5.25386008e-01 1.20468154e+02] [ 5.98520319e-01 4.27161484e-02 7.99967973e-01 1.04624037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.1571056809999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:152.26, Y:120.48, Z:104.65 [[ 4.48325127e-01 -8.37743021e-01 -3.11755051e-01 1.52264472e+02] [ 6.63318359e-01 5.45586933e-01 -5.12194936e-01 1.20480176e+02] [ 5.99177215e-01 2.28370107e-02 8.00290657e-01 1.04647639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.18710568099993 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:152.28, Y:120.50, Z:104.67 [[ 4.48609056e-01 -8.36125153e-01 -3.15665397e-01 1.52275828e+02] [ 6.63380584e-01 5.48206990e-01 -5.09308646e-01 1.20495495e+02] [ 5.98895747e-01 1.90741752e-02 8.00599813e-01 1.04665924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2171056809999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:152.29, Y:120.52, Z:104.68 [[ 4.49661871e-01 -8.42085271e-01 -2.97819741e-01 1.52288862e+02] [ 6.64181012e-01 5.38174001e-01 -5.18876024e-01 1.20517462e+02] [ 5.97216699e-01 3.55125466e-02 8.01293376e-01 1.04678175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.24710568099994 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:152.30, Y:120.53, Z:104.70 [[ 4.50458129e-01 -8.40576080e-01 -3.00864300e-01 1.52302442e+02] [ 6.63523438e-01 5.40668321e-01 -5.17121276e-01 1.20534165e+02] [ 5.97347571e-01 3.33109673e-02 8.01290371e-01 1.04697734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2771056809999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:152.32, Y:120.55, Z:104.71 [[ 4.48907687e-01 -8.45713788e-01 -2.88530896e-01 1.52317061e+02] [ 6.63751417e-01 5.31769391e-01 -5.25980391e-01 1.20554474e+02] [ 5.98260767e-01 4.46038500e-02 8.00059092e-01 1.04714932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.30710568099994 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:152.33, Y:120.56, Z:104.74 [[ 4.49296187e-01 -8.33333218e-01 -3.22007274e-01 1.52329103e+02] [ 6.65448607e-01 5.52658462e-01 -5.01743736e-01 1.20564254e+02] [ 5.96079767e-01 1.11522557e-02 8.02847768e-01 1.04740675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3371056809999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:152.34, Y:120.59, Z:104.75 [[ 4.47559465e-01 -8.44456547e-01 -2.94251025e-01 1.52342573e+02] [ 6.64924001e-01 5.34278298e-01 -5.21941350e-01 1.20589659e+02] [ 5.97968727e-01 3.79452225e-02 8.00620735e-01 1.04749517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.36710568099994 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:152.36, Y:120.60, Z:104.77 [[ 4.46196873e-01 -8.41256160e-01 -3.05280894e-01 1.52355576e+02] [ 6.62672995e-01 5.39841819e-01 -5.19071586e-01 1.20603744e+02] [ 6.01475562e-01 2.93067144e-02 7.98353471e-01 1.04770313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3971056809999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:152.37, Y:120.62, Z:104.79 [[ 4.46173228e-01 -8.41489445e-01 -3.04671897e-01 1.52368862e+02] [ 6.64998614e-01 5.39558322e-01 -5.16385186e-01 1.20622816e+02] [ 5.98920941e-01 2.77908558e-02 8.00325793e-01 1.04786703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.42710568099994 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:152.38, Y:120.64, Z:104.80 [[ 4.45327567e-01 -8.42102857e-01 -3.04213966e-01 1.52381470e+02] [ 6.66571994e-01 5.38655843e-01 -5.15297642e-01 1.20640883e+02] [ 5.97800247e-01 2.66957348e-02 8.01200476e-01 1.04804572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.4571056809999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:152.39, Y:120.66, Z:104.82 [[ 4.44412760e-01 -8.45650541e-01 -2.95588331e-01 1.52391189e+02] [ 6.65997955e-01 5.32570817e-01 -5.22317001e-01 1.20660570e+02] [ 5.99119373e-01 3.52631164e-02 7.99882797e-01 1.04816766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.48710568099995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:152.41, Y:120.68, Z:104.84 [[ 4.43654755e-01 -8.41348980e-01 -3.08710791e-01 1.52406242e+02] [ 6.64666269e-01 5.39963188e-01 -5.16389878e-01 1.20677977e+02] [ 6.01156560e-01 2.39091755e-02 7.98773523e-01 1.04841016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.5171056809999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:152.42, Y:120.70, Z:104.85 [[ 4.39828818e-01 -8.48175857e-01 -2.95208954e-01 1.52418282e+02] [ 6.62892227e-01 5.28377085e-01 -5.30463525e-01 1.20695287e+02] [ 6.05908001e-01 3.76214248e-02 7.94644652e-01 1.04852356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.54710568099995 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:152.43, Y:120.71, Z:104.87 [[ 4.35334276e-01 -8.44472400e-01 -3.12010311e-01 1.52434245e+02] [ 6.67479312e-01 5.35327213e-01 -5.17586846e-01 1.20711852e+02] [ 6.04115416e-01 1.70628674e-02 7.96714141e-01 1.04874105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.5771056809999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:152.45, Y:120.73, Z:104.89 [[ 4.32134542e-01 -8.47454844e-01 -3.08350490e-01 1.52447213e+02] [ 6.66505804e-01 5.30458198e-01 -5.23816870e-01 1.20730244e+02] [ 6.07478189e-01 2.08419721e-02 7.94062883e-01 1.04891173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.60710568099995 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:152.46, Y:120.75, Z:104.90 [[ 4.24383962e-01 -8.52973205e-01 -3.03866687e-01 1.52458559e+02] [ 6.73432796e-01 5.21655952e-01 -5.23797038e-01 1.20750184e+02] [ 6.05298705e-01 1.76572696e-02 7.95802550e-01 1.04903007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.6371056809999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:152.47, Y:120.77, Z:104.92 [[ 4.19555424e-01 -8.56057521e-01 -3.01891981e-01 1.52470431e+02] [ 6.74841846e-01 5.16588464e-01 -5.26996055e-01 1.20769089e+02] [ 6.07092851e-01 1.73747117e-02 7.94440929e-01 1.04921265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.66710568099995 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:152.48, Y:120.77, Z:104.96 [[ 4.14788841e-01 -8.40254788e-01 -3.49173466e-01 1.52480126e+02] [ 6.77756581e-01 5.41346549e-01 -4.97584095e-01 1.20770699e+02] [ 6.07121269e-01 -3.02622844e-02 7.94032719e-01 1.04959783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.6971056809999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:152.49, Y:120.81, Z:104.95 [[ 4.03609006e-01 -8.77869873e-01 -2.57767834e-01 1.52494030e+02] [ 6.87222968e-01 4.76870012e-01 -5.48014219e-01 1.20811953e+02] [ 6.04006923e-01 4.40394987e-02 7.95761371e-01 1.04947012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.72710568099995 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:152.50, Y:120.81, Z:105.00 [[ 3.90167601e-01 -8.58566570e-01 -3.32614924e-01 1.52501675e+02] [ 6.88289018e-01 5.11915624e-01 -5.14004496e-01 1.20809011e+02] [ 6.11577853e-01 -2.83872984e-02 7.90674833e-01 1.04996939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.7571056809999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:152.51, Y:120.83, Z:105.01 [[ 3.92086977e-01 -8.61126165e-01 -3.23619423e-01 1.52510456e+02] [ 6.89010928e-01 5.07985995e-01 -5.16927626e-01 1.20826407e+02] [ 6.09534038e-01 -2.02967293e-02 7.92500031e-01 1.05005580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.7871056809999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:152.52, Y:120.87, Z:105.00 [[ 3.88545425e-01 -8.78556089e-01 -2.77797859e-01 1.52518159e+02] [ 7.00880947e-01 4.77508531e-01 -5.29859887e-01 1.20869197e+02] [ 5.98162478e-01 1.11714083e-02 8.01296979e-01 1.05001947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.81710568099993 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:152.53, Y:120.88, Z:105.03 [[ 3.89248250e-01 -8.70883079e-01 -3.00080760e-01 1.52527103e+02] [ 6.94808965e-01 4.91472998e-01 -5.25066466e-01 1.20880512e+02] [ 6.04753092e-01 -4.11759899e-03 7.96402375e-01 1.05025287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.8471056809999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:152.54, Y:120.90, Z:105.05 [[ 3.88134317e-01 -8.69563340e-01 -3.05305338e-01 1.52535435e+02] [ 6.96642905e-01 4.93706426e-01 -5.20521496e-01 1.20901365e+02] [ 6.03357618e-01 -1.06565423e-02 7.97399538e-01 1.05049506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.87710568099993 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:152.54, Y:120.92, Z:105.07 [[ 3.88328500e-01 -8.64904967e-01 -3.18025744e-01 1.52540260e+02] [ 6.94283513e-01 5.01522901e-01 -5.16183285e-01 1.20921097e+02] [ 6.05946681e-01 -2.03513502e-02 7.95244894e-01 1.05068807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.9071056809999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:152.55, Y:120.94, Z:105.08 [[ 3.90073299e-01 -8.68859882e-01 -3.04836558e-01 1.52546816e+02] [ 6.89527674e-01 4.95042118e-01 -5.28663303e-01 1.20942931e+02] [ 6.10241270e-01 -3.97580365e-03 7.92205646e-01 1.05081451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.93710568099993 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:152.55, Y:120.96, Z:105.10 [[ 3.90437764e-01 -8.65413466e-01 -3.14034847e-01 1.52553987e+02] [ 6.90536372e-01 5.00886528e-01 -5.21797091e-01 1.20964008e+02] [ 6.08866053e-01 -1.31231940e-02 7.93164492e-01 1.05102307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.9671056809999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:152.56, Y:120.98, Z:105.12 [[ 3.95427639e-01 -8.65708391e-01 -3.06897318e-01 1.52556311e+02] [ 6.87842602e-01 5.00538254e-01 -5.25674815e-01 1.20983632e+02] [ 6.08694946e-01 -3.23069865e-03 7.93397773e-01 1.05117575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99710568099994 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:152.56, Y:121.00, Z:105.14 [[ 4.00770855e-01 -8.61596655e-01 -3.11502689e-01 1.52564716e+02] [ 6.83890348e-01 5.07584672e-01 -5.24072316e-01 1.21003541e+02] [ 6.09652945e-01 -3.00077244e-03 7.92662780e-01 1.05138313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0271056809999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:152.57, Y:121.02, Z:105.16 [[ 4.03057308e-01 -8.59312998e-01 -3.14842781e-01 1.52572572e+02] [ 6.81307633e-01 5.11438579e-01 -5.23689306e-01 1.21023639e+02] [ 6.11035772e-01 -3.42798792e-03 7.91595562e-01 1.05155983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05710568099994 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:152.58, Y:121.04, Z:105.17 [[ 4.09926184e-01 -8.54599061e-01 -3.18780439e-01 1.52578571e+02] [ 6.78210960e-01 5.19279462e-01 -5.19979551e-01 1.21044300e+02] [ 6.09910171e-01 -3.04715446e-03 7.92464698e-01 1.05168894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0871056809999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:152.59, Y:121.07, Z:105.18 [[ 4.10953164e-01 -8.65014880e-01 -2.87865863e-01 1.52586208e+02] [ 6.76372424e-01 5.01009715e-01 -5.39916299e-01 1.21069466e+02] [ 6.11259227e-01 2.71757794e-02 7.90963738e-01 1.05179012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11710568099994 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:152.60, Y:121.09, Z:105.20 [[ 4.09801300e-01 -8.64627173e-01 -2.90659160e-01 1.52595789e+02] [ 6.74994727e-01 5.01767354e-01 -5.40935893e-01 1.21091492e+02] [ 6.13551150e-01 2.54828319e-02 7.89243696e-01 1.05198574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.1471056809999 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:152.61, Y:121.10, Z:105.22 [[ 4.12006251e-01 -8.48678564e-01 -3.31655763e-01 1.52607083e+02] [ 6.75597776e-01 5.28763996e-01 -5.13786222e-01 1.21100997e+02] [ 6.11406979e-01 -1.23827605e-02 7.91219422e-01 1.05223229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17710568099994 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:152.61, Y:121.13, Z:105.23 [[ 4.08940194e-01 -8.66467215e-01 -2.86360758e-01 1.52611725e+02] [ 6.77788299e-01 4.98507521e-01 -5.40456541e-01 1.21133517e+02] [ 6.11040865e-01 2.69224318e-02 7.91141102e-01 1.05230994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.2071056809999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:152.62, Y:121.15, Z:105.25 [[ 4.09884746e-01 -8.64907115e-01 -2.89707055e-01 1.52619707e+02] [ 6.76274286e-01 5.01292668e-01 -5.39776575e-01 1.21151476e+02] [ 6.12084622e-01 2.53247521e-02 7.90386660e-01 1.05249495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23710568099995 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:152.63, Y:121.17, Z:105.27 [[ 4.13729909e-01 -8.53563138e-01 -3.16634697e-01 1.52627601e+02] [ 6.76637797e-01 5.20988406e-01 -5.20319491e-01 1.21169448e+02] [ 6.09088544e-01 1.02473171e-03 7.93101567e-01 1.05271422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.2671056809999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:152.63, Y:121.20, Z:105.28 [[ 4.18073507e-01 -8.66208529e-01 -2.73673760e-01 1.52632556e+02] [ 6.73289573e-01 4.97712339e-01 -5.46775620e-01 1.21200105e+02] [ 6.09832513e-01 4.43307122e-02 7.91289514e-01 1.05279112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29710568099995 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:152.64, Y:121.21, Z:105.30 [[ 4.20470082e-01 -8.55301938e-01 -3.02759814e-01 1.52643467e+02] [ 6.70330523e-01 5.17720943e-01 -5.31622060e-01 1.21213763e+02] [ 6.11442475e-01 2.05820264e-02 7.91021163e-01 1.05302161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.3271056809999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:152.65, Y:121.24, Z:105.31 [[ 4.25596641e-01 -8.60218865e-01 -2.80875423e-01 1.52650793e+02] [ 6.60420052e-01 5.07461950e-01 -5.53468811e-01 1.21237050e+02] [ 6.18637902e-01 5.00587054e-02 7.84079889e-01 1.05310523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35710568099995 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:152.66, Y:121.25, Z:105.33 [[ 4.27339525e-01 -8.54053040e-01 -2.96604680e-01 1.52662433e+02] [ 6.58230960e-01 5.18804842e-01 -5.45503014e-01 1.21252399e+02] [ 6.19768451e-01 3.78806159e-02 7.83869967e-01 1.05331239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.3871056809999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:152.68, Y:121.27, Z:105.35 [[ 4.29222937e-01 -8.56906409e-01 -2.85445402e-01 1.52675456e+02] [ 6.56233592e-01 5.13023839e-01 -5.53320895e-01 1.21272455e+02] [ 6.20584517e-01 5.01791584e-02 7.82532370e-01 1.05346105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41710568099995 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:152.69, Y:121.29, Z:105.37 [[ 4.28266576e-01 -8.48738700e-01 -3.10210185e-01 1.52690288e+02] [ 6.60562295e-01 5.28288003e-01 -5.33450317e-01 1.21285441e+02] [ 6.16640248e-01 2.35457890e-02 7.86892878e-01 1.05372586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.4471056809999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:152.70, Y:121.31, Z:105.39 [[ 4.27721718e-01 -8.52095024e-01 -3.01642506e-01 1.52700037e+02] [ 6.60451854e-01 5.22441014e-01 -5.39313206e-01 1.21305813e+02] [ 6.17136516e-01 3.14556191e-02 7.86227107e-01 1.05388724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47710568099995 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:152.71, Y:121.32, Z:105.41 [[ 4.26170503e-01 -8.54990605e-01 -2.95583774e-01 1.52714878e+02] [ 6.54337981e-01 5.16956852e-01 -5.51903452e-01 1.21320152e+02] [ 6.24676323e-01 4.17932817e-02 7.79764588e-01 1.05406596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.5071056809999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:152.72, Y:121.31, Z:105.46 [[ 4.20712121e-01 -8.29430650e-01 -3.67486203e-01 1.52724462e+02] [ 6.44776488e-01 5.58341102e-01 -5.22033039e-01 1.21310334e+02] [ 6.38172854e-01 -1.73208363e-02 7.69698251e-01 1.05455714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.5371056809999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:152.74, Y:121.37, Z:105.43 [[ 4.21489346e-01 -8.72639654e-01 -2.46671372e-01 1.52739522e+02] [ 6.64969453e-01 4.82366144e-01 -5.70209198e-01 1.21366725e+02] [ 6.16573076e-01 7.63081745e-02 7.83590904e-01 1.05432066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.56710568099993 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:152.75, Y:121.38, Z:105.46 [[ 4.20356158e-01 -8.59667660e-01 -2.90296771e-01 1.52754241e+02] [ 6.63137781e-01 5.09437800e-01 -5.48380718e-01 1.21375096e+02] [ 6.19313317e-01 3.80084551e-02 7.84223420e-01 1.05461162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.5971056809999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:152.77, Y:121.37, Z:105.51 [[ 4.17151099e-01 -8.33188227e-01 -3.63018374e-01 1.52767322e+02] [ 6.55584745e-01 5.52499804e-01 -5.14735475e-01 1.21368267e+02] [ 6.29439118e-01 -2.32668390e-02 7.76701391e-01 1.05506935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.62710568099993 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:152.78, Y:121.42, Z:105.49 [[ 4.15538706e-01 -8.73117620e-01 -2.54937649e-01 1.52776457e+02] [ 6.66677333e-01 4.83032639e-01 -5.67644962e-01 1.21418332e+02] [ 6.18764024e-01 6.59173016e-02 7.82806485e-01 1.05489562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.6571056809999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:152.79, Y:121.40, Z:105.55 [[ 4.07841763e-01 -8.34942665e-01 -3.69507567e-01 1.52786632e+02] [ 6.52624686e-01 5.49601693e-01 -5.21554405e-01 1.21396913e+02] [ 6.38550010e-01 -2.84380919e-02 7.69054719e-01 1.05547736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.68710568099993 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:152.80, Y:121.45, Z:105.53 [[ 4.03601492e-01 -8.76646453e-01 -2.61909970e-01 1.52798465e+02] [ 6.69499191e-01 4.78083394e-01 -5.68513062e-01 1.21449616e+02] [ 6.23599766e-01 5.41042067e-02 7.79869262e-01 1.05530203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7171056809999 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:152.82, Y:121.47, Z:105.55 [[ 4.06684480e-01 -8.58766817e-01 -3.11652512e-01 1.52820217e+02] [ 6.71248220e-01 5.12293306e-01 -5.35706445e-01 1.21466219e+02] [ 6.19704414e-01 8.66730302e-03 7.84787434e-01 1.05549418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.74710568099994 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:152.82, Y:121.48, Z:105.58 [[ 3.90147943e-01 -8.72013168e-01 -2.95597051e-01 1.52820233e+02] [ 6.70561156e-01 4.89097607e-01 -5.57791418e-01 1.21479090e+02] [ 6.30977272e-01 1.94052746e-02 7.75558584e-01 1.05575842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7771056809999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:152.83, Y:121.50, Z:105.59 [[ 3.89360720e-01 -8.66157160e-01 -3.13320929e-01 1.52831641e+02] [ 6.75893424e-01 4.99770965e-01 -5.41661390e-01 1.21496919e+02] [ 6.25752594e-01 -8.69887094e-04 7.80021111e-01 1.05589773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.80710568099994 meters Centerline goodness : 0.998470 Centerline is valid? [True, True] Translation: X:152.84, Y:121.53, Z:105.60 [[ 3.79462121e-01 -8.80975332e-01 -2.82649893e-01 1.52838969e+02] [ 6.76982459e-01 4.72615143e-01 -5.64207122e-01 1.21525193e+02] [ 6.30637177e-01 2.27462115e-02 7.75744392e-01 1.05604305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8371056809999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:152.85, Y:121.53, Z:105.64 [[ 3.76177948e-01 -8.67454575e-01 -3.25595935e-01 1.52848685e+02] [ 6.72695742e-01 4.97348012e-01 -5.47837014e-01 1.21528820e+02] [ 6.37158214e-01 -1.29427955e-02 7.70624353e-01 1.05639540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.86710568099994 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:152.86, Y:121.56, Z:105.65 [[ 3.75546126e-01 -8.73444707e-01 -3.09934593e-01 1.52858576e+02] [ 6.75088972e-01 4.86922108e-01 -5.54221743e-01 1.21557958e+02] [ 6.34996053e-01 -1.09759711e-03 7.72514600e-01 1.05646197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8971056809999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:152.86, Y:121.57, Z:105.67 [[ 3.73856504e-01 -8.70309346e-01 -3.20613406e-01 1.52862418e+02] [ 6.69933329e-01 4.92454589e-01 -5.55587807e-01 1.21567902e+02] [ 6.41420805e-01 -7.07949166e-03 7.67156589e-01 1.05673896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.92710568099994 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:152.87, Y:121.59, Z:105.69 [[ 3.82100036e-01 -8.65349383e-01 -3.24299258e-01 1.52870130e+02] [ 6.76650799e-01 5.00993555e-01 -5.39582389e-01 1.21590149e+02] [ 6.29399125e-01 -1.32629017e-02 7.76969006e-01 1.05685853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.9571056809999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:152.88, Y:121.61, Z:105.70 [[ 3.84558060e-01 -8.65971396e-01 -3.19700861e-01 1.52878019e+02] [ 6.73861539e-01 5.00054318e-01 -5.43926747e-01 1.21609300e+02] [ 6.30892800e-01 -6.26270029e-03 7.75844735e-01 1.05703734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.98710568099995 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:152.88, Y:121.64, Z:105.71 [[ 3.82982514e-01 -8.76593170e-01 -2.91391161e-01 1.52880251e+02] [ 6.74016633e-01 4.80881834e-01 -5.60762195e-01 1.21640879e+02] [ 6.31685026e-01 1.83596264e-02 7.75007711e-01 1.05714243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.0171056809999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:152.89, Y:121.65, Z:105.74 [[ 3.81522376e-01 -8.65982880e-01 -3.23286759e-01 1.52887296e+02] [ 6.68481324e-01 5.00036839e-01 -5.50541442e-01 1.21649529e+02] [ 6.38414753e-01 -6.06728201e-03 7.69668625e-01 1.05742809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.04710568099995 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:152.89, Y:121.69, Z:105.74 [[ 3.82884266e-01 -8.81637951e-01 -2.75887951e-01 1.52892944e+02] [ 6.72294655e-01 4.70751953e-01 -5.71325211e-01 1.21686996e+02] [ 6.33576780e-01 3.32734389e-02 7.72963998e-01 1.05742399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.0771056809999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:152.90, Y:121.69, Z:105.77 [[ 3.80174048e-01 -8.54863876e-01 -3.53094105e-01 1.52903966e+02] [ 6.72715774e-01 5.17565916e-01 -5.28752315e-01 1.21692373e+02] [ 6.34760727e-01 -3.65140658e-02 7.71845543e-01 1.05772543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.10710568099995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:152.91, Y:121.73, Z:105.78 [[ 3.87939250e-01 -8.82621963e-01 -2.65483727e-01 1.52907352e+02] [ 6.70883884e-01 4.67917720e-01 -5.75298028e-01 1.21729807e+02] [ 6.31995215e-01 4.50719316e-02 7.73660500e-01 1.05781810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.1371056809999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:152.91, Y:121.73, Z:105.81 [[ 3.88525799e-01 -8.51874592e-01 -3.51222698e-01 1.52912849e+02] [ 6.65495244e-01 5.23056744e-01 -5.32473214e-01 1.21730733e+02] [ 6.37309803e-01 -2.68574546e-02 7.70139528e-01 1.05810372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.16710568099995 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:152.91, Y:121.77, Z:105.82 [[ 3.91901221e-01 -8.86123432e-01 -2.47383703e-01 1.52914572e+02] [ 6.66012843e-01 4.58761485e-01 -5.88187718e-01 1.21771605e+02] [ 6.34697035e-01 6.57507614e-02 7.69958773e-01 1.05817074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.1971056809999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:152.92, Y:121.78, Z:105.85 [[ 3.97241363e-01 -8.64889951e-01 -3.06862627e-01 1.52924921e+02] [ 6.59572421e-01 5.01563509e-01 -5.59819853e-01 1.21782592e+02] [ 6.38093662e-01 1.99854755e-02 7.69699331e-01 1.05846849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.22710568099995 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:152.93, Y:121.80, Z:105.87 [[ 4.00044010e-01 -8.57413721e-01 -3.23738322e-01 1.52933478e+02] [ 6.58032361e-01 5.14581690e-01 -5.49726383e-01 1.21797870e+02] [ 6.37932757e-01 6.88445441e-03 7.70061298e-01 1.05866107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.2571056809999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:152.94, Y:121.82, Z:105.88 [[ 4.00428978e-01 -8.65229076e-01 -3.01720533e-01 1.52941720e+02] [ 6.53602376e-01 5.00470249e-01 -5.67744189e-01 1.21821845e+02] [ 6.42230931e-01 3.01359682e-02 7.65918570e-01 1.05883017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.2871056809999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:152.95, Y:121.83, Z:105.90 [[ 4.03073706e-01 -8.60742802e-01 -3.10891324e-01 1.52949284e+02] [ 6.51029237e-01 5.08436806e-01 -5.63607086e-01 1.21834659e+02] [ 6.43189335e-01 2.47758556e-02 7.65306237e-01 1.05899634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.31710568099993 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:152.96, Y:121.85, Z:105.92 [[ 4.01090528e-01 -8.60837400e-01 -3.13185823e-01 1.52958566e+02] [ 6.53523194e-01 5.08478745e-01 -5.60675308e-01 1.21854957e+02] [ 6.41898609e-01 2.02073562e-02 7.66523215e-01 1.05923404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.3471056809999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:152.97, Y:121.88, Z:105.94 [[ 4.00283957e-01 -8.68032669e-01 -2.93755066e-01 1.52967482e+02] [ 6.54139146e-01 4.95147591e-01 -5.71778665e-01 1.21878246e+02] [ 6.41774674e-01 3.67171385e-02 7.66013786e-01 1.05937443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.37710568099993 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:152.98, Y:121.89, Z:105.96 [[ 3.97558821e-01 -8.56858837e-01 -3.28237592e-01 1.52976928e+02] [ 6.52810685e-01 5.15511494e-01 -5.55055051e-01 1.21886523e+02] [ 6.44814077e-01 6.39002414e-03 7.64312746e-01 1.05963866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.4071056809999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:152.99, Y:121.92, Z:105.97 [[ 3.95675116e-01 -8.70813804e-01 -2.91761071e-01 1.52988177e+02] [ 6.55416548e-01 4.90286505e-01 -5.74498296e-01 1.21915156e+02] [ 6.43327562e-01 3.60896458e-02 7.64739946e-01 1.05969859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.43710568099993 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:153.00, Y:121.92, Z:106.00 [[ 3.89201296e-01 -8.60916759e-01 -3.27634986e-01 1.52999477e+02] [ 6.56662023e-01 5.08743501e-01 -5.56754019e-01 1.21924410e+02] [ 6.46001036e-01 1.54393289e-03 7.63334971e-01 1.05997786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.4671056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:153.01, Y:121.95, Z:106.02 [[ 3.83577688e-01 -8.73522817e-01 -2.99709935e-01 1.53006952e+02] [ 6.56459316e-01 4.86166163e-01 -5.76804671e-01 1.21947096e+02] [ 6.49560871e-01 2.45020232e-02 7.59914684e-01 1.06015426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49710568099994 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:153.02, Y:121.97, Z:106.03 [[ 3.75674288e-01 -8.76000414e-01 -3.02476618e-01 1.53016069e+02] [ 6.68966504e-01 4.82203440e-01 -5.65653303e-01 1.21967422e+02] [ 6.41367793e-01 1.01546757e-02 7.67166368e-01 1.06028620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5271056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:153.02, Y:121.99, Z:106.05 [[ 3.70031725e-01 -8.79538301e-01 -2.99146955e-01 1.53024856e+02] [ 6.69092965e-01 4.75698000e-01 -5.70986880e-01 1.21985566e+02] [ 6.44508438e-01 1.11261368e-02 7.64516241e-01 1.06048894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:153.03, Y:122.00, Z:106.08 [[ 3.58271250e-01 -8.77767143e-01 -3.18066902e-01 1.53032030e+02] [ 6.71235532e-01 4.78965360e-01 -5.65716399e-01 1.22001173e+02] [ 6.48910296e-01 -1.08178848e-02 7.60788014e-01 1.06075292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5871056809999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:153.04, Y:122.02, Z:106.08 [[ 3.55512748e-01 -8.82240934e-01 -3.08644812e-01 1.53039278e+02] [ 6.80372985e-01 4.70685740e-01 -5.61736179e-01 1.22023478e+02] [ 6.40861363e-01 -1.02892197e-02 7.67587679e-01 1.06084836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61710568099994 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:153.04, Y:122.05, Z:106.10 [[ 3.43797015e-01 -8.94941252e-01 -2.84400718e-01 1.53042730e+02] [ 6.83319864e-01 4.46162721e-01 -5.77938395e-01 1.22046924e+02] [ 6.44109909e-01 4.35683545e-03 7.64920547e-01 1.06103804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.6471056809999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:153.05, Y:122.06, Z:106.13 [[ 3.38104295e-01 -8.88404785e-01 -3.10519603e-01 1.53051590e+02] [ 6.82731616e-01 4.58638493e-01 -5.68795458e-01 1.22059776e+02] [ 6.47736849e-01 -1.96893633e-02 7.61609679e-01 1.06132634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67710568099994 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:153.06, Y:122.07, Z:106.16 [[ 3.28240241e-01 -8.87994185e-01 -3.22063148e-01 1.53056645e+02] [ 6.84108472e-01 4.58584590e-01 -5.67182310e-01 1.22073294e+02] [ 6.51347790e-01 -3.41540696e-02 7.58010261e-01 1.06155876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.7071056809999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:153.06, Y:122.10, Z:106.17 [[ 3.24767057e-01 -8.95157581e-01 -3.05318301e-01 1.53064076e+02] [ 6.91389284e-01 4.44976826e-01 -5.69189320e-01 1.22101811e+02] [ 6.45373703e-01 -2.62398617e-02 7.63416173e-01 1.06167161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73710568099995 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:153.07, Y:122.12, Z:106.19 [[ 3.18659045e-01 -8.91852327e-01 -3.21023114e-01 1.53065914e+02] [ 6.88270295e-01 4.50574740e-01 -5.68565215e-01 1.22120006e+02] [ 6.51721117e-01 -3.97722251e-02 7.57415181e-01 1.06189315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.7671056809999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:153.07, Y:122.14, Z:106.20 [[ 3.22617557e-01 -8.81706315e-01 -3.44255554e-01 1.53073131e+02] [ 6.94397616e-01 4.67627251e-01 -5.46933913e-01 1.22137820e+02] [ 6.43218363e-01 -6.25997533e-02 7.63119524e-01 1.06203862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79710568099995 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:153.07, Y:122.17, Z:106.22 [[ 3.19808632e-01 -8.99059940e-01 -2.99021175e-01 1.53070083e+02] [ 6.91923404e-01 4.37212608e-01 -5.74532103e-01 1.22168659e+02] [ 6.47274626e-01 -2.31594234e-02 7.61904981e-01 1.06219688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.8271056809999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:153.09, Y:122.19, Z:106.23 [[ 3.30130665e-01 -8.84122368e-01 -3.30668084e-01 1.53087307e+02] [ 6.92196141e-01 4.64920643e-01 -5.52008422e-01 1.22189802e+02] [ 6.41777411e-01 -4.66522647e-02 7.65470653e-01 1.06228716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85710568099995 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:153.07, Y:122.22, Z:106.25 [[ 3.23806956e-01 -9.12702897e-01 -2.49243810e-01 1.53073638e+02] [ 6.93810181e-01 4.08172888e-01 -5.93314694e-01 1.22224777e+02] [ 6.43254606e-01 1.91915318e-02 7.65411783e-01 1.06246617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.8871056809999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:153.08, Y:122.24, Z:106.27 [[ 3.27150015e-01 -8.93108879e-01 -3.08754592e-01 1.53082753e+02] [ 6.93331156e-01 4.48863112e-01 -5.63749780e-01 1.22238209e+02] [ 6.42078481e-01 -2.96384292e-02 7.66065786e-01 1.06273387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91710568099995 meters Centerline goodness : 0.997011 Centerline is valid? [True, True] Translation: X:153.10, Y:122.27, Z:106.27 [[ 3.50778878e-01 -8.66627686e-01 -3.54838882e-01 1.53101915e+02] [ 6.89568387e-01 4.95409266e-01 -5.28266125e-01 1.22266581e+02] [ 6.33600520e-01 -5.93810770e-02 7.71378162e-01 1.06273823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.9471056809999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:153.08, Y:122.30, Z:106.30 [[ 3.31276667e-01 -9.10289326e-01 -2.48252116e-01 1.53076442e+02] [ 6.88654738e-01 4.13127217e-01 -5.95886360e-01 1.22296927e+02] [ 6.44988699e-01 2.64432514e-02 7.63734465e-01 1.06303774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97710568099995 meters Centerline goodness : 0.996305 Centerline is valid? [True, True] Translation: X:153.10, Y:122.32, Z:106.31 [[ 3.55881689e-01 -8.63729875e-01 -3.56817778e-01 1.53102568e+02] [ 6.85954823e-01 5.00735558e-01 -5.27948749e-01 1.22316305e+02] [ 6.34676456e-01 -5.68735832e-02 7.70682290e-01 1.06308506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.0071056809999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:153.08, Y:122.34, Z:106.34 [[ 3.43173811e-01 -9.06956423e-01 -2.44257615e-01 1.53075864e+02] [ 6.82900788e-01 4.19466813e-01 -5.98075335e-01 1.22343898e+02] [ 6.44886230e-01 3.84400745e-02 7.63311280e-01 1.06340735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.0371056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:153.08, Y:122.36, Z:106.36 [[ 3.53477327e-01 -8.86594080e-01 -2.98336581e-01 1.53076518e+02] [ 6.74705958e-01 4.62543890e-01 -5.75173904e-01 1.22362629e+02] [ 6.47939542e-01 2.02146584e-03 7.61689086e-01 1.06362112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.06710568099993 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:153.07, Y:122.39, Z:106.38 [[ 3.64081925e-01 -8.78090436e-01 -3.10485971e-01 1.53074348e+02] [ 6.71352848e-01 4.78488778e-01 -5.65980426e-01 1.22388121e+02] [ 6.45546052e-01 -2.38239793e-03 7.63717630e-01 1.06379184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.0971056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:153.08, Y:122.41, Z:106.40 [[ 3.66170050e-01 -8.82221756e-01 -2.95980182e-01 1.53076101e+02] [ 6.67461750e-01 4.70633400e-01 -5.77060669e-01 1.22411859e+02] [ 6.48393636e-01 1.37468843e-02 7.61181133e-01 1.06400134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.12710568099993 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:153.08, Y:122.43, Z:106.42 [[ 3.74286910e-01 -8.72313396e-01 -3.14608721e-01 1.53077619e+02] [ 6.62602347e-01 4.88931642e-01 -5.67365824e-01 1.22430832e+02] [ 6.48742968e-01 3.89712445e-03 7.60997618e-01 1.06418900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.1571056809999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:153.08, Y:122.45, Z:106.44 [[ 3.74803423e-01 -8.78320928e-01 -2.96773891e-01 1.53082403e+02] [ 6.59459945e-01 4.77570447e-01 -5.80550643e-01 1.22453982e+02] [ 6.51640219e-01 2.18818739e-02 7.58212509e-01 1.06437888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.18710568099993 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:153.09, Y:122.48, Z:106.46 [[ 3.74921125e-01 -8.73204659e-01 -3.11364374e-01 1.53087116e+02] [ 6.55630670e-01 4.87202422e-01 -5.76872797e-01 1.22475305e+02] [ 6.55425491e-01 1.21417651e-02 7.55162236e-01 1.06456589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2171056809999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:153.09, Y:122.50, Z:106.47 [[ 3.74348454e-01 -8.74377675e-01 -3.08750575e-01 1.53094422e+02] [ 6.55371885e-01 4.85032344e-01 -5.78991639e-01 1.22495741e+02] [ 6.56011378e-01 1.43981784e-02 7.54613653e-01 1.06474783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.24710568099994 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:153.10, Y:122.51, Z:106.49 [[ 3.73501750e-01 -8.73974741e-01 -3.10909304e-01 1.53102366e+02] [ 6.55335193e-01 4.85816312e-01 -5.78375566e-01 1.22513826e+02] [ 6.56530447e-01 1.22744775e-02 7.54199648e-01 1.06494432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2771056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:153.11, Y:122.53, Z:106.51 [[ 3.67972037e-01 -8.81435606e-01 -2.96087576e-01 1.53109103e+02] [ 6.55881525e-01 4.71761120e-01 -5.89288445e-01 1.22531648e+02] [ 6.59102424e-01 2.26432988e-02 7.51712229e-01 1.06514040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.30710568099994 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:153.12, Y:122.55, Z:106.53 [[ 3.65969045e-01 -8.69457796e-01 -3.31827967e-01 1.53124880e+02] [ 6.61161617e-01 4.93844015e-01 -5.64786159e-01 1.22545492e+02] [ 6.54928984e-01 -1.26976643e-02 7.55583745e-01 1.06531271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3371056809999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:153.13, Y:122.57, Z:106.55 [[ 3.62542698e-01 -8.81259808e-01 -3.03222595e-01 1.53130405e+02] [ 6.61222449e-01 4.72509885e-01 -5.82682831e-01 1.22566099e+02] [ 6.56770634e-01 1.07498192e-02 7.54013777e-01 1.06551071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.36710568099994 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:153.14, Y:122.58, Z:106.57 [[ 3.61771149e-01 -8.79682645e-01 -3.08674715e-01 1.53140592e+02] [ 6.60491668e-01 4.75519002e-01 -5.81061473e-01 1.22584405e+02] [ 6.57930386e-01 6.33419932e-03 7.53052113e-01 1.06571593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3971056809999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:153.15, Y:122.60, Z:106.59 [[ 3.59705177e-01 -8.78479931e-01 -3.14460168e-01 1.53149510e+02] [ 6.60013796e-01 4.77778222e-01 -5.79749739e-01 1.22601387e+02] [ 6.59540730e-01 9.90932984e-04 7.51668174e-01 1.06589319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.42710568099994 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:153.16, Y:122.62, Z:106.61 [[ 3.59432300e-01 -8.81558641e-01 -3.06043763e-01 1.53158147e+02] [ 6.59384178e-01 4.71997447e-01 -5.85175970e-01 1.22619169e+02] [ 6.60318808e-01 8.53072978e-03 7.50936948e-01 1.06608474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.4571056809999 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:153.17, Y:122.64, Z:106.61 [[ 3.47720900e-01 -8.63449970e-01 -3.65437169e-01 1.53173558e+02] [ 6.67922244e-01 5.01650522e-01 -5.49751426e-01 1.22641436e+02] [ 6.58004599e-01 -5.29235537e-02 7.51151812e-01 1.06609830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.48710568099995 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:153.17, Y:122.66, Z:106.64 [[ 3.55042746e-01 -9.07823963e-01 -2.23159808e-01 1.53169637e+02] [ 6.60804719e-01 4.12563498e-01 -6.26999588e-01 1.22659976e+02] [ 6.61272842e-01 7.51466014e-02 7.46372036e-01 1.06644823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.5171056809999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:153.19, Y:122.67, Z:106.67 [[ 3.51283983e-01 -8.88744005e-01 -2.94505786e-01 1.53190687e+02] [ 6.57940862e-01 4.58117721e-01 -5.97697228e-01 1.22673525e+02] [ 6.66118147e-01 1.61940723e-02 7.45670414e-01 1.06667580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.54710568099995 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:153.20, Y:122.69, Z:106.69 [[ 3.51783197e-01 -8.78903294e-01 -3.22145280e-01 1.53203943e+02] [ 6.58457915e-01 4.76943973e-01 -5.82200671e-01 1.22686539e+02] [ 6.65343337e-01 -7.31069638e-03 7.46501706e-01 1.06685462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.5771056809999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:153.21, Y:122.70, Z:106.70 [[ 3.50129790e-01 -8.81865509e-01 -3.15788464e-01 1.53212976e+02] [ 6.57051373e-01 4.71498502e-01 -5.88194403e-01 1.22703051e+02] [ 6.67602144e-01 -1.54486083e-03 7.44516615e-01 1.06703675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.60710568099995 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:153.22, Y:122.73, Z:106.73 [[ 3.46019750e-01 -8.92744285e-01 -2.88579234e-01 1.53218466e+02] [ 6.52576889e-01 4.49995352e-01 -6.09629057e-01 1.22725039e+02] [ 6.74102171e-01 2.26235548e-02 7.38291567e-01 1.06725700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.6371056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:153.23, Y:122.74, Z:106.75 [[ 3.43238692e-01 -8.79728803e-01 -3.29035612e-01 1.53233214e+02] [ 6.53706345e-01 4.75298805e-01 -5.88862514e-01 1.22739144e+02] [ 6.74429548e-01 -1.29722684e-02 7.38225240e-01 1.06746021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.66710568099995 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:153.25, Y:122.76, Z:106.76 [[ 3.41929007e-01 -8.74140334e-01 -3.44910466e-01 1.53246264e+02] [ 6.61242657e-01 4.84600428e-01 -5.72643496e-01 1.22756187e+02] [ 6.67714537e-01 -3.22660910e-02 7.43717820e-01 1.06764501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.6971056809999 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:153.27, Y:122.77, Z:106.77 [[ 3.47588403e-01 -8.65220886e-01 -3.61351797e-01 1.53274283e+02] [ 6.67135896e-01 4.99008500e-01 -5.53100545e-01 1.22774893e+02] [ 6.58871762e-01 -4.88194196e-02 7.50669478e-01 1.06765882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.72710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.26, Y:122.80, Z:106.80 [[ 3.26380653e-01 -9.16596882e-01 -2.30923851e-01 1.53255918e+02] [ 6.68835399e-01 3.96575078e-01 -6.28798391e-01 1.22796216e+02] [ 6.67933289e-01 5.07775837e-02 7.42486874e-01 1.06799698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.7571056809999 meters Centerline goodness : 0.996898 Centerline is valid? [True, True] Translation: X:153.30, Y:122.81, Z:106.80 [[ 3.30255521e-01 -8.65553238e-01 -3.76495530e-01 1.53300299e+02] [ 6.82547677e-01 4.94506341e-01 -5.38137666e-01 1.22809687e+02] [ 6.51966226e-01 -7.92532139e-02 7.54094801e-01 1.06803761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.7871056809999 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:153.30, Y:122.86, Z:106.84 [[ 3.15197113e-01 -9.15507891e-01 -2.49992164e-01 1.53302715e+02] [ 6.86361965e-01 4.01828222e-01 -6.06169393e-01 1.22858681e+02] [ 6.55406769e-01 1.94777292e-02 7.55024890e-01 1.06839338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.81710568099993 meters Centerline goodness : 0.997992 Centerline is valid? [True, True] Translation: X:153.31, Y:122.84, Z:106.84 [[ 2.97391055e-01 -8.54566245e-01 -4.25764129e-01 1.53310428e+02] [ 6.98981316e-01 4.98645321e-01 -5.12618732e-01 1.22837361e+02] [ 6.50371956e-01 -1.45152945e-01 7.45618496e-01 1.06841558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.8471056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:153.30, Y:122.87, Z:106.87 [[ 2.95966654e-01 -9.29783172e-01 -2.18876660e-01 1.53295595e+02] [ 6.81817620e-01 3.66119739e-01 -6.33309615e-01 1.22867306e+02] [ 6.68975689e-01 3.82045644e-02 7.42301784e-01 1.06872677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.87710568099993 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:153.33, Y:122.88, Z:106.89 [[ 3.09408532e-01 -8.82164071e-01 -3.55039311e-01 1.53330157e+02] [ 6.78672209e-01 4.66377663e-01 -5.67358712e-01 1.22881937e+02] [ 6.66085875e-01 -6.54096878e-02 7.43001467e-01 1.06886059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.9071056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:153.31, Y:122.90, Z:106.91 [[ 3.01195477e-01 -9.08629435e-01 -2.89264299e-01 1.53313786e+02] [ 6.83179922e-01 4.17252603e-01 -5.99304147e-01 1.22900993e+02] [ 6.65241670e-01 -1.71118626e-02 7.46431983e-01 1.06909746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.93710568099993 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:153.32, Y:122.92, Z:106.93 [[ 3.00762355e-01 -9.04667332e-01 -3.01859278e-01 1.53322898e+02] [ 6.81883245e-01 4.25272399e-01 -5.95129084e-01 1.22917841e+02] [ 6.66766260e-01 -2.68403594e-02 7.44783425e-01 1.06933058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.9671056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:153.33, Y:122.94, Z:106.95 [[ 3.02050466e-01 -9.01718776e-01 -3.09303679e-01 1.53328224e+02] [ 6.82032689e-01 4.31098332e-01 -5.90750065e-01 1.22935648e+02] [ 6.66030726e-01 -3.25188878e-02 7.45215133e-01 1.06953219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99710568099994 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:153.33, Y:122.95, Z:106.97 [[ 3.00971534e-01 -9.03931759e-01 -3.03847843e-01 1.53331524e+02] [ 6.79625290e-01 4.26827131e-01 -5.96597071e-01 1.22954175e+02] [ 6.68973543e-01 -2.69439428e-02 7.42797700e-01 1.06973156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0271056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:153.34, Y:122.97, Z:106.99 [[ 3.01184426e-01 -9.01474907e-01 -3.10855165e-01 1.53336445e+02] [ 6.81426619e-01 4.31511152e-01 -5.91147942e-01 1.22973713e+02] [ 6.67042506e-01 -3.37804307e-02 7.44253436e-01 1.06991951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:153.33, Y:123.00, Z:107.01 [[ 2.97678737e-01 -9.07879051e-01 -2.95199928e-01 1.53334475e+02] [ 6.75126346e-01 4.18822822e-01 -6.07282356e-01 1.22996611e+02] [ 6.74975397e-01 -1.85222044e-02 7.37607715e-01 1.07009867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0871056809999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:153.34, Y:123.02, Z:107.03 [[ 2.96871541e-01 -9.01797950e-01 -3.14050546e-01 1.53343547e+02] [ 6.77744187e-01 4.30662827e-01 -5.95980156e-01 1.23017762e+02] [ 6.72703579e-01 -3.59163850e-02 7.39039856e-01 1.07029995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11710568099994 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:153.35, Y:123.04, Z:107.05 [[ 2.96290531e-01 -8.99506927e-01 -3.21090656e-01 1.53346308e+02] [ 6.77329245e-01 4.34914104e-01 -5.93358927e-01 1.23035459e+02] [ 6.73377320e-01 -4.16774599e-02 7.38123279e-01 1.07049622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.1471056809999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:153.34, Y:123.06, Z:107.07 [[ 2.93735090e-01 -9.11316881e-01 -2.88480918e-01 1.53341704e+02] [ 6.68388846e-01 4.11563268e-01 -6.19574069e-01 1.23055367e+02] [ 6.83356457e-01 -1.08267827e-02 7.30004612e-01 1.07071620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17710568099994 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:153.38, Y:123.08, Z:107.07 [[ 3.11215738e-01 -8.67930075e-01 -3.87094496e-01 1.53378075e+02] [ 6.79649940e-01 4.87970501e-01 -5.47686725e-01 1.23083762e+02] [ 6.64244475e-01 -9.26400231e-02 7.41752724e-01 1.07065325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.2071056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:153.34, Y:123.11, Z:107.11 [[ 2.95009327e-01 -9.24814987e-01 -2.40180632e-01 1.53341869e+02] [ 6.75769870e-01 3.79653907e-01 -6.31821173e-01 1.23105129e+02] [ 6.75503205e-01 2.40863044e-02 7.36963547e-01 1.07106721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:153.36, Y:123.12, Z:107.12 [[ 2.98154113e-01 -8.97018850e-01 -3.26284089e-01 1.53358266e+02] [ 6.79076899e-01 4.39562268e-01 -5.87911198e-01 1.23120620e+02] [ 6.70789602e-01 -4.62838460e-02 7.40202078e-01 1.07122440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.2671056809999 meters Centerline goodness : 0.996866 Centerline is valid? [True, True] Translation: X:153.38, Y:123.15, Z:107.12 [[ 3.17464912e-01 -8.81163879e-01 -3.50380149e-01 1.53384131e+02] [ 6.79026202e-01 4.69157379e-01 -5.64636848e-01 1.23152594e+02] [ 6.61921027e-01 -5.86649146e-02 7.47274368e-01 1.07118889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29710568099995 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:153.36, Y:123.16, Z:107.16 [[ 2.99337273e-01 -9.17384453e-01 -2.62303189e-01 1.53356730e+02] [ 6.74815250e-01 3.97899516e-01 -6.21530654e-01 1.23162226e+02] [ 6.74552871e-01 9.04109884e-03 7.38171175e-01 1.07161912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.3271056809999 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:153.39, Y:123.19, Z:107.16 [[ 3.16772034e-01 -8.83562106e-01 -3.44925331e-01 1.53388486e+02] [ 6.77390180e-01 4.65287217e-01 -5.69780966e-01 1.23193931e+02] [ 6.63926218e-01 -5.31583569e-02 7.45906272e-01 1.07156391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35710568099995 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:153.36, Y:123.20, Z:107.20 [[ 3.02407317e-01 -9.18751519e-01 -2.53861105e-01 1.53362242e+02] [ 6.69791784e-01 3.94317081e-01 -6.29200291e-01 1.23203917e+02] [ 6.78180493e-01 2.02406892e-02 7.34616590e-01 1.07201426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.3871056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.37, Y:123.22, Z:107.23 [[ 3.04395280e-01 -8.93735249e-01 -3.29516036e-01 1.53370797e+02] [ 6.63842091e-01 4.47126644e-01 -5.99492654e-01 1.23219188e+02] [ 6.83123116e-01 -3.62638802e-02 7.29402317e-01 1.07227627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41710568099995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:153.37, Y:123.24, Z:107.24 [[ 3.09941697e-01 -9.05026190e-01 -2.91313816e-01 1.53372102e+02] [ 6.66135339e-01 4.25335451e-01 -6.12660970e-01 1.23244710e+02] [ 6.78380317e-01 -4.16524717e-03 7.34699120e-01 1.07241240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.4471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:123.25, Z:107.26 [[ 3.19070410e-01 -8.88047796e-01 -3.31006322e-01 1.53373249e+02] [ 6.55042763e-01 4.59052795e-01 -6.00157904e-01 1.23254418e+02] [ 6.84918281e-01 -2.53306676e-02 7.28179446e-01 1.07264269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.37, Y:123.29, Z:107.28 [[ 3.23318951e-01 -9.08318387e-01 -2.65372501e-01 1.53373580e+02] [ 6.59454777e-01 4.17397792e-01 -6.25218746e-01 1.23285147e+02] [ 6.78663579e-01 2.71439057e-02 7.33947515e-01 1.07283816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.5071056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:153.41, Y:123.30, Z:107.29 [[ 3.39281123e-01 -8.40120648e-01 -4.23185085e-01 1.53413980e+02] [ 6.52960728e-01 5.34166079e-01 -5.36944026e-01 1.23304343e+02] [ 6.77148881e-01 -9.41482691e-02 7.29798258e-01 1.07289512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.5371056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:153.37, Y:123.33, Z:107.33 [[ 3.27626143e-01 -9.26074389e-01 -1.87209338e-01 1.53371236e+02] [ 6.62370835e-01 3.66430078e-01 -6.53447683e-01 1.23326315e+02] [ 6.73740296e-01 9.00845386e-02 7.33456740e-01 1.07330687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.56710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.39, Y:123.35, Z:107.35 [[ 3.24399296e-01 -8.97502553e-01 -2.98754522e-01 1.53390028e+02] [ 6.59485242e-01 4.41009023e-01 -6.08761248e-01 1.23346628e+02] [ 6.78118214e-01 4.57522205e-04 7.34952705e-01 1.07346177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.5971056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:153.40, Y:123.37, Z:107.36 [[ 3.23424742e-01 -8.94001666e-01 -3.10092660e-01 1.53398096e+02] [ 6.59068383e-01 4.47973474e-01 -6.04109785e-01 1.23366200e+02] [ 6.78988441e-01 -8.98821642e-03 7.34093938e-01 1.07364442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.62710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.40, Y:123.38, Z:107.39 [[ 3.23432814e-01 -9.01723861e-01 -2.86854132e-01 1.53399265e+02] [ 6.51528469e-01 4.32059470e-01 -6.23566570e-01 1.23384532e+02] [ 6.86222900e-01 1.47882571e-02 7.27240977e-01 1.07386067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.6571056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:153.41, Y:123.40, Z:107.40 [[ 3.26936425e-01 -8.87498053e-01 -3.24745716e-01 1.53413671e+02] [ 6.51584582e-01 4.60582019e-01 -6.02745167e-01 1.23404826e+02] [ 6.84507200e-01 -1.45399515e-02 7.28861086e-01 1.07400901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.68710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.42, Y:123.42, Z:107.43 [[ 3.30360381e-01 -8.75482249e-01 -3.52693707e-01 1.53420084e+02] [ 6.45661774e-01 4.82182724e-01 -5.92132328e-01 1.23417848e+02] [ 6.88464155e-01 -3.21037828e-02 7.24559490e-01 1.07426634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7171056809999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:153.42, Y:123.44, Z:107.45 [[ 3.37271216e-01 -9.01991337e-01 -2.69554736e-01 1.53418637e+02] [ 6.45077492e-01 4.29974773e-01 -6.31661875e-01 1.23438351e+02] [ 6.85655275e-01 3.91576755e-02 7.26872423e-01 1.07446349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.74710568099994 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:153.45, Y:123.46, Z:107.45 [[ 3.56122173e-01 -8.65260518e-01 -3.52847324e-01 1.53454049e+02] [ 6.42389831e-01 5.00918983e-01 -5.80013343e-01 1.23463693e+02] [ 6.78610568e-01 -2.01099211e-02 7.34222915e-01 1.07447859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.44, Y:123.47, Z:107.48 [[ 3.51163041e-01 -8.96799491e-01 -2.69137868e-01 1.53442139e+02] [ 6.40622144e-01 4.39756890e-01 -6.29457819e-01 1.23473092e+02] [ 6.82852684e-01 4.86266443e-02 7.28935979e-01 1.07484968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.80710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:123.49, Z:107.50 [[ 3.51185209e-01 -8.91178490e-01 -2.87175638e-01 1.53455376e+02] [ 6.35885299e-01 4.52137568e-01 -6.25477023e-01 1.23489457e+02] [ 6.87254564e-01 3.70475122e-02 7.25471327e-01 1.07503912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:123.50, Z:107.53 [[ 3.49677364e-01 -8.70967615e-01 -3.45168298e-01 1.53472066e+02] [ 6.32403872e-01 4.91260711e-01 -5.98939276e-01 1.23501555e+02] [ 6.91224337e-01 -8.85026072e-03 7.22586043e-01 1.07526692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.86710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:123.52, Z:107.55 [[ 3.51321204e-01 -8.86664746e-01 -3.00664330e-01 1.53480230e+02] [ 6.29498803e-01 4.61414784e-01 -6.25162102e-01 1.23521107e+02] [ 6.93040164e-01 3.03648663e-02 7.20259194e-01 1.07548662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:123.54, Z:107.57 [[ 3.51670571e-01 -8.74151643e-01 -3.34942852e-01 1.53495984e+02] [ 6.28593369e-01 4.85643260e-01 -6.07470987e-01 1.23536087e+02] [ 6.93684500e-01 3.08681270e-03 7.20272369e-01 1.07566564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.92710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:123.55, Z:107.58 [[ 3.57553125e-01 -8.76556991e-01 -3.22185667e-01 1.53510799e+02] [ 6.28660390e-01 4.81034035e-01 -6.11058403e-01 1.23551302e+02] [ 6.90609787e-01 1.59404745e-02 7.23051882e-01 1.07581186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.9571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.53, Y:123.56, Z:107.60 [[ 3.56859399e-01 -8.82696045e-01 -3.05776163e-01 1.53525873e+02] [ 6.28361976e-01 4.69027727e-01 -6.20624056e-01 1.23564939e+02] [ 6.91239898e-01 2.93374136e-02 7.22029583e-01 1.07600830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.98710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:153.54, Y:123.58, Z:107.62 [[ 3.55515612e-01 -8.83157759e-01 -3.06008205e-01 1.53538995e+02] [ 6.30078549e-01 4.68274238e-01 -6.19451580e-01 1.23581439e+02] [ 6.90369229e-01 2.74155020e-02 7.22937562e-01 1.07621125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.0171056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.55, Y:123.60, Z:107.65 [[ 3.47154301e-01 -8.93157038e-01 -2.85927258e-01 1.53549551e+02] [ 6.30406406e-01 4.47977661e-01 -6.33958814e-01 1.23595933e+02] [ 6.94313801e-01 3.98311539e-02 7.18569290e-01 1.07647816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.04710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:153.57, Y:123.61, Z:107.66 [[ 3.44579258e-01 -8.75705250e-01 -3.38238747e-01 1.53569464e+02] [ 6.34782676e-01 4.82797787e-01 -6.03288697e-01 1.23610420e+02] [ 6.91603997e-01 -6.82732522e-03 7.22244625e-01 1.07664053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.0771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.58, Y:123.62, Z:107.68 [[ 3.38007006e-01 -8.89008335e-01 -3.08893904e-01 1.53584478e+02] [ 6.37219124e-01 4.57713609e-01 -6.20040354e-01 1.23623719e+02] [ 6.92605986e-01 1.27448807e-02 7.21203519e-01 1.07683639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.10710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.60, Y:123.64, Z:107.70 [[ 3.35595813e-01 -8.83210488e-01 -3.27589200e-01 1.53602097e+02] [ 6.43468959e-01 4.68912821e-01 -6.05035920e-01 1.23640817e+02] [ 6.87984846e-01 -7.74596069e-03 7.25683713e-01 1.07701185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.1371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.61, Y:123.66, Z:107.72 [[ 3.31005179e-01 -8.93993080e-01 -3.02013152e-01 1.53612683e+02] [ 6.43638539e-01 4.47945335e-01 -6.20543639e-01 1.23656372e+02] [ 6.90047102e-01 1.10158548e-02 7.23680626e-01 1.07722514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.16710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:153.63, Y:123.67, Z:107.74 [[ 3.25963897e-01 -8.92924189e-01 -3.10538129e-01 1.53631089e+02] [ 6.46192873e-01 4.50207008e-01 -6.16237309e-01 1.23668491e+02] [ 6.90059642e-01 2.03588832e-04 7.23752478e-01 1.07740726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.1971056809999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:153.64, Y:123.70, Z:107.75 [[ 3.26254583e-01 -9.15607561e-01 -2.34990940e-01 1.53641688e+02] [ 6.52535800e-01 3.98007430e-01 -6.44815567e-01 1.23697612e+02] [ 6.83926148e-01 5.70340325e-02 7.27318460e-01 1.07751092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.22710568099995 meters Centerline goodness : 0.995406 Centerline is valid? [True, True] Translation: X:153.67, Y:123.73, Z:107.75 [[ 3.17782308e-01 -8.78757078e-01 -3.56090442e-01 1.53673664e+02] [ 6.65384601e-01 4.74235012e-01 -5.76510613e-01 1.23733201e+02] [ 6.75483337e-01 -5.37322229e-02 7.35414924e-01 1.07746523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.2571056809999 meters Centerline goodness : 0.995406 Centerline is valid? [True, True] Translation: X:153.67, Y:123.76, Z:107.77 [[ 3.16124691e-01 -8.98784959e-01 -3.03728130e-01 1.53673684e+02] [ 6.65502582e-01 4.38248400e-01 -6.04189254e-01 1.23755382e+02] [ 6.76144580e-01 -1.11327131e-02 7.36684851e-01 1.07766994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.2871056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:153.68, Y:123.75, Z:107.81 [[ 3.30156640e-01 -9.15206023e-01 -2.31072561e-01 1.53676851e+02] [ 6.43849135e-01 3.97359320e-01 -6.53883676e-01 1.23747452e+02] [ 6.90257115e-01 6.71081688e-02 7.20445424e-01 1.07809772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.31710568099993 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:153.70, Y:123.76, Z:107.83 [[ 3.33058373e-01 -8.93966536e-01 -2.99826538e-01 1.53696916e+02] [ 6.41310823e-01 4.47875423e-01 -6.22999225e-01 1.23760236e+02] [ 6.91225397e-01 1.52131046e-02 7.22479074e-01 1.07829085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.3471056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:153.71, Y:123.78, Z:107.85 [[ 3.40744753e-01 -8.92928993e-01 -2.94229209e-01 1.53708387e+02] [ 6.39130921e-01 4.49525423e-01 -6.24050127e-01 1.23776014e+02] [ 6.89495961e-01 2.45908204e-02 7.23871958e-01 1.07852416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.37710568099993 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:153.72, Y:123.79, Z:107.87 [[ 3.43694258e-01 -8.86574161e-01 -3.09613491e-01 1.53718648e+02] [ 6.37522451e-01 4.62361602e-01 -6.16268507e-01 1.23787720e+02] [ 6.89521125e-01 1.44223955e-02 7.24121960e-01 1.07870523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.4071056809999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:153.72, Y:123.81, Z:107.90 [[ 3.47418159e-01 -8.97315625e-01 -2.72259603e-01 1.53723426e+02] [ 6.33870917e-01 4.38691891e-01 -6.36990648e-01 1.23807267e+02] [ 6.91019742e-01 4.87246736e-02 7.21191807e-01 1.07896988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.43710568099993 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:153.74, Y:123.82, Z:107.92 [[ 3.51695592e-01 -8.82722753e-01 -3.11625981e-01 1.53739405e+02] [ 6.34234713e-01 4.69534597e-01 -6.14234150e-01 1.23823816e+02] [ 6.88517639e-01 1.83794286e-02 7.24986660e-01 1.07917010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.4671056809999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:153.75, Y:123.84, Z:107.94 [[ 3.54930571e-01 -8.88926066e-01 -2.89542293e-01 1.53749187e+02] [ 6.27855700e-01 4.56115900e-01 -6.30678607e-01 1.23840864e+02] [ 6.92691497e-01 4.20563387e-02 7.20006774e-01 1.07936011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49710568099994 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:153.76, Y:123.86, Z:107.96 [[ 3.56605332e-01 -8.86173561e-01 -2.95853101e-01 1.53761949e+02] [ 6.24511324e-01 4.61633002e-01 -6.29984585e-01 1.23857769e+02] [ 6.94851238e-01 3.98922509e-02 7.18046214e-01 1.07955405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5271056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:153.78, Y:123.87, Z:107.97 [[ 3.57219226e-01 -8.80199614e-01 -3.12478902e-01 1.53777456e+02] [ 6.23644195e-01 4.73822347e-01 -6.21739737e-01 1.23872912e+02] [ 6.95314564e-01 2.72217339e-02 7.18189832e-01 1.07972840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55710568099994 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:153.79, Y:123.89, Z:107.99 [[ 3.55865094e-01 -8.83211839e-01 -3.05445383e-01 1.53786871e+02] [ 6.24622472e-01 4.67900955e-01 -6.25232328e-01 1.23888891e+02] [ 6.95130781e-01 3.17103103e-02 7.18183580e-01 1.07991948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5871056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:153.80, Y:123.90, Z:108.01 [[ 3.49817649e-01 -8.88269178e-01 -2.97666727e-01 1.53800460e+02] [ 6.27210400e-01 4.58089238e-01 -6.29889962e-01 1.23904975e+02] [ 6.95869763e-01 3.36469587e-02 7.17379367e-01 1.08012672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.81, Y:123.92, Z:108.04 [[ 3.45281852e-01 -8.90403102e-01 -2.96585163e-01 1.53811589e+02] [ 6.27089158e-01 4.54006503e-01 -6.32959148e-01 1.23919045e+02] [ 6.98240381e-01 3.25639668e-02 7.15122338e-01 1.08035183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.6471056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:153.83, Y:123.93, Z:108.05 [[ 3.38485364e-01 -8.89671944e-01 -3.06449816e-01 1.53827045e+02] [ 6.32880977e-01 4.56253668e-01 -6.25535178e-01 1.23934851e+02] [ 6.96339951e-01 1.77882434e-02 7.17491639e-01 1.08054484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:153.84, Y:123.95, Z:108.07 [[ 3.35129205e-01 -8.90179087e-01 -3.08657753e-01 1.53838791e+02] [ 6.33871993e-01 4.55399995e-01 -6.25153694e-01 1.23949196e+02] [ 6.97061484e-01 1.38577552e-02 7.16877430e-01 1.08074460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.7071056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.85, Y:123.95, Z:108.11 [[ 3.24068618e-01 -8.76406060e-01 -3.56218962e-01 1.53852605e+02] [ 6.26623604e-01 4.80949640e-01 -6.13213097e-01 1.23949797e+02] [ 7.08747056e-01 -2.44920891e-02 7.05037409e-01 1.08108037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73710568099995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:153.86, Y:123.98, Z:108.11 [[ 3.22408817e-01 -9.15804363e-01 -2.39488879e-01 1.53855707e+02] [ 6.30761862e-01 3.96493102e-01 -6.67032753e-01 1.23984219e+02] [ 7.05827194e-01 6.39967897e-02 7.05487338e-01 1.08113737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.7671056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:153.87, Y:124.00, Z:108.14 [[ 3.18140200e-01 -9.05658904e-01 -2.80301199e-01 1.53869713e+02] [ 6.26974240e-01 4.22764749e-01 -6.54349501e-01 1.23998369e+02] [ 7.11118918e-01 3.24332504e-02 7.02323265e-01 1.08137316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.89, Y:124.00, Z:108.17 [[ 3.13058608e-01 -8.73512580e-01 -3.72786910e-01 1.53886620e+02] [ 6.19453561e-01 4.85335096e-01 -6.17030899e-01 1.23996747e+02] [ 7.19910823e-01 -3.77573444e-02 6.93038808e-01 1.08168935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.8271056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:153.89, Y:124.03, Z:108.18 [[ 3.18655809e-01 -9.06892342e-01 -2.75689600e-01 1.53891159e+02] [ 6.26136390e-01 4.19755498e-01 -6.57083361e-01 1.24031132e+02] [ 7.11626093e-01 3.67641395e-02 7.01595825e-01 1.08175005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.90, Y:124.03, Z:108.21 [[ 3.14943476e-01 -8.85066171e-01 -3.42736751e-01 1.53901193e+02] [ 6.16702425e-01 4.65325696e-01 -6.34941033e-01 1.24031739e+02] [ 7.21449046e-01 -1.13960490e-02 6.92373746e-01 1.08208073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.8871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.91, Y:124.05, Z:108.23 [[ 3.15454673e-01 -8.86174733e-01 -3.39385756e-01 1.53909586e+02] [ 6.20470623e-01 4.63221623e-01 -6.32804815e-01 1.24050363e+02] [ 7.17986459e-01 -1.09576550e-02 6.95970814e-01 1.08229701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.92, Y:124.07, Z:108.25 [[ 3.17184458e-01 -8.93287751e-01 -3.18482359e-01 1.53915012e+02] [ 6.22751101e-01 4.49459588e-01 -6.40442928e-01 1.24068281e+02] [ 7.15244773e-01 4.80330351e-03 6.98857527e-01 1.08249940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.9471056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:153.92, Y:124.10, Z:108.26 [[ 3.22080550e-01 -9.12026801e-01 -2.53911862e-01 1.53921434e+02] [ 6.34497722e-01 4.07006277e-01 -6.57083351e-01 1.24102534e+02] [ 7.02621349e-01 5.05272693e-02 7.09767734e-01 1.08255163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.93, Y:124.10, Z:108.29 [[ 3.12768738e-01 -8.76512831e-01 -3.65924820e-01 1.53934555e+02] [ 6.29890575e-01 4.79758829e-01 -6.10794015e-01 1.24097553e+02] [ 7.10924455e-01 -3.94553218e-02 7.02160735e-01 1.08294147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.0071056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:153.94, Y:124.14, Z:108.30 [[ 3.09923955e-01 -9.16937458e-01 -2.51342078e-01 1.53937479e+02] [ 6.43893808e-01 3.96931014e-01 -6.54099789e-01 1.24136581e+02] [ 6.99534064e-01 4.08835854e-02 7.13428782e-01 1.08296857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.0371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.95, Y:124.13, Z:108.34 [[ 3.01371735e-01 -8.81182767e-01 -3.64269143e-01 1.53950677e+02] [ 6.36423856e-01 4.70373965e-01 -6.11320708e-01 1.24132604e+02] [ 7.10027994e-01 -4.75947902e-02 7.02563153e-01 1.08336581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.06710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:153.95, Y:124.17, Z:108.34 [[ 2.95712249e-01 -9.23384877e-01 -2.44774663e-01 1.53953629e+02] [ 6.46447495e-01 3.82083116e-01 -6.60392405e-01 1.24173635e+02] [ 7.03320626e-01 3.70521554e-02 7.09906498e-01 1.08338168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.0971056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.97, Y:124.19, Z:108.36 [[ 2.90889471e-01 -9.09260575e-01 -2.97705429e-01 1.53968257e+02] [ 6.46630223e-01 4.16175838e-01 -6.39270699e-01 1.24187633e+02] [ 7.05161450e-01 -6.54821267e-03 7.09016537e-01 1.08363106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.12710568099993 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:153.98, Y:124.20, Z:108.38 [[ 2.89237407e-01 -9.02052008e-01 -3.20380863e-01 1.53978985e+02] [ 6.52216966e-01 4.30683301e-01 -6.23798784e-01 1.24204254e+02] [ 7.00681634e-01 -2.85318918e-02 7.12903345e-01 1.08380539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.1571056809999 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:153.98, Y:124.23, Z:108.40 [[ 2.80230466e-01 -9.11359059e-01 -3.01488892e-01 1.53981461e+02] [ 6.50297409e-01 4.11258376e-01 -6.38732986e-01 1.24226006e+02] [ 7.06104925e-01 -1.70650033e-02 7.07901561e-01 1.08401274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.18710568099993 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:153.99, Y:124.24, Z:108.42 [[ 2.79186362e-01 -9.06076219e-01 -3.17932163e-01 1.53989263e+02] [ 6.49741121e-01 4.22045092e-01 -6.32229718e-01 1.24242310e+02] [ 7.07030021e-01 -3.00636856e-02 7.06544212e-01 1.08423045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.99, Y:124.24, Z:108.46 [[ 2.77440802e-01 -8.78813306e-01 -3.88218720e-01 1.53990286e+02] [ 6.43862641e-01 4.69989156e-01 -6.03780666e-01 1.24240149e+02] [ 7.13069072e-01 -8.24461382e-02 6.96229225e-01 1.08458644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.24710568099994 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:153.99, Y:124.27, Z:108.47 [[ 2.79380721e-01 -9.13255268e-01 -2.96498277e-01 1.53985773e+02] [ 6.46525253e-01 4.07226539e-01 -6.45113667e-01 1.24274673e+02] [ 7.09895422e-01 -1.14613016e-02 7.04213837e-01 1.08470393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2771056809999 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:153.99, Y:124.31, Z:108.48 [[ 2.79451278e-01 -9.28181204e-01 -2.45736924e-01 1.53989166e+02] [ 6.49495660e-01 3.71230718e-01 -6.63583561e-01 1.24307784e+02] [ 7.07150883e-01 2.58342089e-02 7.06590562e-01 1.08482255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.30710568099994 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:154.00, Y:124.32, Z:108.50 [[ 2.83716259e-01 -9.00792019e-01 -3.28753438e-01 1.54002626e+02] [ 6.45962535e-01 4.32919367e-01 -6.28739393e-01 1.24321889e+02] [ 7.08687158e-01 -3.39788156e-02 7.04704160e-01 1.08500339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3371056809999 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:154.00, Y:124.34, Z:108.52 [[ 2.81649775e-01 -9.11140537e-01 -3.00826073e-01 1.54003598e+02] [ 6.42195470e-01 4.11945730e-01 -6.46440789e-01 1.24344593e+02] [ 7.12922424e-01 -1.11192383e-02 7.01154748e-01 1.08522489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.36710568099994 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:154.01, Y:124.36, Z:108.54 [[ 2.87964774e-01 -8.95611152e-01 -3.39053026e-01 1.54009214e+02] [ 6.43815585e-01 4.43154873e-01 -6.23791032e-01 1.24361362e+02] [ 7.08927205e-01 -3.86577787e-02 7.04221410e-01 1.08539439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3971056809999 meters Centerline goodness : 0.997457 Centerline is valid? [True, True] Translation: X:154.00, Y:124.38, Z:108.56 [[ 2.88742689e-01 -9.05980994e-01 -3.09557907e-01 1.54004976e+02] [ 6.39339338e-01 4.23132860e-01 -6.42030991e-01 1.24383992e+02] [ 7.12651998e-01 -1.25307920e-02 7.01405809e-01 1.08560247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.42710568099994 meters Centerline goodness : 0.997031 Centerline is valid? [True, True] Translation: X:154.01, Y:124.40, Z:108.58 [[ 2.89910367e-01 -9.04180957e-01 -3.13701732e-01 1.54010278e+02] [ 6.37439712e-01 4.26919679e-01 -6.41412661e-01 1.24402352e+02] [ 7.13878556e-01 -1.40137620e-02 7.00129289e-01 1.08581512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.4571056809999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:154.02, Y:124.40, Z:108.61 [[ 2.88941518e-01 -8.76884267e-01 -3.84170251e-01 1.54016133e+02] [ 6.30606763e-01 4.76259356e-01 -6.12790451e-01 1.24403670e+02] [ 7.20310982e-01 -6.51997552e-02 6.90580250e-01 1.08613526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.48710568099995 meters Centerline goodness : 0.995920 Centerline is valid? [True, True] Translation: X:154.01, Y:124.44, Z:108.62 [[ 2.96858518e-01 -9.22013723e-01 -2.48527092e-01 1.54005918e+02] [ 6.35927980e-01 3.85032495e-01 -6.68838981e-01 1.24441933e+02] [ 7.12369725e-01 4.05052168e-02 7.00634500e-01 1.08622860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.5171056809999 meters Centerline goodness : 0.995889 Centerline is valid? [True, True] Translation: X:154.01, Y:124.45, Z:108.65 [[ 2.97545631e-01 -9.06683847e-01 -2.98983276e-01 1.54014954e+02] [ 6.30463105e-01 4.21776401e-01 -6.51629451e-01 1.24454512e+02] [ 7.16925987e-01 5.39157171e-03 6.97128438e-01 1.08646199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.54710568099995 meters Centerline goodness : 0.995158 Centerline is valid? [True, True] Translation: X:154.02, Y:124.47, Z:108.67 [[ 2.99826594e-01 -9.06480719e-01 -2.97315859e-01 1.54015443e+02] [ 6.29282903e-01 4.22160692e-01 -6.52520787e-01 1.24474047e+02] [ 7.17012581e-01 8.54729790e-03 6.97007821e-01 1.08668375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.5771056809999 meters Centerline goodness : 0.995611 Centerline is valid? [True, True] Translation: X:154.02, Y:124.49, Z:108.69 [[ 2.96112475e-01 -9.12878965e-01 -2.81014942e-01 1.54019174e+02] [ 6.24414922e-01 4.07646539e-01 -6.66280951e-01 1.24493972e+02] [ 7.22788633e-01 2.18241788e-02 6.90724473e-01 1.08693206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.60710568099995 meters Centerline goodness : 0.988680 Centerline is valid? [True, True] Translation: X:154.03, Y:124.51, Z:108.67 [[ 2.88165103e-01 -8.87402598e-01 -3.59829823e-01 1.54033146e+02] [ 6.40977369e-01 4.57922995e-01 -6.15998818e-01 1.24513402e+02] [ 7.11413302e-01 -5.31334105e-02 7.00762410e-01 1.08669610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.6371056809999 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:154.02, Y:124.53, Z:108.73 [[ 2.94449175e-01 -9.28859772e-01 -2.24764784e-01 1.54023943e+02] [ 6.27366693e-01 3.65292081e-01 -6.87730128e-01 1.24527261e+02] [ 7.20909645e-01 6.14916296e-02 6.90295635e-01 1.08731204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.66710568099995 meters Centerline goodness : 0.985202 Centerline is valid? [True, True] Translation: X:154.08, Y:124.56, Z:108.74 [[ 3.17893754e-01 -8.72296484e-01 -3.71540584e-01 1.54083987e+02] [ 6.23695570e-01 4.87537451e-01 -6.10991874e-01 1.24558733e+02] [ 7.14106013e-01 -3.74977157e-02 6.99032563e-01 1.08744192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.6971056809999 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:154.05, Y:124.56, Z:108.77 [[ 2.93745038e-01 -9.03073773e-01 -3.13323495e-01 1.54050379e+02] [ 6.23086411e-01 4.29473477e-01 -6.53694009e-01 1.24557261e+02] [ 7.24898046e-01 -3.20824035e-03 6.88848699e-01 1.08774688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.72710568099995 meters Centerline goodness : 0.996211 Centerline is valid? [True, True] Translation: X:154.06, Y:124.57, Z:108.79 [[ 2.97483174e-01 -8.87341149e-01 -3.52320091e-01 1.54062902e+02] [ 6.24629291e-01 4.59978428e-01 -6.31076933e-01 1.24571105e+02] [ 7.22040172e-01 -3.23346793e-02 6.91095115e-01 1.08791088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.7571056809999 meters Centerline goodness : 0.977967 Centerline is valid? [True, True] Translation: X:154.10, Y:124.60, Z:108.79 [[ 3.35814987e-01 -8.66114225e-01 -3.70235659e-01 1.54104960e+02] [ 6.16324608e-01 4.99284885e-01 -6.08981594e-01 1.24602437e+02] [ 7.12300690e-01 -2.36802013e-02 7.01474857e-01 1.08785349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.7871056809999 meters Centerline goodness : 0.996925 Centerline is valid? [True, True] Translation: X:154.06, Y:124.61, Z:108.84 [[ 3.03405819e-01 -9.17695923e-01 -2.56474371e-01 1.54062933e+02] [ 6.15386621e-01 3.94217438e-01 -6.82562758e-01 1.24606207e+02] [ 7.27491729e-01 4.92626158e-02 6.84345657e-01 1.08837050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.81710568099993 meters Centerline goodness : 0.992641 Centerline is valid? [True, True] Translation: X:154.08, Y:124.63, Z:108.84 [[ 3.09591074e-01 -8.86243913e-01 -3.44565079e-01 1.54084744e+02] [ 6.13125402e-01 4.63033471e-01 -6.40060346e-01 1.24626667e+02] [ 7.26794750e-01 -1.31046322e-02 6.86729685e-01 1.08841666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.8471056809999 meters Centerline goodness : 0.994197 Centerline is valid? [True, True] Translation: X:154.09, Y:124.64, Z:108.87 [[ 3.20000067e-01 -9.04390975e-01 -2.82271006e-01 1.54085821e+02] [ 6.11019829e-01 4.24701283e-01 -6.68044601e-01 1.24642897e+02] [ 7.24054367e-01 4.13011355e-02 6.88505258e-01 1.08873180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.87710568099993 meters Centerline goodness : 0.979838 Centerline is valid? [True, True] Translation: X:154.11, Y:124.68, Z:108.87 [[ 3.17873684e-01 -8.71422137e-01 -3.73603775e-01 1.54112418e+02] [ 6.21778876e-01 4.89071437e-01 -6.11719019e-01 1.24681268e+02] [ 7.15784430e-01 -3.78495574e-02 6.97294817e-01 1.08868349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.9071056809999 meters Centerline goodness : 0.995022 Centerline is valid? [True, True] Translation: X:154.10, Y:124.67, Z:108.92 [[ 3.28381826e-01 -9.11047643e-01 -2.49314197e-01 1.54098504e+02] [ 5.98261763e-01 4.04871473e-01 -6.91492555e-01 1.24671100e+02] [ 7.30922868e-01 7.79184366e-02 6.77997403e-01 1.08921130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.93710568099993 meters Centerline goodness : 0.974569 Centerline is valid? [True, True] Translation: X:154.17, Y:124.70, Z:108.90 [[ 3.61786363e-01 -8.49348398e-01 -3.84340899e-01 1.54165646e+02] [ 5.93867062e-01 5.27763517e-01 -6.07278835e-01 1.24701885e+02] [ 7.18632410e-01 -8.54219893e-03 6.95337681e-01 1.08904078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.9671056809999 meters Centerline goodness : 0.997773 Centerline is valid? [True, True] Translation: X:154.11, Y:124.70, Z:108.97 [[ 3.32648552e-01 -9.17027617e-01 -2.20012024e-01 1.54114059e+02] [ 5.90959616e-01 3.84510952e-01 -7.09167160e-01 1.24700924e+02] [ 7.34922903e-01 1.05885208e-01 6.69833300e-01 1.08965150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99710568099994 meters Centerline goodness : 0.996371 Centerline is valid? [True, True] Translation: X:154.14, Y:124.71, Z:108.98 [[ 3.36626677e-01 -8.84504551e-01 -3.23008018e-01 1.54143296e+02] [ 5.89336135e-01 4.65437739e-01 -6.60341299e-01 1.24714855e+02] [ 7.34415006e-01 3.19282002e-02 6.77949253e-01 1.08981987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0271056809999 meters Centerline goodness : 0.996661 Centerline is valid? [True, True] Translation: X:154.16, Y:124.73, Z:109.00 [[ 3.39265272e-01 -8.79929401e-01 -3.32600849e-01 1.54156004e+02] [ 5.91433689e-01 4.74473178e-01 -6.51982664e-01 1.24726032e+02] [ 7.31508897e-01 2.44837286e-02 6.81392164e-01 1.09004345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05710568099994 meters Centerline goodness : 0.970701 Centerline is valid? [True, True] Translation: X:154.22, Y:124.76, Z:108.99 [[ 3.74470917e-01 -8.43788168e-01 -3.84438629e-01 1.54215634e+02] [ 5.93772838e-01 5.36663160e-01 -5.99521868e-01 1.24756451e+02] [ 7.12183508e-01 -3.76571192e-03 7.01983241e-01 1.08992105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0871056809999 meters Centerline goodness : 0.997276 Centerline is valid? [True, True] Translation: X:154.17, Y:124.76, Z:109.05 [[ 3.38544537e-01 -9.16607883e-01 -2.12644271e-01 1.54169275e+02] [ 5.93034449e-01 3.83303900e-01 -7.08087750e-01 1.24756032e+02] [ 7.30546192e-01 1.13613861e-01 6.73345492e-01 1.09048523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11710568099994 meters Centerline goodness : 0.969597 Centerline is valid? [True, True] Translation: X:154.22, Y:124.80, Z:109.03 [[ 3.28819890e-01 -8.54711920e-01 -4.01677748e-01 1.54217256e+02] [ 6.21582734e-01 5.16084295e-01 -5.89314776e-01 1.24800194e+02] [ 7.10993941e-01 -5.58975326e-02 7.00972953e-01 1.09032327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.1471056809999 meters Centerline goodness : 0.997037 Centerline is valid? [True, True] Translation: X:154.20, Y:124.78, Z:109.09 [[ 3.33733010e-01 -9.16151436e-01 -2.22010866e-01 1.54203534e+02] [ 5.91281920e-01 3.86866860e-01 -7.07615520e-01 1.24782571e+02] [ 7.34171621e-01 1.04883646e-01 6.70814022e-01 1.09089439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17710568099994 meters Centerline goodness : 0.997037 Centerline is valid? [True, True] Translation: X:154.22, Y:124.79, Z:109.11 [[ 3.32186018e-01 -8.91916010e-01 -3.06819621e-01 1.54222525e+02] [ 5.87307650e-01 4.50128398e-01 -6.72647121e-01 1.24794581e+02] [ 7.38052961e-01 4.32464584e-02 6.73355456e-01 1.09113834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.2071056809999 meters Centerline goodness : 0.972434 Centerline is valid? [True, True] Translation: X:154.28, Y:124.82, Z:109.10 [[ 3.60857568e-01 -8.39427402e-01 -4.06378460e-01 1.54284430e+02] [ 5.90019324e-01 5.42935841e-01 -5.97576664e-01 1.24821835e+02] [ 7.22259657e-01 -2.41310828e-02 6.91200896e-01 1.09103341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23710568099995 meters Centerline goodness : 0.997826 Centerline is valid? [True, True] Translation: X:154.25, Y:124.82, Z:109.15 [[ 3.28544111e-01 -9.13045866e-01 -2.41673363e-01 1.54246252e+02] [ 5.89317526e-01 3.98130214e-01 -7.02991597e-01 1.24823697e+02] [ 7.38081039e-01 8.85414013e-02 6.68877268e-01 1.09154515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.2671056809999 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:154.27, Y:124.83, Z:109.18 [[ 3.28734280e-01 -8.84471288e-01 -3.31125829e-01 1.54269404e+02] [ 5.86190898e-01 4.65989023e-01 -6.62747661e-01 1.24830169e+02] [ 7.40482279e-01 2.37649279e-02 6.71655584e-01 1.09177340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29710568099995 meters Centerline goodness : 0.997751 Centerline is valid? [True, True] Translation: X:154.29, Y:124.85, Z:109.19 [[ 3.32393205e-01 -8.85540830e-01 -3.24549220e-01 1.54287293e+02] [ 5.82958182e-01 4.63413723e-01 -6.67388552e-01 1.24845603e+02] [ 7.41400374e-01 3.26367968e-02 6.70268845e-01 1.09194615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.3271056809999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:154.30, Y:124.85, Z:109.22 [[ 3.34667318e-01 -8.80689108e-01 -3.35237946e-01 1.54303938e+02] [ 5.78858374e-01 4.72850126e-01 -6.64331047e-01 1.24852561e+02] [ 7.43586423e-01 2.82745975e-02 6.68041749e-01 1.09219204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35710568099995 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:154.31, Y:124.87, Z:109.24 [[ 3.35260545e-01 -8.91534926e-01 -3.04574857e-01 1.54312541e+02] [ 5.75572887e-01 4.49761834e-01 -6.82956912e-01 1.24867260e+02] [ 7.45866086e-01 5.36634767e-02 6.63930729e-01 1.09242204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.3871056809999 meters Centerline goodness : 0.984342 Centerline is valid? [True, True] Translation: X:154.37, Y:124.89, Z:109.24 [[ 3.66108459e-01 -8.50446500e-01 -3.77763612e-01 1.54365328e+02] [ 5.79241413e-01 5.25981456e-01 -6.22754280e-01 1.24891010e+02] [ 7.28315853e-01 9.17928150e-03 6.85180093e-01 1.09239888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41710568099995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:154.34, Y:124.89, Z:109.29 [[ 3.39839490e-01 -9.02233820e-01 -2.65486828e-01 1.54337971e+02] [ 5.75684718e-01 4.22784908e-01 -6.99885724e-01 1.24894731e+02] [ 7.43704394e-01 8.50120974e-02 6.63081230e-01 1.09285907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.4471056809999 meters Centerline goodness : 0.981985 Centerline is valid? [True, True] Translation: X:154.40, Y:124.92, Z:109.28 [[ 3.68855990e-01 -8.53461509e-01 -3.68169406e-01 1.54396126e+02] [ 5.79148494e-01 5.20841422e-01 -6.27145306e-01 1.24923139e+02] [ 7.27002256e-01 1.81015455e-02 6.86396426e-01 1.09277958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47710568099995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:154.36, Y:124.92, Z:109.33 [[ 3.39383734e-01 -9.02997071e-01 -2.63467211e-01 1.54364992e+02] [ 5.74375027e-01 4.20750055e-01 -7.02184249e-01 1.24921093e+02] [ 7.44924163e-01 8.69809262e-02 6.61454692e-01 1.09328264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.5071056809999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:154.39, Y:124.93, Z:109.35 [[ 3.34413960e-01 -8.87297986e-01 -3.17599728e-01 1.54386759e+02] [ 5.75288603e-01 4.59124722e-01 -6.76939815e-01 1.24926605e+02] [ 7.46465221e-01 4.36666206e-02 6.63990135e-01 1.09352410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.5371056809999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:154.40, Y:124.94, Z:109.37 [[ 3.29895334e-01 -8.97693996e-01 -2.92086559e-01 1.54396838e+02] [ 5.71474955e-01 4.36179990e-01 -6.95099555e-01 1.24941720e+02] [ 7.51389010e-01 6.23899469e-02 6.56903380e-01 1.09373572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.56710568099993 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:154.42, Y:124.95, Z:109.40 [[ 3.24509788e-01 -8.81697630e-01 -3.42494798e-01 1.54418963e+02] [ 5.77311151e-01 4.71447530e-01 -6.66670129e-01 1.24947239e+02] [ 7.49269800e-01 1.86149163e-02 6.62003211e-01 1.09397266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.5971056809999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:154.43, Y:124.96, Z:109.42 [[ 3.21818597e-01 -8.90854454e-01 -3.20641750e-01 1.54430253e+02] [ 5.78585054e-01 4.53108004e-01 -6.78183214e-01 1.24963654e+02] [ 7.49447881e-01 3.27334459e-02 6.61253655e-01 1.09418083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.62710568099993 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:154.44, Y:124.97, Z:109.44 [[ 3.16167573e-01 -8.88976646e-01 -3.31298339e-01 1.54444938e+02] [ 5.79147926e-01 4.57448839e-01 -6.74780142e-01 1.24972786e+02] [ 7.51415827e-01 2.14728533e-02 6.59479470e-01 1.09441872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.6571056809999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:154.45, Y:124.99, Z:109.46 [[ 3.10563923e-01 -9.00537750e-01 -3.04272592e-01 1.54451929e+02] [ 5.74345586e-01 4.32837565e-01 -6.94822848e-01 1.24991065e+02] [ 7.57414812e-01 4.10292896e-02 6.51643614e-01 1.09461948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.68710568099993 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:154.47, Y:125.00, Z:109.48 [[ 3.08515236e-01 -8.85133383e-01 -3.48363667e-01 1.54468133e+02] [ 5.78429067e-01 4.65308306e-01 -6.70005966e-01 1.24998794e+02] [ 7.55141155e-01 5.20337783e-03 6.55541579e-01 1.09484334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7171056809999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:154.48, Y:125.02, Z:109.50 [[ 3.07033374e-01 -8.95038569e-01 -3.23475607e-01 1.54476451e+02] [ 5.77764333e-01 4.45389629e-01 -6.83971092e-01 1.25017515e+02] [ 7.56253187e-01 2.31092835e-02 6.53870842e-01 1.09502438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.74710568099994 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:154.49, Y:125.03, Z:109.52 [[ 3.06429320e-01 -8.91380530e-01 -3.33978776e-01 1.54487836e+02] [ 5.78065046e-01 4.53010437e-01 -6.78691643e-01 1.25028570e+02] [ 7.56268388e-01 1.49095623e-02 6.54091607e-01 1.09524336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7771056809999 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:154.50, Y:125.06, Z:109.53 [[ 2.99363088e-01 -8.84391062e-01 -3.58098020e-01 1.54498637e+02] [ 5.92437994e-01 4.66488406e-01 -6.56814883e-01 1.25062371e+02] [ 7.47929786e-01 -1.55247414e-02 6.63596276e-01 1.09531071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.80710568099994 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:154.52, Y:125.08, Z:109.55 [[ 3.21267971e-01 -8.90633121e-01 -3.21806674e-01 1.54522442e+02] [ 5.80437780e-01 4.53701748e-01 -6.76200198e-01 1.25078568e+02] [ 7.48250543e-01 3.04527141e-02 6.62716951e-01 1.09545550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8371056809999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:154.51, Y:125.09, Z:109.58 [[ 3.05361929e-01 -9.11305016e-01 -2.76183382e-01 1.54505793e+02] [ 5.78498202e-01 4.07916287e-01 -7.06359776e-01 1.25086271e+02] [ 7.56368907e-01 5.59237937e-02 6.51750417e-01 1.09582587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.86710568099994 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:154.52, Y:125.10, Z:109.61 [[ 3.05377541e-01 -8.99965933e-01 -3.11136427e-01 1.54515044e+02] [ 5.73765173e-01 4.34674282e-01 -6.94155455e-01 1.25097943e+02] [ 7.59959265e-01 3.34602401e-02 6.49108873e-01 1.09607903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8971056809999 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:154.55, Y:125.12, Z:109.62 [[ 3.19675679e-01 -8.71454194e-01 -3.71987967e-01 1.54545006e+02] [ 5.75901305e-01 4.90449956e-01 -6.54061563e-01 1.25120819e+02] [ 7.52426174e-01 -5.14078147e-03 6.58656530e-01 1.09615299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.92710568099994 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:154.53, Y:125.13, Z:109.65 [[ 3.03018025e-01 -8.95497744e-01 -3.25981391e-01 1.54527965e+02] [ 5.74359866e-01 4.44567825e-01 -6.87364673e-01 1.25132795e+02] [ 7.60454352e-01 2.10532579e-02 6.49050028e-01 1.09648921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.9571056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:154.53, Y:125.14, Z:109.68 [[ 3.07979593e-01 -9.11494981e-01 -2.72626981e-01 1.54530682e+02] [ 5.61138398e-01 4.05437177e-01 -7.21626214e-01 1.25143532e+02] [ 7.68291786e-01 6.92646804e-02 6.36341210e-01 1.09676436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.98710568099995 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:154.54, Y:125.15, Z:109.70 [[ 3.12117076e-01 -8.90094295e-01 -3.32137136e-01 1.54542561e+02] [ 5.68072921e-01 4.55071186e-01 -6.85713768e-01 1.25153590e+02] [ 7.61495954e-01 2.53448634e-02 6.47673954e-01 1.09703630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.0171056809999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:154.55, Y:125.17, Z:109.73 [[ 3.15298689e-01 -8.94138751e-01 -3.17966398e-01 1.54545605e+02] [ 5.63148616e-01 4.45974261e-01 -6.95679952e-01 1.25166338e+02] [ 7.63839233e-01 4.02846399e-02 6.44148100e-01 1.09725825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.04710568099995 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:154.55, Y:125.18, Z:109.75 [[ 3.16080249e-01 -8.92243304e-01 -3.22482809e-01 1.54553183e+02] [ 5.63816313e-01 4.50030718e-01 -6.92519688e-01 1.25181165e+02] [ 7.63023225e-01 3.70707269e-02 6.45307152e-01 1.09749933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.0771056809999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:154.56, Y:125.20, Z:109.77 [[ 3.16061953e-01 -8.97197689e-01 -3.08449587e-01 1.54560456e+02] [ 5.63206073e-01 4.39064277e-01 -7.00015343e-01 1.25199495e+02] [ 7.63481343e-01 4.75275357e-02 6.44078700e-01 1.09770208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.10710568099995 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:154.58, Y:125.21, Z:109.79 [[ 3.16848582e-01 -8.90768321e-01 -3.25789465e-01 1.54575108e+02] [ 5.58425908e-01 4.52841226e-01 -6.95050594e-01 1.25210506e+02] [ 7.66659951e-01 3.82965175e-02 6.40910209e-01 1.09793136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.1371056809999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:154.59, Y:125.23, Z:109.81 [[ 3.16607112e-01 -8.94010258e-01 -3.17026175e-01 1.54587539e+02] [ 5.59198023e-01 4.45880532e-01 -6.98919253e-01 1.25229595e+02] [ 7.66196781e-01 4.40023956e-02 6.41097716e-01 1.09807182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.16710568099995 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:154.60, Y:125.24, Z:109.84 [[ 3.14723427e-01 -8.80136573e-01 -3.55399461e-01 1.54598583e+02] [ 5.59159383e-01 4.74475751e-01 -6.79862888e-01 1.25236744e+02] [ 7.67000618e-01 1.52438346e-02 6.41465258e-01 1.09838561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.1971056809999 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:154.61, Y:125.26, Z:109.85 [[ 3.15565014e-01 -8.93777213e-01 -3.18717767e-01 1.54608136e+02] [ 5.61921016e-01 4.46668863e-01 -6.96226758e-01 1.25260373e+02] [ 7.64632914e-01 4.06105951e-02 6.43185266e-01 1.09851647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.22710568099995 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:154.62, Y:125.28, Z:109.87 [[ 3.15803615e-01 -8.97470576e-01 -3.07919862e-01 1.54617996e+02] [ 5.56460848e-01 4.38043373e-01 -7.06023604e-01 1.25276854e+02] [ 7.68517665e-01 5.16194583e-02 6.37742918e-01 1.09871249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.2571056809999 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:154.63, Y:125.29, Z:109.90 [[ 3.17057269e-01 -8.84288347e-01 -3.42795578e-01 1.54630522e+02] [ 5.54433085e-01 4.66067737e-01 -6.89481558e-01 1.25286806e+02] [ 7.69466466e-01 2.85479301e-02 6.38048880e-01 1.09896324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.2871056809999 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:154.64, Y:125.30, Z:109.92 [[ 3.18499559e-01 -8.89115614e-01 -3.28681389e-01 1.54639261e+02] [ 5.53769652e-01 4.55940131e-01 -6.96747996e-01 1.25304395e+02] [ 7.69348558e-01 3.99001504e-02 6.37581975e-01 1.09915373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.31710568099993 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:154.65, Y:125.32, Z:109.94 [[ 3.19674417e-01 -8.88933311e-01 -3.28033285e-01 1.54649382e+02] [ 5.49873516e-01 4.55982435e-01 -6.99799353e-01 1.25317485e+02] [ 7.71652372e-01 4.33311340e-02 6.34566805e-01 1.09939027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.3471056809999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:154.66, Y:125.33, Z:109.96 [[ 3.19974972e-01 -8.84737560e-01 -3.38903330e-01 1.54659868e+02] [ 5.47810022e-01 4.64621842e-01 -6.95723166e-01 1.25329483e+02] [ 7.72994306e-01 3.69593602e-02 6.33335463e-01 1.09964042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.37710568099993 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:154.67, Y:125.35, Z:109.98 [[ 3.17442807e-01 -8.95184857e-01 -3.12848424e-01 1.54668461e+02] [ 5.44995739e-01 4.42210090e-01 -7.12341127e-01 1.25347514e+02] [ 7.76021719e-01 5.56265090e-02 6.28248345e-01 1.09982374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.4071056809999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:154.68, Y:125.35, Z:110.01 [[ 3.16682954e-01 -8.72185246e-01 -3.72833480e-01 1.54683558e+02] [ 5.45511049e-01 4.89024503e-01 -6.80641411e-01 1.25349340e+02] [ 7.75970104e-01 1.21627499e-02 6.30652413e-01 1.10014213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.43710568099993 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:154.69, Y:125.38, Z:110.02 [[ 3.10365774e-01 -8.95366651e-01 -3.19361310e-01 1.54694701e+02] [ 5.55067563e-01 4.43423956e-01 -7.03757910e-01 1.25376296e+02] [ 7.71733819e-01 4.11552645e-02 6.34612604e-01 1.10024764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.4671056809999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:154.70, Y:125.39, Z:110.05 [[ 3.03724098e-01 -8.94815324e-01 -3.27195978e-01 1.54703318e+02] [ 5.57638119e-01 4.45407650e-01 -7.00465384e-01 1.25389447e+02] [ 7.72522751e-01 3.02912672e-02 6.34264170e-01 1.10046731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49710568099994 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:154.71, Y:125.40, Z:110.07 [[ 2.91165933e-01 -8.98141663e-01 -3.29490445e-01 1.54714678e+02] [ 5.64488014e-01 4.39358929e-01 -6.98796833e-01 1.25402811e+02] [ 7.72383118e-01 1.74724246e-02 6.34916556e-01 1.10070902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5271056809999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:154.73, Y:125.42, Z:110.09 [[ 2.81303936e-01 -9.02145329e-01 -3.27111449e-01 1.54726232e+02] [ 5.72629784e-01 4.31342485e-01 -6.97164824e-01 1.25415374e+02] [ 7.70041055e-01 8.80145038e-03 6.37933624e-01 1.10094541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55710568099994 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:154.75, Y:125.43, Z:110.12 [[ 2.88828657e-01 -8.81387303e-01 -3.73810685e-01 1.54750032e+02] [ 5.74601096e-01 4.71897735e-01 -6.68689845e-01 1.25429014e+02] [ 7.65775155e-01 -2.16552393e-02 6.42743699e-01 1.10117475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5871056809999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:154.76, Y:125.44, Z:110.14 [[ 2.82493919e-01 -8.93580291e-01 -3.48871679e-01 1.54756549e+02] [ 5.68132553e-01 4.48890812e-01 -6.89726353e-01 1.25440781e+02] [ 7.72931166e-01 -3.36185773e-03 6.34480977e-01 1.10136205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61710568099994 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:154.74, Y:125.46, Z:110.16 [[ 2.56223126e-01 -8.93158110e-01 -3.69619128e-01 1.54744907e+02] [ 5.79757683e-01 4.47968843e-01 -6.80591614e-01 1.25457798e+02] [ 7.73453773e-01 -3.99062183e-02 6.32595254e-01 1.10164955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.6471056809999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:154.75, Y:125.50, Z:110.17 [[ 2.62045604e-01 -9.41113208e-01 -2.13630595e-01 1.54749466e+02] [ 5.74676356e-01 3.30011030e-01 -7.48892386e-01 1.25500290e+02] [ 7.75292969e-01 7.34755061e-02 6.27313449e-01 1.10168684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67710568099994 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:154.76, Y:125.48, Z:110.21 [[ 2.60503070e-01 -8.97403602e-01 -3.56096793e-01 1.54763135e+02] [ 5.73712410e-01 4.40534209e-01 -6.90495244e-01 1.25484779e+02] [ 7.76525738e-01 -2.44210184e-02 6.29612097e-01 1.10214271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.7071056809999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:154.77, Y:125.51, Z:110.23 [[ 2.56118430e-01 -9.17768198e-01 -3.03487866e-01 1.54765817e+02] [ 5.76108791e-01 3.97032963e-01 -7.14467275e-01 1.25514480e+02] [ 7.76210030e-01 8.14620892e-03 6.30421786e-01 1.10226017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73710568099995 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:154.77, Y:125.52, Z:110.25 [[ 2.54628496e-01 -9.02063652e-01 -3.48490312e-01 1.54772418e+02] [ 5.77763209e-01 4.30887820e-01 -6.93199367e-01 1.25520223e+02] [ 7.75470183e-01 -2.48365689e-02 6.30895507e-01 1.10254839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.7671056809999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:154.79, Y:125.55, Z:110.26 [[ 2.64583494e-01 -8.94009346e-01 -3.61583826e-01 1.54791759e+02] [ 5.83277446e-01 4.46943246e-01 -6.78254492e-01 1.25547514e+02] [ 7.67973304e-01 -3.14487472e-02 6.39709294e-01 1.10262162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79710568099995 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:154.77, Y:125.57, Z:110.29 [[ 2.48134954e-01 -9.26588464e-01 -2.82600181e-01 1.54774523e+02] [ 5.75521815e-01 3.75664747e-01 -7.26395648e-01 1.25571699e+02] [ 7.79232754e-01 1.76015816e-02 6.26487430e-01 1.10288985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.8271056809999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:154.79, Y:125.58, Z:110.31 [[ 2.52919640e-01 -9.04192493e-01 -3.44191212e-01 1.54786351e+02] [ 5.74804406e-01 4.26597243e-01 -6.98294127e-01 1.25582601e+02] [ 7.78223330e-01 -2.12303259e-02 6.27628650e-01 1.10314892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85710568099995 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:154.78, Y:125.60, Z:110.34 [[ 2.50429989e-01 -9.12463964e-01 -3.23565040e-01 1.54782089e+02] [ 5.74495012e-01 4.09072005e-01 -7.08953860e-01 1.25599700e+02] [ 7.79256249e-01 -8.34319415e-03 6.26649894e-01 1.10337315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.8871056809999 meters Centerline goodness : 0.997823 Centerline is valid? [True, True] Translation: X:154.78, Y:125.62, Z:110.36 [[ 2.58515877e-01 -9.09202396e-01 -3.26374854e-01 1.54778600e+02] [ 5.72565743e-01 4.16332364e-01 -7.06283111e-01 1.25616733e+02] [ 7.78034711e-01 -4.28566225e-03 6.28206671e-01 1.10361430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91710568099995 meters Centerline goodness : 0.997569 Centerline is valid? [True, True] Translation: X:154.78, Y:125.63, Z:110.39 [[ 2.62610669e-01 -9.08970999e-01 -3.23739647e-01 1.54780553e+02] [ 5.68670527e-01 4.16853963e-01 -7.09116778e-01 1.25634154e+02] [ 7.79518741e-01 2.12043590e-03 6.26375315e-01 1.10386097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.9471056809999 meters Centerline goodness : 0.997721 Centerline is valid? [True, True] Translation: X:154.78, Y:125.65, Z:110.41 [[ 2.70879524e-01 -9.01495832e-01 -3.37534513e-01 1.54777831e+02] [ 5.64730168e-01 4.32787697e-01 -7.02691004e-01 1.25647668e+02] [ 7.79553796e-01 -2.71317326e-04 6.26335218e-01 1.10409048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97710568099995 meters Centerline goodness : 0.998048 Centerline is valid? [True, True] Translation: X:154.78, Y:125.68, Z:110.43 [[ 2.72666191e-01 -9.11443266e-01 -3.08097908e-01 1.54775156e+02] [ 5.63986477e-01 4.10860860e-01 -7.16318789e-01 1.25676355e+02] [ 7.79469308e-01 2.15528619e-02 6.26069542e-01 1.10426348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.0071056809999 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:154.78, Y:125.69, Z:110.45 [[ 2.72043931e-01 -9.03417781e-01 -3.31403700e-01 1.54781580e+02] [ 5.60577058e-01 4.28704803e-01 -7.08495274e-01 1.25688338e+02] [ 7.82141587e-01 6.96452778e-03 6.23061822e-01 1.10453307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.0371056809999 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:154.79, Y:125.70, Z:110.48 [[ 2.68452682e-01 -9.06834260e-01 -3.24938121e-01 1.54785044e+02] [ 5.61091983e-01 4.21392520e-01 -7.12463424e-01 1.25704597e+02] [ 7.83012736e-01 8.94254211e-03 6.21941385e-01 1.10476213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.06710568099993 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:154.79, Y:125.72, Z:110.50 [[ 2.67474945e-01 -9.06457604e-01 -3.26790095e-01 1.54791611e+02] [ 5.60380985e-01 4.22231003e-01 -7.12526583e-01 1.25719945e+02] [ 7.83856049e-01 7.45605351e-03 6.20897819e-01 1.10499653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.0971056809999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:154.80, Y:125.74, Z:110.52 [[ 2.64301140e-01 -9.05984273e-01 -3.30662071e-01 1.54798308e+02] [ 5.59982483e-01 4.23300204e-01 -7.12205417e-01 1.25735437e+02] [ 7.85216229e-01 3.07173662e-03 6.19214049e-01 1.10522237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.12710568099993 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:154.80, Y:125.76, Z:110.54 [[ 2.60254328e-01 -9.12412270e-01 -3.15866323e-01 1.54802992e+02] [ 5.63488135e-01 4.09177926e-01 -7.17673009e-01 1.25757728e+02] [ 7.84059186e-01 8.79058200e-03 6.20623814e-01 1.10538210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.1571056809999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:154.81, Y:125.76, Z:110.57 [[ 2.58997127e-01 -9.03819698e-01 -3.40632414e-01 1.54808810e+02] [ 5.58691385e-01 4.27867198e-01 -7.10488281e-01 1.25764435e+02] [ 7.87898740e-01 -6.29397153e-03 6.15772654e-01 1.10567354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.18710568099993 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:154.81, Y:125.79, Z:110.58 [[ 2.65973010e-01 -9.10424633e-01 -3.16836464e-01 1.54814208e+02] [ 5.59385145e-01 4.13443011e-01 -7.18437983e-01 1.25787095e+02] [ 7.85077459e-01 1.38515013e-02 6.19242698e-01 1.10584242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2171056809999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:154.82, Y:125.80, Z:110.61 [[ 2.69889704e-01 -9.08079131e-01 -3.20237161e-01 1.54821045e+02] [ 5.56731104e-01 4.18516254e-01 -7.17561581e-01 1.25803295e+02] [ 7.85627154e-01 1.53764949e-02 6.18509125e-01 1.10605749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.24710568099994 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:154.83, Y:125.82, Z:110.63 [[ 2.80714977e-01 -9.03564193e-01 -3.23683258e-01 1.54828353e+02] [ 5.50583654e-01 4.27834725e-01 -7.16808962e-01 1.25816692e+02] [ 7.86165849e-01 2.30043006e-02 6.17587290e-01 1.10628242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2771056809999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:154.84, Y:125.83, Z:110.65 [[ 2.89903404e-01 -9.02672834e-01 -3.18021651e-01 1.54835777e+02] [ 5.45509124e-01 4.28880244e-01 -7.20056617e-01 1.25834630e+02] [ 7.86368751e-01 3.52631517e-02 6.16750110e-01 1.10648966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.30710568099994 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:154.84, Y:125.86, Z:110.67 [[ 2.92850709e-01 -9.06669119e-01 -3.03627356e-01 1.54842759e+02] [ 5.45590814e-01 4.19232611e-01 -7.25654657e-01 1.25855905e+02] [ 7.85219158e-01 4.68521844e-02 6.17442910e-01 1.10666678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3371056809999 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:154.85, Y:125.87, Z:110.69 [[ 2.95849294e-01 -9.01119812e-01 -3.16948388e-01 1.54854886e+02] [ 5.43410621e-01 4.31648550e-01 -7.19989185e-01 1.25869972e+02] [ 7.85606830e-01 4.07751721e-02 6.17380995e-01 1.10688072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.36710568099994 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:154.86, Y:125.88, Z:110.71 [[ 2.93768507e-01 -9.03710433e-01 -3.11460300e-01 1.54862007e+02] [ 5.40781072e-01 4.25806917e-01 -7.25426979e-01 1.25880118e+02] [ 7.88197879e-01 4.46757656e-02 6.13798158e-01 1.10714447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3971056809999 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:154.87, Y:125.90, Z:110.73 [[ 2.91897220e-01 -9.10399252e-01 -2.93205072e-01 1.54872557e+02] [ 5.47261333e-01 4.10391205e-01 -7.29440945e-01 1.25898923e+02] [ 7.84411274e-01 5.24619854e-02 6.18018360e-01 1.10732467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.42710568099994 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:154.89, Y:125.90, Z:110.76 [[ 2.90262535e-01 -8.98160096e-01 -3.30236436e-01 1.54886462e+02] [ 5.41415154e-01 4.38685078e-01 -7.17234295e-01 1.25901865e+02] [ 7.89061019e-01 2.93912341e-02 6.13611329e-01 1.10764265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.4571056809999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:154.90, Y:125.92, Z:110.79 [[ 2.85081896e-01 -9.06974433e-01 -3.10041434e-01 1.54897223e+02] [ 5.45387906e-01 4.19487880e-01 -7.25659666e-01 1.25919198e+02] [ 7.88213388e-01 3.77795856e-02 6.14241287e-01 1.10785949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.48710568099995 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:154.91, Y:125.93, Z:110.81 [[ 2.82259439e-01 -8.99796395e-01 -3.32710168e-01 1.54908660e+02] [ 5.42683868e-01 4.35748744e-01 -7.18064935e-01 1.25928658e+02] [ 7.91090278e-01 2.21241650e-02 6.11299185e-01 1.10813586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.5171056809999 meters Centerline goodness : 0.997150 Centerline is valid? [True, True] Translation: X:154.92, Y:125.95, Z:110.82 [[ 2.80794582e-01 -9.14806702e-01 -2.90315519e-01 1.54915996e+02] [ 5.47281903e-01 4.01103280e-01 -7.34573807e-01 1.25954856e+02] [ 7.88439548e-01 4.73799151e-02 6.13284781e-01 1.10823089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.54710568099995 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:154.92, Y:125.95, Z:110.86 [[ 2.79642648e-01 -8.95668152e-01 -3.45801318e-01 1.54924990e+02] [ 5.40252614e-01 4.44533381e-01 -7.14504854e-01 1.25951575e+02] [ 7.93679471e-01 1.29859630e-02 6.08197552e-01 1.10859038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.5771056809999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:154.93, Y:125.97, Z:110.88 [[ 2.79569764e-01 -9.09275378e-01 -3.08316451e-01 1.54928163e+02] [ 5.35784295e-01 4.14219012e-01 -7.35770208e-01 1.25971168e+02] [ 7.96728270e-01 4.05079914e-02 6.02978579e-01 1.10877013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.60710568099995 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:154.94, Y:125.98, Z:110.90 [[ 2.81492349e-01 -8.98465498e-01 -3.36929972e-01 1.54937999e+02] [ 5.36973577e-01 4.38495407e-01 -7.20681036e-01 1.25980105e+02] [ 7.95249292e-01 2.19437055e-02 6.05885334e-01 1.10902527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.6371056809999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:154.95, Y:125.99, Z:110.93 [[ 2.80141587e-01 -9.04359602e-01 -3.21954035e-01 1.54946311e+02] [ 5.35497784e-01 4.25573641e-01 -7.29471864e-01 1.25994074e+02] [ 7.96720036e-01 3.19497328e-02 6.03503438e-01 1.10925089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.66710568099995 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:154.96, Y:126.01, Z:110.94 [[ 2.77403338e-01 -9.12058399e-01 -3.01988187e-01 1.54956214e+02] [ 5.41662220e-01 4.08076439e-01 -7.34898401e-01 1.26013558e+02] [ 7.93504522e-01 4.02876781e-02 6.07229344e-01 1.10940769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.6971056809999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:154.97, Y:126.02, Z:110.97 [[ 2.73917328e-01 -9.01616343e-01 -3.34749559e-01 1.54966486e+02] [ 5.39551954e-01 4.32190265e-01 -7.22561599e-01 1.26016981e+02] [ 7.96148847e-01 1.73073642e-02 6.04853262e-01 1.10971257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.72710568099995 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:154.98, Y:126.04, Z:110.98 [[ 2.67852591e-01 -9.16444838e-01 -2.97294210e-01 1.54976778e+02] [ 5.47550022e-01 3.98690709e-01 -7.35686545e-01 1.26042072e+02] [ 7.92744576e-01 3.42720963e-02 6.08589731e-01 1.10982730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.7571056809999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:154.99, Y:126.05, Z:111.01 [[ 2.63191898e-01 -9.06748120e-01 -3.29450865e-01 1.54985070e+02] [ 5.44771717e-01 4.21520599e-01 -7.24944247e-01 1.26045949e+02] [ 7.96212158e-01 1.13239386e-02 6.04911537e-01 1.11014323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.7871056809999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:155.00, Y:126.06, Z:111.03 [[ 2.58774458e-01 -9.10164492e-01 -3.23475467e-01 1.54995714e+02] [ 5.48347039e-01 4.14110682e-01 -7.26517631e-01 1.26060142e+02] [ 7.95205197e-01 1.06273915e-02 6.06247271e-01 1.11031966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.81710568099993 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:155.00, Y:126.08, Z:111.05 [[ 2.52796297e-01 -9.18024066e-01 -3.05492794e-01 1.55002075e+02] [ 5.51510535e-01 3.96156034e-01 -7.34095721e-01 1.26082085e+02] [ 7.94940352e-01 1.70941856e-02 6.06446722e-01 1.11049951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.8471056809999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:155.01, Y:126.09, Z:111.08 [[ 2.46808200e-01 -9.17594665e-01 -3.11617944e-01 1.55009847e+02] [ 5.51622952e-01 3.97413239e-01 -7.33331328e-01 1.26094097e+02] [ 7.96742010e-01 9.09657455e-03 6.04251124e-01 1.11075087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.87710568099993 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:155.02, Y:126.11, Z:111.09 [[ 2.43335679e-01 -9.19726706e-01 -3.08043071e-01 1.55015249e+02] [ 5.54477121e-01 3.92482468e-01 -7.33834201e-01 1.26111194e+02] [ 7.95828418e-01 7.76520896e-03 6.05472404e-01 1.11093040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.9071056809999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:155.02, Y:126.13, Z:111.11 [[ 2.34543479e-01 -9.15367750e-01 -3.27247976e-01 1.55024780e+02] [ 5.60596640e-01 4.02385532e-01 -7.23752231e-01 1.26125884e+02] [ 7.94179302e-01 -1.37027502e-02 6.07528987e-01 1.11110699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.93710568099993 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:155.03, Y:126.14, Z:111.14 [[ 2.27178394e-01 -9.31300459e-01 -2.84726945e-01 1.55029969e+02] [ 5.57184844e-01 3.64088763e-01 -7.46313890e-01 1.26143389e+02] [ 7.98708350e-01 1.09008524e-02 6.01619601e-01 1.11136555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.9671056809999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:155.04, Y:126.15, Z:111.16 [[ 2.18329823e-01 -9.26852195e-01 -3.05412996e-01 1.55035911e+02] [ 5.48296967e-01 3.75401798e-01 -7.47291059e-01 1.26152023e+02] [ 8.07280945e-01 -4.30109474e-03 5.90151655e-01 1.11162089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99710568099994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:155.04, Y:126.17, Z:111.19 [[ 2.17762930e-01 -9.20211882e-01 -3.25252824e-01 1.55043002e+02] [ 5.56516020e-01 3.90837824e-01 -7.33168272e-01 1.26165362e+02] [ 8.01791261e-01 -2.13515360e-02 5.97222643e-01 1.11185060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0271056809999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:155.05, Y:126.19, Z:111.20 [[ 2.17016038e-01 -9.29193473e-01 -2.99171405e-01 1.55046138e+02] [ 5.59633565e-01 3.69537466e-01 -7.41789953e-01 1.26187687e+02] [ 7.99821425e-01 -6.44604304e-03 6.00203413e-01 1.11201996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05710568099994 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:155.05, Y:126.20, Z:111.23 [[ 2.16582993e-01 -9.28231089e-01 -3.02454712e-01 1.55051380e+02] [ 5.43302419e-01 3.72001753e-01 -7.52620208e-01 1.26196904e+02] [ 8.11119158e-01 -1.31963963e-03 5.84879449e-01 1.11229254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0871056809999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:155.06, Y:126.21, Z:111.25 [[ 2.21428318e-01 -9.20764126e-01 -3.21189858e-01 1.55058081e+02] [ 5.52054532e-01 3.89864478e-01 -7.37049173e-01 1.26210824e+02] [ 8.03868953e-01 -1.41107580e-02 5.94639044e-01 1.11253894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11710568099994 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:155.06, Y:126.23, Z:111.27 [[ 2.31355538e-01 -9.19377251e-01 -3.18151041e-01 1.55058330e+02] [ 5.48893131e-01 3.93356735e-01 -7.37554615e-01 1.26225662e+02] [ 8.03237789e-01 -3.99357593e-03 5.95645117e-01 1.11274583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.1471056809999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:155.06, Y:126.24, Z:111.30 [[ 2.38745093e-01 -9.18346600e-01 -3.15658522e-01 1.55058555e+02] [ 5.42812700e-01 3.95738720e-01 -7.40773406e-01 1.26239117e+02] [ 8.05205038e-01 5.51256113e-03 5.92970875e-01 1.11302446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17710568099994 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:155.06, Y:126.26, Z:111.32 [[ 2.43492226e-01 -9.19255670e-01 -3.09322728e-01 1.55063512e+02] [ 5.44697278e-01 3.93482913e-01 -7.40591704e-01 1.26259329e+02] [ 8.02506331e-01 1.18410748e-02 5.96526091e-01 1.11319917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.2071056809999 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:155.07, Y:126.28, Z:111.34 [[ 2.49866256e-01 -9.25621540e-01 -2.84238665e-01 1.55065062e+02] [ 5.39938357e-01 3.76867047e-01 -7.52620621e-01 1.26280733e+02] [ 8.03762045e-01 3.45831393e-02 5.93944932e-01 1.11337517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23710568099995 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:155.07, Y:126.31, Z:111.35 [[ 2.43235424e-01 -9.09282892e-01 -3.37699795e-01 1.55072229e+02] [ 5.50271813e-01 4.16064640e-01 -7.23941398e-01 1.26306639e+02] [ 7.98772471e-01 -9.73848583e-03 6.01554404e-01 1.11351402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.2671056809999 meters Centerline goodness : 0.997717 Centerline is valid? [True, True] Translation: X:155.07, Y:126.32, Z:111.38 [[ 2.50170217e-01 -9.28265762e-01 -2.75204537e-01 1.55071064e+02] [ 5.43544265e-01 3.69875993e-01 -7.53492788e-01 1.26317321e+02] [ 8.01233109e-01 3.89156065e-02 5.97085489e-01 1.11379364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29710568099995 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:155.08, Y:126.32, Z:111.42 [[ 2.47922532e-01 -9.15486956e-01 -3.16888075e-01 1.55077666e+02] [ 5.33012249e-01 4.02042404e-01 -7.44486298e-01 1.26316981e+02] [ 8.08969938e-01 1.56697026e-02 5.87641132e-01 1.11415625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.3271056809999 meters Centerline goodness : 0.998367 Centerline is valid? [True, True] Translation: X:155.08, Y:126.34, Z:111.43 [[ 2.45954263e-01 -9.22423880e-01 -2.97725856e-01 1.55081444e+02] [ 5.45040843e-01 3.85616669e-01 -7.44466430e-01 1.26344304e+02] [ 8.01521666e-01 2.08319409e-02 5.97602753e-01 1.11426065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35710568099995 meters Centerline goodness : 0.996495 Centerline is valid? [True, True] Translation: X:155.09, Y:126.37, Z:111.44 [[ 2.38608790e-01 -9.10743735e-01 -3.37063338e-01 1.55092088e+02] [ 5.54904265e-01 4.12710788e-01 -7.22323378e-01 1.26369333e+02] [ 7.96961167e-01 -1.46851770e-02 6.03852004e-01 1.11438403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.3871056809999 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:155.09, Y:126.36, Z:111.48 [[ 2.44017965e-01 -9.17666180e-01 -3.13598494e-01 1.55090360e+02] [ 5.36275609e-01 3.97120585e-01 -7.44784339e-01 1.26364304e+02] [ 8.07999817e-01 1.35655354e-02 5.89026547e-01 1.11482282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41710568099995 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:155.08, Y:126.40, Z:111.51 [[ 2.31166590e-01 -9.36126313e-01 -2.65008553e-01 1.55077978e+02] [ 5.27860764e-01 3.49488310e-01 -7.74093622e-01 1.26403864e+02] [ 8.17266800e-01 3.90569654e-02 5.74934371e-01 1.11508922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.4471056809999 meters Centerline goodness : 0.998256 Centerline is valid? [True, True] Translation: X:155.10, Y:126.38, Z:111.54 [[ 2.42415570e-01 -8.86119960e-01 -3.95001401e-01 1.55099453e+02] [ 5.29470664e-01 4.62003259e-01 -7.11487037e-01 1.26381360e+02] [ 8.12954800e-01 -3.66661183e-02 5.81171308e-01 1.11538642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.4771056809999 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:155.10, Y:126.42, Z:111.54 [[ 2.47115720e-01 -9.21415307e-01 -2.99879398e-01 1.55101190e+02] [ 5.28683837e-01 3.87563782e-01 -7.55173964e-01 1.26421577e+02] [ 8.12051243e-01 2.80739676e-02 5.82910483e-01 1.11542986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.5071056809999 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:155.11, Y:126.44, Z:111.56 [[ 2.51311763e-01 -9.20885514e-01 -2.98013873e-01 1.55109490e+02] [ 5.27402041e-01 3.88457489e-01 -7.55610923e-01 1.26435742e+02] [ 8.11596873e-01 3.27207884e-02 5.83300836e-01 1.11564031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.5371056809999 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:155.12, Y:126.45, Z:111.59 [[ 2.50842025e-01 -9.22630535e-01 -2.92969578e-01 1.55115246e+02] [ 5.27136840e-01 3.84027558e-01 -7.58056454e-01 1.26450649e+02] [ 8.11914423e-01 3.57173590e-02 5.82682795e-01 1.11586627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.56710568099993 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:155.13, Y:126.46, Z:111.61 [[ 2.48368406e-01 -9.20080613e-01 -3.02927055e-01 1.55125290e+02] [ 5.28845974e-01 3.90803253e-01 -7.53388846e-01 1.26460360e+02] [ 8.11563350e-01 2.69162332e-02 5.83644109e-01 1.11611592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.5971056809999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:155.13, Y:126.48, Z:111.63 [[ 2.43847871e-01 -9.29418258e-01 -2.76983604e-01 1.55129667e+02] [ 5.27737447e-01 3.66782787e-01 -7.66135481e-01 1.26480664e+02] [ 8.13653122e-01 4.06458855e-02 5.79928020e-01 1.11629620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.62710568099993 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:155.14, Y:126.49, Z:111.65 [[ 2.39510496e-01 -9.23171407e-01 -3.00648093e-01 1.55138979e+02] [ 5.29815342e-01 3.83766546e-01 -7.56319339e-01 1.26489112e+02] [ 8.13591068e-01 2.18584480e-02 5.81026490e-01 1.11652829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.6571056809999 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:155.15, Y:126.51, Z:111.67 [[ 2.33250473e-01 -9.30946352e-01 -2.80950363e-01 1.55146275e+02] [ 5.33458617e-01 3.64065205e-01 -7.63464754e-01 1.26506811e+02] [ 8.13028979e-01 2.82031225e-02 5.81539734e-01 1.11671761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.68710568099993 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:155.15, Y:126.54, Z:111.70 [[ 2.26096030e-01 -9.46132129e-01 -2.31764060e-01 1.55147070e+02] [ 5.32396501e-01 3.19268968e-01 -7.83977864e-01 1.26537204e+02] [ 8.15741718e-01 5.38639078e-02 5.75902881e-01 1.11696295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7171056809999 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:155.16, Y:126.53, Z:111.72 [[ 2.26632652e-01 -9.17049500e-01 -3.28112566e-01 1.55163236e+02] [ 5.36658371e-01 3.98701984e-01 -7.43662908e-01 1.26526020e+02] [ 8.12794829e-01 -7.54605859e-03 5.82501179e-01 1.11723874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.74710568099994 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:155.17, Y:126.55, Z:111.74 [[ 2.29884479e-01 -9.29395974e-01 -2.88749459e-01 1.55169425e+02] [ 5.38224949e-01 3.68603917e-01 -7.57921537e-01 1.26548408e+02] [ 8.10843407e-01 1.88222349e-02 5.84960420e-01 1.11741186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7771056809999 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:155.18, Y:126.55, Z:111.77 [[ 2.29901867e-01 -9.13380937e-01 -3.35976778e-01 1.55178285e+02] [ 5.33445090e-01 4.07011707e-01 -7.41470031e-01 1.26547976e+02] [ 8.13991073e-01 -8.75981821e-03 5.80811328e-01 1.11774892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.80710568099994 meters Centerline goodness : 0.998450 Centerline is valid? [True, True] Translation: X:155.18, Y:126.59, Z:111.78 [[ 2.31745460e-01 -9.43037532e-01 -2.38692804e-01 1.55175696e+02] [ 5.34252816e-01 3.28439691e-01 -7.78910328e-01 1.26585968e+02] [ 8.12937864e-01 5.29866295e-02 5.79934864e-01 1.11782815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8371056809999 meters Centerline goodness : 0.998223 Centerline is valid? [True, True] Translation: X:155.19, Y:126.59, Z:111.81 [[ 2.36293105e-01 -9.23400772e-01 -3.02484020e-01 1.55185835e+02] [ 5.35274551e-01 3.83506862e-01 -7.52597928e-01 1.26588538e+02] [ 8.10954205e-01 1.59217034e-02 5.84892961e-01 1.11813474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.86710568099994 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:155.19, Y:126.61, Z:111.84 [[ 2.37375140e-01 -9.30914249e-01 -2.77581888e-01 1.55191342e+02] [ 5.34151912e-01 3.63755119e-01 -7.63127741e-01 1.26607886e+02] [ 8.11378320e-01 3.28766580e-02 5.83596048e-01 1.11835753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8971056809999 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:155.20, Y:126.61, Z:111.86 [[ 2.35929266e-01 -9.23470628e-01 -3.02554756e-01 1.55200548e+02] [ 5.31953616e-01 3.83283563e-01 -7.55062289e-01 1.26613659e+02] [ 8.13242112e-01 1.71961957e-02 5.81671350e-01 1.11861518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.92710568099994 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:155.21, Y:126.62, Z:111.89 [[ 2.33110680e-01 -9.18025801e-01 -3.20761654e-01 1.55208865e+02] [ 5.24683791e-01 3.96453177e-01 -7.53347063e-01 1.26618706e+02] [ 8.18759018e-01 7.31480546e-03 5.74090728e-01 1.11887212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.9571056809999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:155.22, Y:126.66, Z:111.90 [[ 2.34175745e-01 -9.37116887e-01 -2.58792697e-01 1.55215214e+02] [ 5.34642231e-01 3.46462416e-01 -7.70792760e-01 1.26655113e+02] [ 8.11984855e-01 4.21394638e-02 5.82155358e-01 1.11899387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.98710568099995 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:155.22, Y:126.66, Z:111.93 [[ 2.33474785e-01 -9.26670978e-01 -2.94568198e-01 1.55222920e+02] [ 5.33313972e-01 3.75346563e-01 -7.58083878e-01 1.26661880e+02] [ 8.13059489e-01 1.98961345e-02 5.81840538e-01 1.11928154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.0171056809999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:155.23, Y:126.67, Z:111.95 [[ 2.29050523e-01 -9.27973768e-01 -2.93939694e-01 1.55227324e+02] [ 5.33572707e-01 3.72252569e-01 -7.59426225e-01 1.26672160e+02] [ 8.14147422e-01 1.71087758e-02 5.80406121e-01 1.11953019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.04710568099995 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:155.24, Y:126.68, Z:111.98 [[ 2.24112038e-01 -9.23845826e-01 -3.10294512e-01 1.55239133e+02] [ 5.31237892e-01 3.82737714e-01 -7.55842672e-01 1.26676048e+02] [ 8.17043510e-01 4.55323875e-03 5.76558038e-01 1.11978709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.0771056809999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:155.24, Y:126.70, Z:112.00 [[ 2.21426008e-01 -9.39714649e-01 -2.60589527e-01 1.55243483e+02] [ 5.38185634e-01 3.40600258e-01 -7.70939484e-01 1.26703939e+02] [ 8.13219987e-01 3.04605129e-02 5.81158679e-01 1.11995167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.10710568099995 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:155.25, Y:126.71, Z:112.02 [[ 2.16654937e-01 -9.33515699e-01 -2.85673025e-01 1.55252899e+02] [ 5.37989970e-01 3.58348297e-01 -7.62989705e-01 1.26709124e+02] [ 8.14633310e-01 1.16162640e-02 5.79860011e-01 1.12021926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.1371056809999 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:155.26, Y:126.73, Z:112.04 [[ 2.11746001e-01 -9.41482087e-01 -2.62250094e-01 1.55255914e+02] [ 5.39635973e-01 3.36350550e-01 -7.71790985e-01 1.26729530e+02] [ 8.14835350e-01 2.19040702e-02 5.79278485e-01 1.12039373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.16710568099995 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:155.26, Y:126.74, Z:112.07 [[ 2.09699373e-01 -9.37094778e-01 -2.79069079e-01 1.55262635e+02] [ 5.35574447e-01 3.48875258e-01 -7.69055308e-01 1.26738192e+02] [ 8.18038010e-01 1.18081486e-02 5.75042940e-01 1.12068469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.1971056809999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:155.27, Y:126.75, Z:112.09 [[ 2.05681485e-01 -9.40841180e-01 -2.69282382e-01 1.55265184e+02] [ 5.27732630e-01 3.38362012e-01 -7.79108093e-01 1.26750668e+02] [ 8.24131906e-01 1.81390097e-02 5.66107391e-01 1.12093680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.2271056809999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:155.27, Y:126.76, Z:112.12 [[ 2.09643116e-01 -9.28693682e-01 -3.05904902e-01 1.55272741e+02] [ 5.34478262e-01 3.70823063e-01 -7.59488804e-01 1.26759123e+02] [ 8.18769046e-01 -4.27792128e-03 5.74107088e-01 1.12118917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.2571056809999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:155.27, Y:126.77, Z:112.14 [[ 2.12914222e-01 -9.29246340e-01 -3.01941674e-01 1.55274962e+02] [ 5.27393232e-01 3.69442640e-01 -7.65093795e-01 1.26774443e+02] [ 8.22510737e-01 3.65735526e-03 5.68737823e-01 1.12140425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.2871056809999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:155.28, Y:126.80, Z:112.16 [[ 2.16536984e-01 -9.41220629e-01 -2.59259448e-01 1.55276019e+02] [ 5.30004175e-01 3.36352952e-01 -7.78435782e-01 1.26802652e+02] [ 8.19882497e-01 3.11515468e-02 5.71683717e-01 1.12156764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.31710568099993 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:155.28, Y:126.82, Z:112.18 [[ 2.22573434e-01 -9.40707932e-01 -2.55987604e-01 1.55278235e+02] [ 5.20651655e-01 3.36688441e-01 -7.84578070e-01 1.26815122e+02] [ 8.24246881e-01 4.13458664e-02 5.64719044e-01 1.12180046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.3471056809999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:155.28, Y:126.83, Z:112.21 [[ 2.22900941e-01 -9.33837905e-01 -2.79753352e-01 1.55283592e+02] [ 5.17645166e-01 3.56555225e-01 -7.77760795e-01 1.26825520e+02] [ 8.26050030e-01 2.85506430e-02 5.62873172e-01 1.12210689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.37710568099993 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:155.29, Y:126.83, Z:112.24 [[ 2.26211853e-01 -9.23551851e-01 -3.09645242e-01 1.55291973e+02] [ 5.16274060e-01 3.83239664e-01 -7.65890629e-01 1.26832584e+02] [ 8.26008046e-01 1.33917319e-02 5.63499218e-01 1.12235206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.4071056809999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:155.30, Y:126.86, Z:112.25 [[ 2.26182905e-01 -9.33204906e-01 -2.79230904e-01 1.55298270e+02] [ 5.14077689e-01 3.57847327e-01 -7.79531539e-01 1.26856743e+02] [ 8.27384689e-01 3.27703299e-02 5.60678769e-01 1.12251908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.43710568099993 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:155.30, Y:126.88, Z:112.27 [[ 2.25358298e-01 -9.35751212e-01 -2.71262432e-01 1.55304564e+02] [ 5.14892476e-01 3.50755745e-01 -7.82212340e-01 1.26876756e+02] [ 8.27103002e-01 3.66070568e-02 5.60856977e-01 1.12274312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.4671056809999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:155.31, Y:126.90, Z:112.29 [[ 2.13306704e-01 -9.30665779e-01 -2.97256552e-01 1.55313678e+02] [ 5.23059047e-01 3.65766426e-01 -7.69820859e-01 1.26895222e+02] [ 8.25172396e-01 8.72522178e-03 5.64813586e-01 1.12289354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49710568099994 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:155.32, Y:126.91, Z:112.32 [[ 2.13486882e-01 -9.42431032e-01 -2.57385124e-01 1.55317466e+02] [ 5.18508363e-01 3.32593744e-01 -7.87737570e-01 1.26905360e+02] [ 8.27993012e-01 3.47152986e-02 5.59662773e-01 1.12316748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5271056809999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:155.33, Y:126.90, Z:112.35 [[ 2.04111406e-01 -9.33360747e-01 -2.95256245e-01 1.55328650e+02] [ 5.20594322e-01 3.58912535e-01 -7.74702100e-01 1.26904158e+02] [ 8.29047698e-01 4.41681041e-03 5.59160447e-01 1.12348188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55710568099994 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:155.34, Y:126.92, Z:112.37 [[ 1.97139037e-01 -9.41008652e-01 -2.75025303e-01 1.55336637e+02] [ 5.26561795e-01 3.38264404e-01 -7.79942221e-01 1.26922010e+02] [ 8.26963648e-01 8.93924170e-03 5.62184324e-01 1.12369332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5871056809999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:155.34, Y:126.93, Z:112.39 [[ 1.91914014e-01 -9.38364961e-01 -2.87472107e-01 1.55341339e+02] [ 5.29387968e-01 3.45628418e-01 -7.74783438e-01 1.26930575e+02] [ 8.26388160e-01 -3.49247510e-03 5.63090056e-01 1.12393339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61710568099994 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:155.35, Y:126.95, Z:112.41 [[ 1.88064898e-01 -9.48413385e-01 -2.55232530e-01 1.55345876e+02] [ 5.33389913e-01 3.16832796e-01 -7.84290877e-01 1.26954791e+02] [ 8.24698002e-01 1.13591268e-02 5.65459261e-01 1.12409001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.6471056809999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:155.35, Y:126.96, Z:112.44 [[ 1.81962411e-01 -9.43097754e-01 -2.78309734e-01 1.55353355e+02] [ 5.36121093e-01 3.32418942e-01 -7.75932871e-01 1.26961490e+02] [ 8.24295975e-01 -8.01710296e-03 5.66102351e-01 1.12435686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67710568099994 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:155.37, Y:126.98, Z:112.45 [[ 1.90580998e-01 -9.38759966e-01 -2.87068997e-01 1.55368127e+02] [ 5.36916184e-01 3.44493046e-01 -7.70094509e-01 1.26981195e+02] [ 8.21827168e-01 -7.36661065e-03 5.69689247e-01 1.12450811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.7071056809999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:155.36, Y:127.00, Z:112.48 [[ 1.81328971e-01 -9.50823600e-01 -2.51106125e-01 1.55359354e+02] [ 5.36031283e-01 3.09634475e-01 -7.85364218e-01 1.26997436e+02] [ 8.24493947e-01 7.80854706e-03 5.65816895e-01 1.12478244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73710568099995 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:155.36, Y:127.00, Z:112.51 [[ 1.85722048e-01 -9.38335407e-01 -2.91605873e-01 1.55362223e+02] [ 5.30402062e-01 3.45554519e-01 -7.74122553e-01 1.27000002e+02] [ 8.27152328e-01 -1.08967306e-02 5.61872128e-01 1.12509240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.7671056809999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:155.36, Y:127.03, Z:112.52 [[ 1.88781329e-01 -9.48618687e-01 -2.53937387e-01 1.55363843e+02] [ 5.30163491e-01 3.16116169e-01 -7.86763777e-01 1.27026718e+02] [ 8.26612535e-01 1.38979796e-02 5.62599825e-01 1.12523773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79710568099995 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:155.36, Y:127.05, Z:112.54 [[ 1.92037153e-01 -9.46785692e-01 -2.58299408e-01 1.55364808e+02] [ 5.31076541e-01 3.21587002e-01 -7.83925703e-01 1.27045319e+02] [ 8.25275372e-01 1.33661041e-02 5.64572323e-01 1.12543699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.8271056809999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:155.37, Y:127.04, Z:112.58 [[ 1.92843567e-01 -9.32632356e-01 -3.04972536e-01 1.55370742e+02] [ 5.24811521e-01 3.60649107e-01 -7.71041561e-01 1.27043618e+02] [ 8.29086380e-01 -1.13626953e-02 5.59005065e-01 1.12577974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85710568099995 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:155.37, Y:127.07, Z:112.59 [[ 1.96306806e-01 -9.45052728e-01 -2.61417251e-01 1.55371494e+02] [ 5.18207673e-01 3.26322481e-01 -7.90553253e-01 1.27067736e+02] [ 8.32420835e-01 1.97225592e-02 5.53792899e-01 1.12594436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.8871056809999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:155.38, Y:127.08, Z:112.62 [[ 1.98381752e-01 -9.40800839e-01 -2.74842611e-01 1.55377351e+02] [ 5.20696315e-01 3.38734581e-01 -7.83667168e-01 1.27084009e+02] [ 8.30373427e-01 1.23557310e-02 5.57070290e-01 1.12617681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91710568099995 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:155.38, Y:127.10, Z:112.64 [[ 1.99466716e-01 -9.41036033e-01 -2.73247533e-01 1.55376763e+02] [ 5.15335496e-01 3.37914558e-01 -7.87555127e-01 1.27096706e+02] [ 8.33452072e-01 1.62768814e-02 5.52351978e-01 1.12640196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.9471056809999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:155.38, Y:127.12, Z:112.66 [[ 2.00388922e-01 -9.48042307e-01 -2.47103349e-01 1.55380449e+02] [ 5.22640828e-01 3.16776899e-01 -7.91516873e-01 1.27122976e+02] [ 8.28668115e-01 2.94649140e-02 5.58964197e-01 1.12657076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.9771056809999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:155.39, Y:127.12, Z:112.67 [[ 1.91550912e-01 -9.28167530e-01 -3.19081939e-01 1.55385190e+02] [ 5.32134968e-01 3.71384654e-01 -7.60858604e-01 1.27122951e+02] [ 8.24706387e-01 -2.40514973e-02 5.65049468e-01 1.12672743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.0071056809999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:155.39, Y:127.17, Z:112.69 [[ 2.01449183e-01 -9.68740527e-01 -1.44775750e-01 1.55386068e+02] [ 5.30534277e-01 2.32161537e-01 -8.15251128e-01 1.27172710e+02] [ 8.23378168e-01 8.74231761e-02 5.60718807e-01 1.12686922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.0371056809999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:155.40, Y:127.15, Z:112.74 [[ 2.01497356e-01 -9.32845295e-01 -2.98661131e-01 1.55398331e+02] [ 5.25367279e-01 3.60273707e-01 -7.70838556e-01 1.27146249e+02] [ 8.26672873e-01 -1.58485508e-03 5.62680593e-01 1.12735439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.06710568099993 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:155.40, Y:127.17, Z:112.75 [[ 2.07802591e-01 -9.41542383e-01 -2.65171690e-01 1.55401358e+02] [ 5.26121973e-01 3.36121109e-01 -7.81164688e-01 1.27170162e+02] [ 8.24629464e-01 2.28153937e-02 5.65212974e-01 1.12751299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.0971056809999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:155.40, Y:127.20, Z:112.77 [[ 2.10787029e-01 -9.49212825e-01 -2.33589045e-01 1.55404276e+02] [ 5.32039105e-01 3.11865587e-01 -7.87193907e-01 1.27199517e+02] [ 8.20062936e-01 4.16517582e-02 5.70755562e-01 1.12765345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.12710568099993 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:155.41, Y:127.20, Z:112.80 [[ 2.14364419e-01 -9.33631562e-01 -2.87019166e-01 1.55409992e+02] [ 5.23558269e-01 3.57900560e-01 -7.73171345e-01 1.27197220e+02] [ 8.24581491e-01 1.54691689e-02 5.65531670e-01 1.12798191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.1571056809999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:155.41, Y:127.22, Z:112.82 [[ 2.16218098e-01 -9.39244958e-01 -2.66587028e-01 1.55414094e+02] [ 5.23590566e-01 3.42008898e-01 -7.80309447e-01 1.27218686e+02] [ 8.24076849e-01 2.91345709e-02 5.65728313e-01 1.12816700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.18710568099993 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:155.42, Y:127.23, Z:112.84 [[ 2.16262299e-01 -9.41322014e-01 -2.59120598e-01 1.55419364e+02] [ 5.18793227e-01 3.35626087e-01 -7.86262499e-01 1.27231648e+02] [ 8.27093832e-01 3.56089243e-02 5.60934754e-01 1.12839497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2171056809999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:155.43, Y:127.24, Z:112.86 [[ 2.14967316e-01 -9.38753752e-01 -2.69314771e-01 1.55425094e+02] [ 5.19642073e-01 3.43430731e-01 -7.82321832e-01 1.27243535e+02] [ 8.26898524e-01 2.82263384e-02 5.61642329e-01 1.12863370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.24710568099994 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:155.43, Y:127.25, Z:112.88 [[ 2.16014531e-01 -9.32585819e-01 -2.89173673e-01 1.55434244e+02] [ 5.20936857e-01 3.60571478e-01 -7.73700847e-01 1.27254010e+02] [ 8.25810216e-01 1.64894009e-02 5.63707004e-01 1.12884697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2771056809999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:155.44, Y:127.28, Z:112.90 [[ 2.14905252e-01 -9.40118308e-01 -2.64562469e-01 1.55438649e+02] [ 5.20809876e-01 3.39477163e-01 -7.83270279e-01 1.27275614e+02] [ 8.26179645e-01 3.05421497e-02 5.62578324e-01 1.12901266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.30710568099994 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:155.45, Y:127.30, Z:112.92 [[ 2.11977367e-01 -9.48513615e-01 -2.35345529e-01 1.55445304e+02] [ 5.20803653e-01 3.13414188e-01 -7.94062404e-01 1.27301017e+02] [ 8.26939629e-01 4.57544462e-02 5.60426070e-01 1.12915362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3371056809999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:155.45, Y:127.31, Z:112.94 [[ 2.03816317e-01 -9.46281579e-01 -2.51018093e-01 1.55454703e+02] [ 5.19578587e-01 3.21864562e-01 -7.91480446e-01 1.27309056e+02] [ 8.29757194e-01 3.08930028e-02 5.57268895e-01 1.12942957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.36710568099994 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:155.46, Y:127.32, Z:112.97 [[ 1.99964119e-01 -9.39065603e-01 -2.79589243e-01 1.55463975e+02] [ 5.23708233e-01 3.43607929e-01 -7.79527600e-01 1.27316416e+02] [ 8.28096636e-01 9.45436111e-03 5.60505644e-01 1.12966055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3971056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:155.47, Y:127.32, Z:113.00 [[ 1.85615422e-01 -9.44189430e-01 -2.72127242e-01 1.55473724e+02] [ 5.20792737e-01 3.29372702e-01 -7.87583994e-01 1.27324463e+02] [ 8.33259767e-01 4.46584452e-03 5.52863651e-01 1.12995872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.42710568099994 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:155.48, Y:127.35, Z:113.01 [[ 1.79330350e-01 -9.52256030e-01 -2.47081118e-01 1.55478801e+02] [ 5.29312244e-01 3.05095535e-01 -7.91672447e-01 1.27351245e+02] [ 8.29258207e-01 1.11878358e-02 5.58753665e-01 1.13008610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.4571056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.49, Y:127.35, Z:113.04 [[ 1.67236391e-01 -9.40557812e-01 -2.95606143e-01 1.55486643e+02] [ 5.30499713e-01 3.38570358e-01 -7.77135875e-01 1.27348721e+02] [ 8.31024696e-01 -2.68535746e-02 5.55586934e-01 1.13039647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.48710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:155.49, Y:127.38, Z:113.05 [[ 1.61576837e-01 -9.58616197e-01 -2.34409710e-01 1.55487716e+02] [ 5.32971614e-01 2.84676056e-01 -7.96806628e-01 1.27382923e+02] [ 8.30562571e-01 3.81177267e-03 5.56912278e-01 1.13051904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.5171056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:155.49, Y:127.38, Z:113.09 [[ 1.56565844e-01 -9.44767909e-01 -2.87924876e-01 1.55492612e+02] [ 5.35378617e-01 3.26157563e-01 -7.79096259e-01 1.27375723e+02] [ 8.29974019e-01 -3.21689582e-02 5.56873671e-01 1.13088343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.54710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:155.49, Y:127.41, Z:113.10 [[ 1.54090276e-01 -9.62108412e-01 -2.24952420e-01 1.55489328e+02] [ 5.37985218e-01 2.72660672e-01 -7.97639056e-01 1.27410513e+02] [ 8.28750923e-01 1.88734549e-03 5.59614461e-01 1.13098452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.5771056809999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:155.49, Y:127.41, Z:113.13 [[ 1.57706214e-01 -9.49453863e-01 -2.71415019e-01 1.55491267e+02] [ 5.36396820e-01 3.13135587e-01 -7.83724796e-01 1.27410454e+02] [ 8.29100236e-01 -2.19878832e-02 5.58667461e-01 1.13129478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.60710568099995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:155.49, Y:127.43, Z:113.15 [[ 1.57865947e-01 -9.55537786e-01 -2.49049959e-01 1.55490964e+02] [ 5.37099156e-01 2.94731462e-01 -7.90352999e-01 1.27432924e+02] [ 8.28615013e-01 -8.99469824e-03 5.59746600e-01 1.13146092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.6371056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:155.49, Y:127.45, Z:113.17 [[ 1.58354510e-01 -9.56669097e-01 -2.44352385e-01 1.55490481e+02] [ 5.34598319e-01 2.91134473e-01 -7.93375923e-01 1.27448172e+02] [ 8.30137631e-01 -4.99571801e-03 5.57536148e-01 1.13171501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.66710568099995 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:155.50, Y:127.46, Z:113.19 [[ 1.57576165e-01 -9.36634451e-01 -3.12866838e-01 1.55499550e+02] [ 5.47130248e-01 3.46558875e-01 -7.61935324e-01 1.27459786e+02] [ 8.22081653e-01 -5.11160639e-02 5.67070458e-01 1.13188781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.6971056809999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:155.49, Y:127.49, Z:113.19 [[ 1.58991307e-01 -9.61727641e-01 -2.23162963e-01 1.55492261e+02] [ 5.44050124e-01 2.73967252e-01 -7.93064567e-01 1.27493690e+02] [ 8.23851459e-01 4.67853376e-03 5.66786454e-01 1.13193084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.7271056809999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:155.49, Y:127.52, Z:113.21 [[ 1.60042082e-01 -9.69738018e-01 -1.84376540e-01 1.55490629e+02] [ 5.37347361e-01 2.42271625e-01 -8.07813267e-01 1.27518351e+02] [ 8.28036440e-01 3.02098696e-02 5.59859820e-01 1.13211511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.7571056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:155.50, Y:127.52, Z:113.24 [[ 1.61429730e-01 -9.64623719e-01 -2.08426302e-01 1.55497140e+02] [ 5.33487511e-01 2.62975131e-01 -8.03887527e-01 1.27523918e+02] [ 8.30259910e-01 1.85785177e-02 5.57066711e-01 1.13240725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.7871056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:155.50, Y:127.54, Z:113.26 [[ 1.61390343e-01 -9.60721804e-01 -2.25758215e-01 1.55501830e+02] [ 5.31958391e-01 2.77366408e-01 -8.00055090e-01 1.27536366e+02] [ 8.31248115e-01 9.02718832e-03 5.55828285e-01 1.13262576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.81710568099993 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:155.50, Y:127.55, Z:113.29 [[ 1.65893349e-01 -9.66464060e-01 -1.96027086e-01 1.55502305e+02] [ 5.27302030e-01 2.54912085e-01 -8.10538339e-01 1.27551852e+02] [ 8.33325846e-01 3.10974386e-02 5.51906680e-01 1.13290311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.8471056809999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:155.51, Y:127.56, Z:113.32 [[ 1.68511829e-01 -9.57478550e-01 -2.34176408e-01 1.55505491e+02] [ 5.26682220e-01 2.88278340e-01 -7.99688338e-01 1.27556444e+02] [ 8.33192416e-01 1.14203942e-02 5.52865238e-01 1.13321058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.87710568099993 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:155.51, Y:127.57, Z:113.35 [[ 1.68002580e-01 -9.56378355e-01 -2.38988650e-01 1.55509895e+02] [ 5.25850193e-01 2.92005946e-01 -7.98883034e-01 1.27569301e+02] [ 8.33820549e-01 8.54218314e-03 5.51969495e-01 1.13345309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.9071056809999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:155.51, Y:127.58, Z:113.37 [[ 1.69866482e-01 -9.56143003e-01 -2.38612521e-01 1.55510815e+02] [ 5.25763064e-01 2.92722070e-01 -7.98678277e-01 1.27582368e+02] [ 8.33497798e-01 1.02150192e-02 5.52428343e-01 1.13367597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.93710568099993 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:155.51, Y:127.60, Z:113.39 [[ 1.74201446e-01 -9.56490326e-01 -2.34051517e-01 1.55509693e+02] [ 5.27789020e-01 2.91354404e-01 -7.97841690e-01 1.27600263e+02] [ 8.31319798e-01 1.54553554e-02 5.55579450e-01 1.13387873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.9671056809999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:155.51, Y:127.62, Z:113.41 [[ 1.77101534e-01 -9.58114275e-01 -2.25060175e-01 1.55511223e+02] [ 5.27360885e-01 2.85458027e-01 -8.00252593e-01 1.27615592e+02] [ 8.30978666e-01 2.30380283e-02 5.55827046e-01 1.13408920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99710568099994 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:155.51, Y:127.62, Z:113.44 [[ 1.83353126e-01 -9.50058004e-01 -2.52530039e-01 1.55512840e+02] [ 5.22120671e-01 3.11772398e-01 -7.93843799e-01 1.27617809e+02] [ 8.32929551e-01 1.37025891e-02 5.53209366e-01 1.13442195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0271056809999 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:155.53, Y:127.66, Z:113.44 [[ 1.95165779e-01 -9.39217004e-01 -2.82456614e-01 1.55529120e+02] [ 5.33840987e-01 3.43324073e-01 -7.72749883e-01 1.27658761e+02] [ 8.22753984e-01 2.74150323e-05 5.68397643e-01 1.13436132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05710568099994 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:155.50, Y:127.70, Z:113.45 [[ 1.96263999e-01 -9.75310774e-01 -1.01239012e-01 1.55503981e+02] [ 5.31399621e-01 1.92565446e-01 -8.24944235e-01 1.27701352e+02] [ 8.24072136e-01 1.08108482e-01 5.56073440e-01 1.13447406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0871056809999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:155.52, Y:127.69, Z:113.49 [[ 2.06291267e-01 -9.51404886e-01 -2.28632143e-01 1.55518362e+02] [ 5.20801411e-01 3.04571026e-01 -7.97497574e-01 1.27688398e+02] [ 8.28377814e-01 4.54448421e-02 5.58323350e-01 1.13491330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11710568099994 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:155.52, Y:127.69, Z:113.52 [[ 2.06916949e-01 -9.44117717e-01 -2.56567950e-01 1.55523091e+02] [ 5.05292523e-01 3.27686562e-01 -7.98311332e-01 1.27685583e+02] [ 8.37773742e-01 3.55422780e-02 5.44859526e-01 1.13524898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.1471056809999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:155.53, Y:127.71, Z:113.54 [[ 2.10714001e-01 -9.51108891e-01 -2.25812948e-01 1.55527065e+02] [ 5.10586736e-01 3.04067689e-01 -8.04266141e-01 1.27710412e+02] [ 8.33607099e-01 5.41730403e-02 5.49694903e-01 1.13541419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17710568099994 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:155.53, Y:127.73, Z:113.57 [[ 2.09075302e-01 -9.47862070e-01 -2.40509905e-01 1.55533791e+02] [ 5.15744542e-01 3.15838786e-01 -7.96400294e-01 1.27726535e+02] [ 8.30839988e-01 4.24659612e-02 5.54888779e-01 1.13566190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.2071056809999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:155.54, Y:127.74, Z:113.59 [[ 1.96300073e-01 -9.43292437e-01 -2.67704425e-01 1.55541637e+02] [ 5.13832761e-01 3.31487010e-01 -7.91259917e-01 1.27741365e+02] [ 8.35130035e-01 1.77690758e-02 5.49765481e-01 1.13589907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23710568099995 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:155.55, Y:127.76, Z:113.61 [[ 1.94495123e-01 -9.53347927e-01 -2.30866579e-01 1.55547468e+02] [ 5.18553727e-01 2.99715332e-01 -8.00795075e-01 1.27757595e+02] [ 8.32630578e-01 3.60340119e-02 5.52655291e-01 1.13613663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.2671056809999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:155.56, Y:127.76, Z:113.64 [[ 1.88042392e-01 -9.49134667e-01 -2.52553842e-01 1.55559813e+02] [ 5.18229434e-01 3.14315471e-01 -7.95389237e-01 1.27762791e+02] [ 8.34313079e-01 1.86860601e-02 5.50974154e-01 1.13638028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29710568099995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:155.57, Y:127.78, Z:113.66 [[ 1.83716412e-01 -9.52824689e-01 -2.41605862e-01 1.55566894e+02] [ 5.15983598e-01 3.02682023e-01 -8.01339204e-01 1.27776659e+02] [ 8.36665528e-01 2.25545007e-02 5.47249567e-01 1.13661682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.3271056809999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:155.57, Y:127.79, Z:113.68 [[ 1.78510091e-01 -9.53701609e-01 -2.42048320e-01 1.55572286e+02] [ 5.17789531e-01 3.00234727e-01 -8.01094945e-01 1.27792284e+02] [ 8.36676849e-01 1.76734457e-02 5.47411637e-01 1.13684281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35710568099995 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:155.58, Y:127.79, Z:113.71 [[ 1.70141898e-01 -9.47769912e-01 -2.69784968e-01 1.55579038e+02] [ 5.16226635e-01 3.18929360e-01 -7.94854782e-01 1.27793553e+02] [ 8.39381794e-01 -4.03208536e-03 5.43527319e-01 1.13711273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.3871056809999 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:155.58, Y:127.81, Z:113.73 [[ 1.64505451e-01 -9.45655859e-01 -2.80486992e-01 1.55583959e+02] [ 5.23111002e-01 3.24719302e-01 -7.87979857e-01 1.27812666e+02] [ 8.36237309e-01 -1.70988492e-02 5.48101079e-01 1.13726814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41710568099995 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:155.59, Y:127.84, Z:113.74 [[ 1.67125334e-01 -9.58876917e-01 -2.29399609e-01 1.55588398e+02] [ 5.36543904e-01 2.83654939e-01 -7.94770731e-01 1.27844851e+02] [ 8.27157640e-01 9.74336156e-03 5.61885491e-01 1.13741211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.4471056809999 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:155.60, Y:127.84, Z:113.78 [[ 1.66907393e-01 -9.46516749e-01 -2.76130344e-01 1.55596641e+02] [ 5.32632652e-01 3.22234877e-01 -7.82602800e-01 1.27843350e+02] [ 8.29725485e-01 -1.64538449e-02 5.57929109e-01 1.13775334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.4771056809999 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:155.60, Y:127.87, Z:113.79 [[ 1.67132754e-01 -9.61069414e-01 -2.20027782e-01 1.55596225e+02] [ 5.31834200e-01 2.75795736e-01 -8.00680396e-01 1.27873489e+02] [ 8.30192163e-01 1.68016198e-02 5.57224083e-01 1.13788474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.5071056809999 meters Centerline goodness : 0.997781 Centerline is valid? [True, True] Translation: X:155.60, Y:127.88, Z:113.81 [[ 1.62640464e-01 -9.52291742e-01 -2.58241202e-01 1.55597831e+02] [ 5.35147789e-01 3.05022863e-01 -7.87767667e-01 1.27882674e+02] [ 8.28954114e-01 -1.00743095e-02 5.59225880e-01 1.13813643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.5371056809999 meters Centerline goodness : 0.997546 Centerline is valid? [True, True] Translation: X:155.59, Y:127.91, Z:113.83 [[ 1.57303887e-01 -9.67292636e-01 -1.98998604e-01 1.55593843e+02] [ 5.34126832e-01 2.52824510e-01 -8.06714506e-01 1.27910021e+02] [ 8.30640725e-01 2.06088333e-02 5.56427229e-01 1.13825349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.56710568099993 meters Centerline goodness : 0.998196 Centerline is valid? [True, True] Translation: X:155.60, Y:127.92, Z:113.85 [[ 1.54995998e-01 -9.58370355e-01 -2.39796798e-01 1.55602467e+02] [ 5.44536623e-01 2.85406356e-01 -7.88684397e-01 1.27923061e+02] [ 8.24291276e-01 -8.33521332e-03 5.66104599e-01 1.13854517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.5971056809999 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:155.60, Y:127.93, Z:113.88 [[ 1.45724583e-01 -9.58495600e-01 -2.45052099e-01 1.55602515e+02] [ 5.44167371e-01 2.84517175e-01 -7.89260318e-01 1.27933848e+02] [ 8.26224073e-01 -1.83347257e-02 5.63043177e-01 1.13878028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.62710568099993 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:155.61, Y:127.93, Z:113.91 [[ 1.42789239e-01 -9.54076331e-01 -2.63343099e-01 1.55606493e+02] [ 5.31082622e-01 2.98378631e-01 -7.93045675e-01 1.27932252e+02] [ 8.35202061e-01 -2.66185548e-02 5.49298617e-01 1.13909030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.6571056809999 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:155.60, Y:127.96, Z:113.93 [[ 1.36946228e-01 -9.61283265e-01 -2.39123850e-01 1.55604947e+02] [ 5.44374672e-01 2.74711778e-01 -7.92584163e-01 1.27960411e+02] [ 8.27588030e-01 -2.16315557e-02 5.60919004e-01 1.13930882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.68710568099993 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:155.61, Y:127.98, Z:113.95 [[ 1.34132372e-01 -9.63900526e-01 -2.30009310e-01 1.55605180e+02] [ 5.47539526e-01 2.65547483e-01 -7.93526938e-01 1.27979051e+02] [ 8.25959426e-01 -1.95015381e-02 5.63392151e-01 1.13951385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7171056809999 meters Centerline goodness : 0.997714 Centerline is valid? [True, True] Translation: X:155.61, Y:127.99, Z:113.98 [[ 1.33456953e-01 -9.57617842e-01 -2.55259300e-01 1.55606377e+02] [ 5.48976661e-01 2.85869322e-01 -7.85431955e-01 1.27988504e+02] [ 8.25114457e-01 -3.53100431e-02 5.63861094e-01 1.13977146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.74710568099994 meters Centerline goodness : 0.997974 Centerline is valid? [True, True] Translation: X:155.60, Y:128.01, Z:113.99 [[ 1.34062695e-01 -9.66343924e-01 -2.19560047e-01 1.55597439e+02] [ 5.47642549e-01 2.56899848e-01 -7.96297750e-01 1.28013364e+02] [ 8.25902435e-01 -1.34866017e-02 5.63651735e-01 1.13993545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7771056809999 meters Centerline goodness : 0.997237 Centerline is valid? [True, True] Translation: X:155.60, Y:128.02, Z:114.02 [[ 1.38431357e-01 -9.61909946e-01 -2.35724447e-01 1.55598712e+02] [ 5.49042731e-01 2.72630170e-01 -7.90079028e-01 1.28024673e+02] [ 8.24250471e-01 -2.00510822e-02 5.65870228e-01 1.14017721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.80710568099994 meters Centerline goodness : 0.997801 Centerline is valid? [True, True] Translation: X:155.59, Y:128.04, Z:114.04 [[ 1.51172830e-01 -9.67666970e-01 -2.01909410e-01 1.55592776e+02] [ 5.41581052e-01 2.51950869e-01 -8.02004192e-01 1.28044928e+02] [ 8.26944218e-01 1.18909329e-02 5.62158221e-01 1.14037102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.8371056809999 meters Centerline goodness : 0.997549 Centerline is valid? [True, True] Translation: X:155.59, Y:128.06, Z:114.06 [[ 1.57953300e-01 -9.64202876e-01 -2.12987249e-01 1.55592539e+02] [ 5.36310380e-01 2.64877718e-01 -8.01380665e-01 1.28058418e+02] [ 8.29109119e-01 1.23534476e-02 5.58950321e-01 1.14062251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.86710568099994 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:155.59, Y:128.08, Z:114.08 [[ 1.72391122e-01 -9.63072326e-01 -2.06816332e-01 1.55586321e+02] [ 5.32031852e-01 2.67735961e-01 -8.03280501e-01 1.28080733e+02] [ 8.28989391e-01 2.84455504e-02 5.58540456e-01 1.14080097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.8971056809999 meters Centerline goodness : 0.997652 Centerline is valid? [True, True] Translation: X:155.59, Y:128.10, Z:114.10 [[ 1.74274311e-01 -9.54926027e-01 -2.40301368e-01 1.55588011e+02] [ 5.31930444e-01 2.96661732e-01 -7.93121567e-01 1.28098866e+02] [ 8.28660647e-01 1.03971008e-02 5.59654744e-01 1.14100280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.92710568099994 meters Centerline goodness : 0.998196 Centerline is valid? [True, True] Translation: X:155.58, Y:128.12, Z:114.12 [[ 1.84094147e-01 -9.68564624e-01 -1.67307842e-01 1.55581543e+02] [ 5.28145212e-01 2.41031998e-01 -8.14227371e-01 1.28123462e+02] [ 8.28958371e-01 6.15316571e-02 5.55915349e-01 1.14121059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.9571056809999 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:155.59, Y:128.12, Z:114.16 [[ 1.87229795e-01 -9.50622233e-01 -2.47512372e-01 1.55594732e+02] [ 5.19202772e-01 3.09663698e-01 -7.96578230e-01 1.28116547e+02] [ 8.33890572e-01 2.06340692e-02 5.51543969e-01 1.14160085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.98710568099995 meters Centerline goodness : 0.997847 Centerline is valid? [True, True] Translation: X:155.59, Y:128.15, Z:114.17 [[ 1.84139362e-01 -9.64779493e-01 -1.87864914e-01 1.55591511e+02] [ 5.29341472e-01 2.58387690e-01 -8.08104825e-01 1.28147902e+02] [ 8.28184944e-01 4.93592163e-02 5.58277141e-01 1.14170785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.0171056809999 meters Centerline goodness : 0.998247 Centerline is valid? [True, True] Translation: X:155.60, Y:128.16, Z:114.19 [[ 1.79621729e-01 -9.54929039e-01 -2.36318779e-01 1.55600573e+02] [ 5.29984852e-01 2.96319453e-01 -7.94550715e-01 1.28159591e+02] [ 8.28765402e-01 1.74732000e-02 5.59323338e-01 1.14194788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.04710568099995 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:155.60, Y:128.18, Z:114.22 [[ 1.79841986e-01 -9.64511117e-01 -1.93326578e-01 1.55600579e+02] [ 5.24676276e-01 2.60293718e-01 -8.10531916e-01 1.28176708e+02] [ 8.32088737e-01 4.43338003e-02 5.52867840e-01 1.14217804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.0771056809999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:155.61, Y:128.18, Z:114.24 [[ 1.77952980e-01 -9.58972912e-01 -2.20689128e-01 1.55612455e+02] [ 5.10762343e-01 2.81705841e-01 -8.12258363e-01 1.28180765e+02] [ 8.41103184e-01 3.18240996e-02 5.39937645e-01 1.14243748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.10710568099995 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:155.61, Y:128.21, Z:114.26 [[ 1.72642910e-01 -9.67853052e-01 -1.82906792e-01 1.55614083e+02] [ 5.24259628e-01 2.47498187e-01 -8.14798435e-01 1.28210063e+02] [ 8.33874252e-01 4.47785259e-02 5.50135088e-01 1.14260504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.1371056809999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:155.63, Y:128.21, Z:114.30 [[ 1.68978885e-01 -9.51476971e-01 -2.57172531e-01 1.55634667e+02] [ 5.19306137e-01 3.07717738e-01 -7.97264655e-01 1.28207795e+02] [ 8.37715508e-01 1.16961910e-03 5.46105631e-01 1.14299659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.16710568099995 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:155.64, Y:128.21, Z:114.32 [[ 1.63845190e-01 -9.48274252e-01 -2.71902000e-01 1.55638981e+02] [ 5.11690178e-01 3.17343403e-01 -7.98414883e-01 1.28211086e+02] [ 8.43402582e-01 -8.31314476e-03 5.37217811e-01 1.14319895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.1971056809999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:155.64, Y:128.24, Z:114.34 [[ 1.50827322e-01 -9.62134332e-01 -2.27043269e-01 1.55640029e+02] [ 5.17546991e-01 2.72532942e-01 -8.11092416e-01 1.28239202e+02] [ 8.42256630e-01 4.82933588e-03 5.39055143e-01 1.14342236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.2271056809999 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:155.64, Y:128.27, Z:114.36 [[ 1.45829077e-01 -9.70782456e-01 -1.90565746e-01 1.55638267e+02] [ 5.29473990e-01 2.39301161e-01 -8.13874836e-01 1.28270851e+02] [ 8.35698016e-01 1.77870106e-02 5.48901128e-01 1.14355248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.2571056809999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:155.65, Y:128.26, Z:114.39 [[ 1.45920541e-01 -9.46954694e-01 -2.86328488e-01 1.55651892e+02] [ 5.30750950e-01 3.19183073e-01 -7.85127757e-01 1.28257275e+02] [ 8.34871622e-01 -3.74028493e-02 5.49172470e-01 1.14392260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.2871056809999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:155.65, Y:128.28, Z:114.41 [[ 1.44850357e-01 -9.66608447e-01 -2.11391781e-01 1.55650715e+02] [ 5.26850804e-01 2.56187200e-01 -8.10429731e-01 1.28281478e+02] [ 8.37524092e-01 6.01910637e-03 5.46367245e-01 1.14406639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.31710568099993 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:155.66, Y:128.30, Z:114.43 [[ 1.39254754e-01 -9.59484126e-01 -2.44945558e-01 1.55655349e+02] [ 5.32329630e-01 2.81107982e-01 -7.98500762e-01 1.28296340e+02] [ 8.35004957e-01 -1.91967509e-02 5.49907453e-01 1.14430296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.3471056809999 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:155.65, Y:128.33, Z:114.44 [[ 1.36203643e-01 -9.78741952e-01 -1.53338705e-01 1.55647486e+02] [ 5.40518908e-01 2.03130933e-01 -8.16441752e-01 1.28333087e+02] [ 8.30233629e-01 2.83198716e-02 5.56695704e-01 1.14441603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.37710568099993 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:155.66, Y:128.33, Z:114.47 [[ 1.36301587e-01 -9.64817291e-01 -2.24832099e-01 1.55656838e+02] [ 5.34984080e-01 2.62697974e-01 -8.02983069e-01 1.28327604e+02] [ 8.33794886e-01 -1.08337266e-02 5.51968041e-01 1.14473099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.4071056809999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:155.66, Y:128.35, Z:114.49 [[ 1.23931695e-01 -9.63332478e-01 -2.37973681e-01 1.55657579e+02] [ 5.45496356e-01 2.66474511e-01 -7.94622590e-01 1.28346302e+02] [ 8.28899668e-01 -3.13348513e-02 5.58518994e-01 1.14490217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.43710568099993 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:155.66, Y:128.37, Z:114.52 [[ 1.20238554e-01 -9.78543336e-01 -1.67318947e-01 1.55655422e+02] [ 5.43008277e-01 2.05921177e-01 -8.14087514e-01 1.28372267e+02] [ 8.31074426e-01 7.02913262e-03 5.56116795e-01 1.14515205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.4671056809999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:155.65, Y:128.39, Z:114.54 [[ 1.02279438e-01 -9.81998595e-01 -1.58800741e-01 1.55646358e+02] [ 5.39447240e-01 1.88880221e-01 -8.20561355e-01 1.28393668e+02] [ 8.35784417e-01 -1.73806747e-03 5.49054995e-01 1.14544310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49710568099994 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:155.66, Y:128.38, Z:114.58 [[ 1.01036823e-01 -9.48664747e-01 -2.99711125e-01 1.55663264e+02] [ 5.57622262e-01 3.03485108e-01 -7.72628114e-01 1.28383035e+02] [ 8.23922917e-01 -8.90617055e-02 5.59659753e-01 1.14575049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5271056809999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:155.66, Y:128.40, Z:114.59 [[ 1.03574090e-01 -9.58265911e-01 -2.66456097e-01 1.55662759e+02] [ 5.51958023e-01 2.78237125e-01 -7.86082975e-01 1.28396053e+02] [ 8.27414496e-01 -6.56547515e-02 5.57740715e-01 1.14592406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55710568099994 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:155.66, Y:128.42, Z:114.61 [[ 9.60453103e-02 -9.69613519e-01 -2.24999825e-01 1.55656653e+02] [ 5.52776562e-01 2.39941207e-01 -7.98039028e-01 1.28424961e+02] [ 8.27776160e-01 -4.77267237e-02 5.59024855e-01 1.14612505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5871056809999 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:155.65, Y:128.44, Z:114.63 [[ 9.27100255e-02 -9.70895327e-01 -2.20832777e-01 1.55654909e+02] [ 5.53018363e-01 2.34643346e-01 -7.99445552e-01 1.28442668e+02] [ 8.27994892e-01 -4.80079636e-02 5.58676735e-01 1.14632461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61710568099994 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:155.65, Y:128.46, Z:114.66 [[ 8.23871795e-02 -9.64640517e-01 -2.50361790e-01 1.55652314e+02] [ 5.49561947e-01 2.53542835e-01 -7.96051316e-01 1.28464521e+02] [ 8.31380791e-01 -7.20048903e-02 5.51018400e-01 1.14661928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.6471056809999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:155.66, Y:128.45, Z:114.69 [[ 8.99306787e-02 -9.56261527e-01 -2.78345765e-01 1.55655881e+02] [ 5.37476733e-01 2.81885734e-01 -7.94769900e-01 1.28447926e+02] [ 8.38469579e-01 -7.81301758e-02 5.39318497e-01 1.14688362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67710568099994 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:155.64, Y:128.49, Z:114.71 [[ 7.98749341e-02 -9.78054528e-01 -1.92430077e-01 1.55638719e+02] [ 5.35549354e-01 2.04925076e-01 -8.19263451e-01 1.28485145e+02] [ 8.40718077e-01 -3.76171895e-02 5.40164848e-01 1.14707689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.7071056809999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:155.64, Y:128.50, Z:114.72 [[ 8.31496674e-02 -9.75270471e-01 -2.04777052e-01 1.55638483e+02] [ 5.42155914e-01 2.16688531e-01 -8.11857774e-01 1.28503276e+02] [ 8.36153753e-01 -4.35153860e-02 5.46766233e-01 1.14721117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73710568099995 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:155.63, Y:128.51, Z:114.75 [[ 7.72830679e-02 -9.73368413e-01 -2.15826924e-01 1.55629925e+02] [ 5.39318062e-01 2.22882664e-01 -8.12071023e-01 1.28514927e+02] [ 8.38548362e-01 -5.36400181e-02 5.42180222e-01 1.14751804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.7671056809999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:155.62, Y:128.53, Z:114.77 [[ 7.72920379e-02 -9.74160835e-01 -2.12218305e-01 1.55620382e+02] [ 5.38790194e-01 2.19909025e-01 -8.13231300e-01 1.28530691e+02] [ 8.38886802e-01 -5.14848372e-02 5.41865522e-01 1.14770876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79710568099995 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:155.62, Y:128.55, Z:114.79 [[ 7.69144352e-02 -9.78042518e-01 -1.93693064e-01 1.55621687e+02] [ 5.38068482e-01 2.04267904e-01 -8.17775600e-01 1.28548132e+02] [ 8.39384583e-01 -4.13213847e-02 5.41965004e-01 1.14792675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.8271056809999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:155.61, Y:128.57, Z:114.82 [[ 6.76000584e-02 -9.81373500e-01 -1.79822929e-01 1.55613759e+02] [ 5.33988271e-01 1.87835720e-01 -8.24362947e-01 1.28567601e+02] [ 8.42785120e-01 -4.02963518e-02 5.36739644e-01 1.14821066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85710568099995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:155.61, Y:128.58, Z:114.84 [[ 7.18913542e-02 -9.66977736e-01 -2.44511125e-01 1.55613136e+02] [ 5.42396605e-01 2.43630968e-01 -8.04021066e-01 1.28575751e+02] [ 8.37040953e-01 -7.48198409e-02 5.42000401e-01 1.14840870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.8871056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.60, Y:128.60, Z:114.86 [[ 7.07351575e-02 -9.78900789e-01 -1.91702327e-01 1.55603833e+02] [ 5.39955878e-01 1.99168304e-01 -8.17789482e-01 1.28598860e+02] [ 8.38715797e-01 -4.56643302e-02 5.42651436e-01 1.14860154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.59, Y:128.64, Z:114.88 [[ 6.64257557e-02 -9.87655960e-01 -1.41856703e-01 1.55586647e+02] [ 5.46934248e-01 1.54950298e-01 -8.22710966e-01 1.28641200e+02] [ 8.34536127e-01 -2.29370913e-02 5.50475561e-01 1.14878958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.9471056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:155.59, Y:128.65, Z:114.90 [[ 7.69842751e-02 -9.74079235e-01 -2.12704174e-01 1.55587024e+02] [ 5.47204834e-01 2.19614257e-01 -8.07673478e-01 1.28646865e+02] [ 8.33450833e-01 -5.42145950e-02 5.49927711e-01 1.14900328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.9771056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.58, Y:128.66, Z:114.92 [[ 7.93362422e-02 -9.79982944e-01 -1.82590223e-01 1.55578795e+02] [ 5.44217264e-01 1.96042374e-01 -8.15717449e-01 1.28664674e+02] [ 8.35184608e-01 -3.46527942e-02 5.48876902e-01 1.14923454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.0071056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.57, Y:128.68, Z:114.95 [[ 8.09895379e-02 -9.81055677e-01 -1.75984242e-01 1.55573811e+02] [ 5.42629544e-01 1.91504025e-01 -8.17850467e-01 1.28682309e+02] [ 8.36058535e-01 -2.92569175e-02 5.47859617e-01 1.14948602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.0371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.57, Y:128.70, Z:114.97 [[ 9.20556699e-02 -9.75744010e-01 -1.98618683e-01 1.55569382e+02] [ 5.40379339e-01 2.16491818e-01 -8.13093760e-01 1.28695909e+02] [ 8.36370686e-01 -3.24795420e-02 5.47201202e-01 1.14973304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.06710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.56, Y:128.71, Z:115.00 [[ 9.79698673e-02 -9.73698764e-01 -2.05700321e-01 1.55561659e+02] [ 5.41840373e-01 2.25561571e-01 -8.09648682e-01 1.28712559e+02] [ 8.34752008e-01 -3.21355648e-02 5.49687539e-01 1.14995644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.0971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.55, Y:128.73, Z:115.02 [[ 9.86932362e-02 -9.79008504e-01 -1.78331135e-01 1.55554053e+02] [ 5.36726904e-01 2.03274426e-01 -8.18903986e-01 1.28727944e+02] [ 8.37964126e-01 -1.48948332e-02 5.45522015e-01 1.15019561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.12710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.55, Y:128.75, Z:115.04 [[ 9.79357286e-02 -9.79255251e-01 -1.77391505e-01 1.55546320e+02] [ 5.38179383e-01 2.02049689e-01 -8.18253552e-01 1.28745071e+02] [ 8.37120986e-01 -1.53321927e-02 5.46802871e-01 1.15042320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.1571056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.55, Y:128.76, Z:115.06 [[ 9.72287522e-02 -9.79938166e-01 -1.73976323e-01 1.55546091e+02] [ 5.37691851e-01 1.98817861e-01 -8.19364956e-01 1.28762070e+02] [ 8.37516593e-01 -1.38798188e-02 5.46235579e-01 1.15064863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.18710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.55, Y:128.78, Z:115.09 [[ 9.59337478e-02 -9.79533656e-01 -1.76947825e-01 1.55545444e+02] [ 5.36667972e-01 2.00616499e-01 -8.19597772e-01 1.28775828e+02] [ 8.38322255e-01 -1.63351444e-02 5.44930234e-01 1.15089754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2171056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.54, Y:128.79, Z:115.11 [[ 1.00037942e-01 -9.78041862e-01 -1.82829225e-01 1.55542643e+02] [ 5.34093258e-01 2.07818722e-01 -8.19485064e-01 1.28790598e+02] [ 8.39486034e-01 -1.56682573e-02 5.43155322e-01 1.15111518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.24710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.54, Y:128.81, Z:115.13 [[ 1.05231358e-01 -9.77662002e-01 -1.81943321e-01 1.55541302e+02] [ 5.30931359e-01 2.09935411e-01 -8.20998791e-01 1.28806252e+02] [ 8.40855667e-01 -1.02045969e-02 5.41163204e-01 1.15134622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2771056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.54, Y:128.82, Z:115.16 [[ 1.19654291e-01 -9.75403395e-01 -1.85124465e-01 1.55536350e+02] [ 5.23432511e-01 2.20421667e-01 -8.23062996e-01 1.28821945e+02] [ 8.43623884e-01 1.58285540e-03 5.36932247e-01 1.15157812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.30710568099994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:155.53, Y:128.84, Z:115.18 [[ 1.26999813e-01 -9.77160926e-01 -1.70374796e-01 1.55533992e+02] [ 5.22062230e-01 2.11899199e-01 -8.26165696e-01 1.28839112e+02] [ 8.43399120e-01 1.59766430e-02 5.37049971e-01 1.15180040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3371056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.54, Y:128.85, Z:115.21 [[ 1.33690819e-01 -9.73534832e-01 -1.85355592e-01 1.55536646e+02] [ 5.17588170e-01 2.28090065e-01 -8.24668060e-01 1.28849549e+02] [ 8.45120850e-01 1.43126865e-02 5.34383659e-01 1.15205124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.36710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.54, Y:128.86, Z:115.23 [[ 1.42233869e-01 -9.73995797e-01 -1.76356781e-01 1.55536516e+02] [ 5.19072561e-01 2.25099414e-01 -8.24556809e-01 1.28863415e+02] [ 8.42812674e-01 2.57379396e-02 5.37591253e-01 1.15227463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.54, Y:128.87, Z:115.25 [[ 1.43434530e-01 -9.73538155e-01 -1.77904460e-01 1.55539773e+02] [ 5.15897253e-01 2.26959167e-01 -8.26038474e-01 1.28873819e+02] [ 8.44557020e-01 2.67020184e-02 5.34799442e-01 1.15251608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.42710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.55, Y:128.89, Z:115.27 [[ 1.43175141e-01 -9.72842584e-01 -1.81874092e-01 1.55545693e+02] [ 5.14534468e-01 2.30147893e-01 -8.26006192e-01 1.28886628e+02] [ 8.45431937e-01 2.46830642e-02 5.33512499e-01 1.15274006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.4571056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.55, Y:128.90, Z:115.30 [[ 1.39391829e-01 -9.76635359e-01 -1.63564339e-01 1.55551056e+02] [ 5.13575276e-01 2.12526146e-01 -8.31308049e-01 1.28898703e+02] [ 8.46646534e-01 3.18749487e-02 5.31200183e-01 1.15299646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.48710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.56, Y:128.91, Z:115.32 [[ 1.37459900e-01 -9.76254110e-01 -1.67429654e-01 1.55557520e+02] [ 5.12090316e-01 2.14734905e-01 -8.31656437e-01 1.28908048e+02] [ 8.47861006e-01 2.85803060e-02 5.29447714e-01 1.15322144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.5171056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.57, Y:128.92, Z:115.35 [[ 1.34997082e-01 -9.75948332e-01 -1.71174299e-01 1.55567804e+02] [ 5.12821105e-01 2.16636441e-01 -8.30712445e-01 1.28917892e+02] [ 8.47815017e-01 2.43619627e-02 5.29732189e-01 1.15351620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.54710568099995 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:155.58, Y:128.95, Z:115.36 [[ 1.33305069e-01 -9.69169546e-01 -2.07220050e-01 1.55579054e+02] [ 5.21418001e-01 2.46393300e-01 -8.16953861e-01 1.28945833e+02] [ 8.42824435e-01 8.55826530e-04 5.38187923e-01 1.15364930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.5771056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:155.57, Y:128.94, Z:115.40 [[ 1.39809762e-01 -9.82531232e-01 -1.22823484e-01 1.55574523e+02] [ 5.02358598e-01 1.77275883e-01 -8.46291380e-01 1.28939645e+02] [ 8.53281354e-01 5.66183638e-02 5.18367911e-01 1.15398549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.60710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.59, Y:128.95, Z:115.43 [[ 1.41022503e-01 -9.68472841e-01 -2.05360683e-01 1.55591894e+02] [ 4.99868851e-01 2.48705961e-01 -8.29624298e-01 1.28949308e+02] [ 8.54543027e-01 1.43422864e-02 5.19182544e-01 1.15425392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.6371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.60, Y:128.97, Z:115.45 [[ 1.46601898e-01 -9.74474683e-01 -1.70020516e-01 1.55598726e+02] [ 4.98598295e-01 2.21241010e-01 -8.38124189e-01 1.28965826e+02] [ 8.54346314e-01 3.80986569e-02 5.18305767e-01 1.15446592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.66710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.61, Y:128.98, Z:115.47 [[ 1.51168011e-01 -9.77645824e-01 -1.46139917e-01 1.55605235e+02] [ 5.01616040e-01 2.03257098e-01 -8.40873296e-01 1.28982732e+02] [ 8.51780242e-01 5.38070169e-02 5.21128798e-01 1.15466240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.6971056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:155.62, Y:129.00, Z:115.49 [[ 1.53564248e-01 -9.73467827e-01 -1.69642012e-01 1.55616251e+02] [ 5.01776469e-01 2.24718746e-01 -8.35297469e-01 1.28996407e+02] [ 8.51256951e-01 4.31494581e-02 5.22972014e-01 1.15489641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.7271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.62, Y:129.01, Z:115.51 [[ 1.52574114e-01 -9.76926351e-01 -1.49452481e-01 1.55618844e+02] [ 5.01227766e-01 2.06821777e-01 -8.40235371e-01 1.29008732e+02] [ 8.51758103e-01 5.32884339e-02 5.21218262e-01 1.15513673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.7571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.63, Y:129.02, Z:115.53 [[ 1.53672928e-01 -9.75145720e-01 -1.59610326e-01 1.55632127e+02] [ 5.01444121e-01 2.16145024e-01 -8.37756004e-01 1.29024206e+02] [ 8.51433160e-01 4.87047583e-02 5.22196727e-01 1.15533929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.7871056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.64, Y:129.03, Z:115.56 [[ 1.49937525e-01 -9.77678713e-01 -1.47183807e-01 1.55640590e+02] [ 4.91566405e-01 2.02879513e-01 -8.46878016e-01 1.29032799e+02] [ 8.57835187e-01 5.46281787e-02 5.11013262e-01 1.15558051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.81710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.65, Y:129.04, Z:115.58 [[ 1.48550849e-01 -9.73366675e-01 -1.74613749e-01 1.55651603e+02] [ 4.93276502e-01 2.25972129e-01 -8.40008863e-01 1.29044164e+02] [ 8.57094474e-01 3.86511702e-02 5.13707260e-01 1.15579916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.8471056809999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:155.66, Y:129.06, Z:115.60 [[ 1.42970477e-01 -9.80239501e-01 -1.36711245e-01 1.55656265e+02] [ 4.89623941e-01 1.90093902e-01 -8.50959873e-01 1.29058300e+02] [ 8.60132455e-01 5.47250404e-02 5.07126543e-01 1.15600363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.87710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:155.67, Y:129.07, Z:115.62 [[ 1.39287159e-01 -9.78215282e-01 -1.53928390e-01 1.55665431e+02] [ 4.91491511e-01 2.03237969e-01 -8.46835535e-01 1.29071808e+02] [ 8.59671555e-01 4.22988187e-02 5.09092946e-01 1.15623998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.9071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.68, Y:129.08, Z:115.65 [[ 1.33908375e-01 -9.74924381e-01 -1.77738566e-01 1.55681284e+02] [ 4.92976919e-01 2.21120948e-01 -8.41474470e-01 1.29081337e+02] [ 8.59675698e-01 2.50594682e-02 5.10225164e-01 1.15648647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.93710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.68, Y:129.10, Z:115.67 [[ 1.27160316e-01 -9.81911443e-01 -1.40286035e-01 1.55679755e+02] [ 4.95919967e-01 1.85425673e-01 -8.48339971e-01 1.29096251e+02] [ 8.59007358e-01 3.83045333e-02 5.10528278e-01 1.15671466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.9671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.69, Y:129.11, Z:115.70 [[ 1.15481653e-01 -9.81770726e-01 -1.50964334e-01 1.55691197e+02] [ 4.98240445e-01 1.88731442e-01 -8.46248723e-01 1.29105655e+02] [ 8.59313939e-01 2.25096648e-02 5.10952902e-01 1.15697560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.70, Y:129.10, Z:115.73 [[ 1.07000133e-01 -9.74465839e-01 -1.97401371e-01 1.55701977e+02] [ 4.93436443e-01 2.24410875e-01 -8.40333407e-01 1.29103483e+02] [ 8.63175213e-01 -7.48924436e-03 5.04848951e-01 1.15730337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0271056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.70, Y:129.13, Z:115.75 [[ 9.51574010e-02 -9.88460034e-01 -1.17863611e-01 1.55701042e+02] [ 5.04658349e-01 1.49959596e-01 -8.50195313e-01 1.29133428e+02] [ 8.58058867e-01 2.14215208e-02 5.13104374e-01 1.15746217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.71, Y:129.12, Z:115.78 [[ 8.83157463e-02 -9.74412570e-01 -2.06689314e-01 1.55714606e+02] [ 5.00530972e-01 2.22812820e-01 -8.36554357e-01 1.29123561e+02] [ 8.61202110e-01 -2.95734812e-02 5.07401552e-01 1.15782619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.71, Y:129.14, Z:115.80 [[ 8.79285845e-02 -9.81693456e-01 -1.68957161e-01 1.55713343e+02] [ 5.00585979e-01 1.90188021e-01 -8.44536674e-01 1.29140056e+02] [ 8.61209755e-01 -1.03186717e-02 5.08144943e-01 1.15803448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.71, Y:129.16, Z:115.83 [[ 8.63049763e-02 -9.83787271e-01 -1.57207048e-01 1.55714822e+02] [ 4.99982590e-01 1.79255727e-01 -8.47280824e-01 1.29155545e+02] [ 8.61724353e-01 -5.47623576e-03 5.07347169e-01 1.15828252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.1471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.72, Y:129.17, Z:115.85 [[ 8.61863283e-02 -9.84540664e-01 -1.52484745e-01 1.55716325e+02] [ 5.02618031e-01 1.75117554e-01 -8.46586651e-01 1.29172230e+02] [ 8.60201739e-01 -3.67738735e-03 5.09940629e-01 1.15848481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.72, Y:129.19, Z:115.87 [[ 8.91229629e-02 -9.79909970e-01 -1.78419586e-01 1.55721172e+02] [ 5.02025518e-01 1.98908223e-01 -8.41668521e-01 1.29186175e+02] [ 8.60248497e-01 -1.45591927e-02 5.09667100e-01 1.15873417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.2071056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.72, Y:129.20, Z:115.89 [[ 8.97627766e-02 -9.81743795e-01 -1.67695455e-01 1.55717889e+02] [ 5.06643551e-01 1.89971990e-01 -8.40965490e-01 1.29197589e+02] [ 8.57470090e-01 -9.47442331e-03 5.14446576e-01 1.15894955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.72, Y:129.21, Z:115.92 [[ 8.70285513e-02 -9.84473440e-01 -1.52440406e-01 1.55715366e+02] [ 5.04592440e-01 1.75501591e-01 -8.45331687e-01 1.29211536e+02] [ 8.58960128e-01 -3.35228424e-03 5.12031504e-01 1.15920113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.2671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.72, Y:129.22, Z:115.94 [[ 8.27982182e-02 -9.82677397e-01 -1.65799845e-01 1.55718270e+02] [ 5.01877559e-01 1.84850101e-01 -8.44955239e-01 1.29221845e+02] [ 8.60966533e-01 -1.32504335e-02 5.08488992e-01 1.15944457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.72, Y:129.24, Z:115.97 [[ 7.11090487e-02 -9.85287595e-01 -1.55408679e-01 1.55717491e+02] [ 5.01652195e-01 1.69991076e-01 -8.48202870e-01 1.29241402e+02] [ 8.62141855e-01 -1.76462058e-02 5.06359589e-01 1.15965711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.3271056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.72, Y:129.26, Z:115.99 [[ 6.31810372e-02 -9.83913124e-01 -1.67102128e-01 1.55715499e+02] [ 5.00429657e-01 1.76099466e-01 -8.47678675e-01 1.29255121e+02] [ 8.63468769e-01 -3.00656427e-02 5.03505454e-01 1.15985679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.71, Y:129.29, Z:116.00 [[ 6.23222675e-02 -9.92203962e-01 -1.07922350e-01 1.55710342e+02] [ 5.04933846e-01 1.24618228e-01 -8.54114810e-01 1.29286287e+02] [ 8.60905190e-01 -1.26327565e-03 5.08763853e-01 1.15999582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.3871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.72, Y:129.28, Z:116.04 [[ 5.60538463e-02 -9.77434434e-01 -2.03666134e-01 1.55718446e+02] [ 4.98162684e-01 2.04161462e-01 -8.42705191e-01 1.29276815e+02] [ 8.65269846e-01 -5.42220007e-02 4.98365396e-01 1.16037828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.71, Y:129.29, Z:116.06 [[ 5.55230373e-02 -9.84191930e-01 -1.68176806e-01 1.55714357e+02] [ 4.95721222e-01 1.73383043e-01 -8.50998702e-01 1.29293877e+02] [ 8.66705061e-01 -3.61187790e-02 4.97511579e-01 1.16058925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.4471056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:155.71, Y:129.33, Z:116.07 [[ 5.72042504e-02 -9.93072545e-01 -1.02638176e-01 1.55705760e+02] [ 5.01222382e-01 1.17478284e-01 -8.57306816e-01 1.29327326e+02] [ 8.63425618e-01 -2.40295715e-03 5.04470443e-01 1.16073923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.4771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.72, Y:129.31, Z:116.11 [[ 5.56994384e-02 -9.73387193e-01 -2.22294726e-01 1.55717743e+02] [ 4.96735819e-01 2.20146846e-01 -8.39517059e-01 1.29314581e+02] [ 8.66112636e-01 -6.36611241e-02 4.95778340e-01 1.16111291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.5071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.71, Y:129.33, Z:116.13 [[ 5.70291952e-02 -9.85523246e-01 -1.59660896e-01 1.55707003e+02] [ 4.93218415e-01 1.66854423e-01 -8.53753593e-01 1.29334306e+02] [ 8.68034139e-01 -3.00588138e-02 4.95593787e-01 1.16131497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.5371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.71, Y:129.35, Z:116.15 [[ 5.65230185e-02 -9.84827719e-01 -1.64071669e-01 1.55706659e+02] [ 4.92918387e-01 1.70436235e-01 -8.53219171e-01 1.29347617e+02] [ 8.68237647e-01 -3.26474196e-02 4.95073261e-01 1.16154633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.56710568099993 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:155.70, Y:129.38, Z:116.17 [[ 5.93458466e-02 -9.93449078e-01 -9.76575666e-02 1.55696854e+02] [ 4.96818530e-01 1.14247504e-01 -8.60301608e-01 1.29380255e+02] [ 8.65822972e-01 2.53723857e-03 5.00344025e-01 1.16170468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.5971056809999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:155.70, Y:129.39, Z:116.20 [[ 6.25712677e-02 -9.84606411e-01 -1.63202487e-01 1.55699838e+02] [ 5.00225198e-01 1.72439869e-01 -8.48551261e-01 1.29387416e+02] [ 8.63631627e-01 -2.85430683e-02 5.03314718e-01 1.16197971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.62710568099993 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:155.70, Y:129.40, Z:116.22 [[ 6.51290761e-02 -9.85397720e-01 -1.57319855e-01 1.55696506e+02] [ 4.99325959e-01 1.68679777e-01 -8.49835702e-01 1.29400298e+02] [ 8.63962841e-01 -2.32048735e-02 5.03020619e-01 1.16224537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.6571056809999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:155.69, Y:129.41, Z:116.25 [[ 7.57756333e-02 -9.84466671e-01 -1.58377485e-01 1.55690746e+02] [ 4.97695029e-01 1.74975850e-01 -8.49519341e-01 1.29411388e+02] [ 8.64035712e-01 -1.44508208e-02 5.03223074e-01 1.16249357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.68710568099993 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:155.69, Y:129.42, Z:116.27 [[ 7.51650989e-02 -9.83727378e-01 -1.63189010e-01 1.55693459e+02] [ 4.96880912e-01 1.78837016e-01 -8.49191781e-01 1.29423476e+02] [ 8.64557440e-01 -1.72559196e-02 5.02237659e-01 1.16273212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7171056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:155.69, Y:129.44, Z:116.30 [[ 8.03848496e-02 -9.83709115e-01 -1.60793824e-01 1.55692443e+02] [ 4.96334258e-01 1.79397483e-01 -8.49393223e-01 1.29438495e+02] [ 8.64401863e-01 -1.15291368e-02 5.02669373e-01 1.16300883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.74710568099994 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:155.69, Y:129.45, Z:116.32 [[ 9.22583485e-02 -9.80843579e-01 -1.71564189e-01 1.55689050e+02] [ 4.87298043e-01 1.94731061e-01 -8.51246399e-01 1.29449751e+02] [ 8.68348441e-01 -5.06830654e-03 4.95928722e-01 1.16322895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7771056809999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:155.69, Y:129.46, Z:116.35 [[ 9.72334296e-02 -9.79384424e-01 -1.77064427e-01 1.55688739e+02] [ 4.87607786e-01 2.01970517e-01 -8.49380102e-01 1.29464605e+02] [ 8.67631435e-01 -3.74985259e-03 4.97193756e-01 1.16346171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.80710568099994 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:155.68, Y:129.48, Z:116.37 [[ 1.02899492e-01 -9.83024966e-01 -1.51900001e-01 1.55684388e+02] [ 4.84568944e-01 1.82904606e-01 -8.55417350e-01 1.29482309e+02] [ 8.68679822e-01 1.44159879e-02 4.95164161e-01 1.16369239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8371056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:155.69, Y:129.49, Z:116.40 [[ 1.02841663e-01 -9.80859083e-01 -1.65345253e-01 1.55690145e+02] [ 4.80862745e-01 1.94536996e-01 -8.54942324e-01 1.29494014e+02] [ 8.70743712e-01 8.41531861e-03 4.91665099e-01 1.16396689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.86710568099994 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:155.70, Y:129.50, Z:116.42 [[ 1.02832547e-01 -9.77601491e-01 -1.83632220e-01 1.55696400e+02] [ 4.78180493e-01 2.10464507e-01 -8.52671160e-01 1.29502304e+02] [ 8.72220662e-01 -1.26998350e-04 4.89112564e-01 1.16418991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8971056809999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:155.69, Y:129.52, Z:116.45 [[ 9.79381494e-02 -9.84116003e-01 -1.48066915e-01 1.55694794e+02] [ 4.77048595e-01 1.76998974e-01 -8.60869329e-01 1.29517769e+02] [ 8.73402975e-01 1.36768352e-02 4.86806108e-01 1.16445209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.92710568099994 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:155.71, Y:129.54, Z:116.45 [[ 8.85040817e-02 -9.67621565e-01 -2.36380065e-01 1.55706309e+02] [ 4.83058391e-01 2.49232149e-01 -8.39367576e-01 1.29538208e+02] [ 8.71103678e-01 -3.98979175e-02 4.89475779e-01 1.16454273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.9571056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:155.69, Y:129.55, Z:116.49 [[ 9.19210970e-02 -9.93662518e-01 -6.46939851e-02 1.55689934e+02] [ 4.75715604e-01 1.00896894e-01 -8.73793157e-01 1.29545219e+02] [ 8.74782931e-01 4.95440873e-02 4.81975318e-01 1.16492593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.98710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:155.71, Y:129.55, Z:116.52 [[ 8.98522766e-02 -9.82338314e-01 -1.64128014e-01 1.55707509e+02] [ 4.76223944e-01 1.87110960e-01 -8.59185803e-01 1.29552610e+02] [ 8.74721283e-01 -9.61889636e-04 4.84625372e-01 1.16520438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.0171056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:155.71, Y:129.56, Z:116.55 [[ 8.61925018e-02 -9.83751700e-01 -1.57491099e-01 1.55712232e+02] [ 4.72473650e-01 1.79534376e-01 -8.62865029e-01 1.29558429e+02] [ 8.77120005e-01 -3.78987485e-05 4.80271273e-01 1.16550096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.04710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:155.72, Y:129.57, Z:116.57 [[ 8.56819768e-02 -9.77932207e-01 -1.90544478e-01 1.55719831e+02] [ 4.76796381e-01 2.08173228e-01 -8.54007680e-01 1.29568438e+02] [ 8.74827874e-01 -1.76778516e-02 4.84111231e-01 1.16573082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.0771056809999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:155.72, Y:129.58, Z:116.60 [[ 8.26311229e-02 -9.85279049e-01 -1.49657256e-01 1.55715532e+02] [ 4.74459342e-01 1.70953432e-01 -8.63517954e-01 1.29580066e+02] [ 8.76390570e-01 3.47175158e-04 4.81600923e-01 1.16600639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.10710568099995 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:155.72, Y:129.59, Z:116.62 [[ 8.24047967e-02 -9.78420748e-01 -1.89478997e-01 1.55722728e+02] [ 4.75801328e-01 2.05682658e-01 -8.55165329e-01 1.29590429e+02] [ 8.75684044e-01 -1.96846333e-02 4.82483129e-01 1.16622669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.1371056809999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:155.73, Y:129.61, Z:116.64 [[ 8.59164750e-02 -9.77195918e-01 -1.94181607e-01 1.55732417e+02] [ 4.68051252e-01 2.11644175e-01 -8.57982965e-01 1.29608130e+02] [ 8.79514858e-01 -1.71720721e-02 4.75561495e-01 1.16640866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.16710568099995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:155.72, Y:129.62, Z:116.67 [[ 7.88868269e-02 -9.91208976e-01 -1.06215040e-01 1.55718912e+02] [ 4.69717280e-01 1.30936914e-01 -8.73052806e-01 1.29620318e+02] [ 8.79285247e-01 1.89813261e-02 4.75917182e-01 1.16668763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.1971056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:155.73, Y:129.63, Z:116.70 [[ 7.77204855e-02 -9.84069648e-01 -1.59895135e-01 1.55726895e+02] [ 4.68281840e-01 1.77620613e-01 -8.65542048e-01 1.29629374e+02] [ 8.80154330e-01 -7.60563965e-03 4.74626706e-01 1.16695221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.2271056809999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:155.73, Y:129.64, Z:116.72 [[ 7.72405519e-02 -9.85285491e-01 -1.52467694e-01 1.55725836e+02] [ 4.64865074e-01 1.70874949e-01 -8.68735987e-01 1.29642538e+02] [ 8.82005873e-01 -3.77525896e-03 4.71223288e-01 1.16720335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.2571056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:155.73, Y:129.65, Z:116.74 [[ 7.78611967e-02 -9.86239550e-01 -1.45839584e-01 1.55726326e+02] [ 4.60320030e-01 1.65320726e-01 -8.72223897e-01 1.29651984e+02] [ 8.84332010e-01 7.79514781e-04 4.66857889e-01 1.16741967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.2871056809999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:155.73, Y:129.66, Z:116.76 [[ 7.79068628e-02 -9.81679285e-01 -1.73885888e-01 1.55732777e+02] [ 4.69354169e-01 1.89993356e-01 -8.62327773e-01 1.29663531e+02] [ 8.79566475e-01 -1.44328150e-02 4.75557051e-01 1.16764511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.31710568099993 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:155.73, Y:129.68, Z:116.79 [[ 7.36595671e-02 -9.86717455e-01 -1.44785817e-01 1.55730714e+02] [ 4.69613038e-01 1.62394866e-01 -8.67808448e-01 1.29676266e+02] [ 8.79794216e-01 -4.07091279e-03 4.75337317e-01 1.16791031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.3471056809999 meters Centerline goodness : 0.991502 Centerline is valid? [True, True] Translation: X:155.75, Y:129.72, Z:116.79 [[ 7.27073380e-02 -9.77986146e-01 -1.95593304e-01 1.55748379e+02] [ 4.86575487e-01 2.05972712e-01 -8.49010917e-01 1.29719477e+02] [ 8.70607799e-01 -3.34415835e-02 4.90839813e-01 1.16794280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.37710568099993 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:155.73, Y:129.70, Z:116.84 [[ 6.75010593e-02 -9.92887567e-01 -9.80708278e-02 1.55730777e+02] [ 4.67001232e-01 1.18304659e-01 -8.76306942e-01 1.29701886e+02] [ 8.81676503e-01 1.33524495e-02 4.71665406e-01 1.16838720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.4071056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:155.74, Y:129.71, Z:116.87 [[ 6.79278591e-02 -9.86626357e-01 -1.48169628e-01 1.55738166e+02] [ 4.66888340e-01 1.62682916e-01 -8.69223531e-01 1.29713210e+02] [ 8.81703513e-01 -1.01341779e-02 4.71695044e-01 1.16865314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.43710568099993 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:155.74, Y:129.72, Z:116.89 [[ 7.22094085e-02 -9.83418941e-01 -1.66351998e-01 1.55741281e+02] [ 4.67038961e-01 1.80710932e-01 -8.65573895e-01 1.29721777e+02] [ 8.81283388e-01 -1.51902851e-02 4.72343990e-01 1.16889471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.4671056809999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:155.74, Y:129.73, Z:116.91 [[ 7.35943369e-02 -9.85376074e-01 -1.53681056e-01 1.55740220e+02] [ 4.65790511e-01 1.70220651e-01 -8.68368660e-01 1.29732544e+02] [ 8.81829390e-01 -7.67616200e-03 4.71506101e-01 1.16914763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49710568099994 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:155.74, Y:129.74, Z:116.94 [[ 7.90005673e-02 -9.83534011e-01 -1.62541562e-01 1.55740636e+02] [ 4.67951179e-01 1.80558288e-01 -8.65112940e-01 1.29741796e+02] [ 8.80216226e-01 -7.71710275e-03 4.74510107e-01 1.16938056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5271056809999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:155.74, Y:129.75, Z:116.96 [[ 8.13481047e-02 -9.85762467e-01 -1.47155854e-01 1.55739609e+02] [ 4.67075145e-01 1.68133308e-01 -8.68085249e-01 1.29753634e+02] [ 8.80467657e-01 1.88424769e-03 4.74102473e-01 1.16962362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:155.74, Y:129.77, Z:116.99 [[ 8.46478813e-02 -9.84840132e-01 -1.51408884e-01 1.55741225e+02] [ 4.67186055e-01 1.73444173e-01 -8.66979993e-01 1.29766563e+02] [ 8.80097680e-01 2.65190043e-03 4.74785258e-01 1.16986063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5871056809999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:155.74, Y:129.78, Z:117.01 [[ 8.82739850e-02 -9.84689422e-01 -1.50314490e-01 1.55743257e+02] [ 4.64812763e-01 1.74186690e-01 -8.68106038e-01 1.29779269e+02] [ 8.80997616e-01 6.76308596e-03 4.73072364e-01 1.17008486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61710568099994 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:155.75, Y:129.79, Z:117.03 [[ 9.22095428e-02 -9.85197512e-01 -1.44510426e-01 1.55745087e+02] [ 4.61981075e-01 1.70891744e-01 -8.70269785e-01 1.29791356e+02] [ 8.82083265e-01 1.34860969e-02 4.70900455e-01 1.17030293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.6471056809999 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:155.77, Y:129.83, Z:117.03 [[ 1.13016348e-01 -9.74743016e-01 -1.92622320e-01 1.55772123e+02] [ 4.76650597e-01 2.23288456e-01 -8.50262591e-01 1.29829931e+02] [ 8.71797863e-01 4.28002935e-03 4.89847086e-01 1.17034748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.75, Y:129.82, Z:117.08 [[ 9.51045220e-02 -9.92252185e-01 -7.99420524e-02 1.55745759e+02] [ 4.64727246e-01 1.15273374e-01 -8.77918354e-01 1.29820521e+02] [ 8.80331595e-01 4.63427555e-02 4.72089645e-01 1.17076054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.7071056809999 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:155.76, Y:129.83, Z:117.10 [[ 9.02857861e-02 -9.84697840e-01 -1.49059188e-01 1.55761409e+02] [ 4.61386626e-01 1.73996186e-01 -8.69969947e-01 1.29828198e+02] [ 8.82593258e-01 9.77200474e-03 4.70035796e-01 1.17101153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73710568099995 meters Centerline goodness : 0.997506 Centerline is valid? [True, True] Translation: X:155.77, Y:129.86, Z:117.11 [[ 7.45765720e-02 -9.79795544e-01 -1.85577550e-01 1.55765127e+02] [ 4.71853550e-01 1.98615956e-01 -8.59014511e-01 1.29861943e+02] [ 8.78517252e-01 -2.35030684e-02 4.77132103e-01 1.17112103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.7671056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:155.77, Y:129.86, Z:117.15 [[ 7.77918076e-02 -9.94408469e-01 -7.14159114e-02 1.55767573e+02] [ 4.60065416e-01 9.93557352e-02 -8.82308478e-01 1.29855518e+02] [ 8.84470603e-01 3.57803804e-02 4.65222008e-01 1.17148369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79710568099995 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:155.78, Y:129.86, Z:117.18 [[ 6.55502795e-02 -9.88594034e-01 -1.35591289e-01 1.55781622e+02] [ 4.61826111e-01 1.50510854e-01 -8.74107045e-01 1.29858882e+02] [ 8.84544970e-01 -5.32163665e-03 4.66424567e-01 1.17175671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.8271056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:155.78, Y:129.87, Z:117.20 [[ 5.97650249e-02 -9.88462851e-01 -1.39173757e-01 1.55784739e+02] [ 4.63451068e-01 1.50962004e-01 -8.73168701e-01 1.29870607e+02] [ 8.84104773e-01 -1.23152770e-02 4.67126412e-01 1.17201641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85710568099995 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:155.79, Y:129.88, Z:117.22 [[ 5.14620535e-02 -9.88974978e-01 -1.38852977e-01 1.55790348e+02] [ 4.64325464e-01 1.46789843e-01 -8.73415483e-01 1.29881032e+02] [ 8.84168265e-01 -1.95252186e-02 4.66760372e-01 1.17224112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.8871056809999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:155.79, Y:129.89, Z:117.25 [[ 4.83631816e-02 -9.89751562e-01 -1.34360888e-01 1.55792827e+02] [ 4.63327207e-01 1.41400529e-01 -8.74833578e-01 1.29890724e+02] [ 8.84866601e-01 -1.99433198e-02 4.65417406e-01 1.17248732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91710568099995 meters Centerline goodness : 0.993050 Centerline is valid? [True, True] Translation: X:155.82, Y:129.93, Z:117.26 [[ 6.62243708e-02 -9.78807557e-01 -1.93778481e-01 1.55821483e+02] [ 4.78514506e-01 2.01570093e-01 -8.54630543e-01 1.29926479e+02] [ 8.75578780e-01 -3.61284443e-02 4.81722467e-01 1.17255974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.9471056809999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:155.79, Y:129.92, Z:117.29 [[ 4.59931534e-02 -9.96775622e-01 -6.57494493e-02 1.55788190e+02] [ 4.63668293e-01 7.96012442e-02 -8.82425836e-01 1.29921232e+02] [ 8.84814299e-01 1.00996120e-02 4.65834363e-01 1.17293924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.9771056809999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:155.79, Y:129.93, Z:117.32 [[ 5.13272518e-02 -9.89645638e-01 -1.34041129e-01 1.55793044e+02] [ 4.65568576e-01 1.42452522e-01 -8.73471911e-01 1.29927363e+02] [ 8.83522164e-01 -1.75724249e-02 4.68059607e-01 1.17319457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.0071056809999 meters Centerline goodness : 0.997126 Centerline is valid? [True, True] Translation: X:155.81, Y:129.96, Z:117.35 [[ 6.32179744e-02 -9.82823092e-01 -1.73384711e-01 1.55808827e+02] [ 4.71118655e-01 1.82545259e-01 -8.62974184e-01 1.29959271e+02] [ 8.79801512e-01 -2.71292919e-02 4.74566434e-01 1.17345443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.0371056809999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:155.79, Y:129.95, Z:117.37 [[ 6.01667609e-02 -9.85796787e-01 -1.56794945e-01 1.55791511e+02] [ 4.58230909e-01 1.66827492e-01 -8.73036667e-01 1.29950039e+02] [ 8.86794449e-01 -1.93205018e-02 4.61760028e-01 1.17366291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.06710568099993 meters Centerline goodness : 0.988518 Centerline is valid? [True, True] Translation: X:155.80, Y:130.00, Z:117.37 [[ 5.41267371e-02 -9.81534738e-01 -1.83466221e-01 1.55797341e+02] [ 4.73387229e-01 1.86999268e-01 -8.60776281e-01 1.29997334e+02] [ 8.79189870e-01 -4.02595544e-02 4.74767670e-01 1.17371104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.0971056809999 meters Centerline goodness : 0.996062 Centerline is valid? [True, True] Translation: X:155.81, Y:130.00, Z:117.40 [[ 8.44010397e-02 -9.89082149e-01 -1.20801350e-01 1.55805425e+02] [ 4.57325885e-01 1.46162177e-01 -8.77205593e-01 1.29995119e+02] [ 8.85284982e-01 1.87914798e-02 4.64669109e-01 1.17401068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.12710568099993 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:155.78, Y:129.99, Z:117.43 [[ 7.16216806e-02 -9.95434169e-01 -6.30963509e-02 1.55783903e+02] [ 4.54028491e-01 8.88617544e-02 -8.86544820e-01 1.29991671e+02] [ 8.88103859e-01 3.48482889e-02 4.58319902e-01 1.17434327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.1571056809999 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:155.79, Y:130.00, Z:117.46 [[ 7.61290966e-02 -9.90937362e-01 -1.10668446e-01 1.55788287e+02] [ 4.53190843e-01 1.33251545e-01 -8.81397802e-01 1.30001181e+02] [ 8.88156755e-01 1.69460919e-02 4.59228058e-01 1.17458536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.18710568099993 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:155.79, Y:130.01, Z:117.48 [[ 8.10999034e-02 -9.89835559e-01 -1.16826246e-01 1.55791045e+02] [ 4.49342915e-01 1.40935090e-01 -8.82172458e-01 1.30012936e+02] [ 8.89670585e-01 1.90490551e-02 4.56205418e-01 1.17480921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2171056809999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:155.79, Y:130.03, Z:117.51 [[ 8.16106394e-02 -9.91492852e-01 -1.01398359e-01 1.55792397e+02] [ 4.46983129e-01 1.27343256e-01 -8.85431972e-01 1.30026298e+02] [ 8.90811869e-01 2.69373137e-02 4.53573142e-01 1.17505901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.24710568099994 meters Centerline goodness : 0.997785 Centerline is valid? [True, True] Translation: X:155.80, Y:130.04, Z:117.52 [[ 6.88053167e-02 -9.82452515e-01 -1.73357676e-01 1.55800172e+02] [ 4.45865298e-01 1.85732216e-01 -8.75618455e-01 1.30043989e+02] [ 8.92451659e-01 -1.70469666e-02 4.50820848e-01 1.17521159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2771056809999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:155.79, Y:130.05, Z:117.55 [[ 7.84412716e-02 -9.96255419e-01 -3.63607925e-02 1.55792479e+02] [ 4.48257582e-01 6.78252495e-02 -8.91327592e-01 1.30054375e+02] [ 8.90456123e-01 5.36178688e-02 4.51899344e-01 1.17551250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.30710568099994 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:155.80, Y:130.06, Z:117.58 [[ 7.22265612e-02 -9.93515594e-01 -8.78071112e-02 1.55799972e+02] [ 4.42696760e-01 1.10823545e-01 -8.89796449e-01 1.30061328e+02] [ 8.93757743e-01 2.53950140e-02 4.47830538e-01 1.17580999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3371056809999 meters Centerline goodness : 0.996782 Centerline is valid? [True, True] Translation: X:155.81, Y:130.08, Z:117.59 [[ 6.08004376e-02 -9.85219198e-01 -1.60145056e-01 1.55805645e+02] [ 4.45602798e-01 1.70357908e-01 -8.78872192e-01 1.30081285e+02] [ 8.93163733e-01 -1.79252710e-02 4.49374267e-01 1.17590613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.36710568099994 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:155.80, Y:130.09, Z:117.63 [[ 6.78294010e-02 -9.97688058e-01 -4.20857283e-03 1.55797251e+02] [ 4.45279560e-01 3.40473568e-02 -8.94744037e-01 1.30089515e+02] [ 8.92818731e-01 5.88159606e-02 4.46559511e-01 1.17625365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3971056809999 meters Centerline goodness : 0.993779 Centerline is valid? [True, True] Translation: X:155.84, Y:130.10, Z:117.65 [[ 8.28216682e-02 -9.81190912e-01 -1.74370197e-01 1.55835524e+02] [ 4.47454339e-01 1.92955727e-01 -8.73242636e-01 1.30104536e+02] [ 8.90463467e-01 -5.69928933e-03 4.55019046e-01 1.17648287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.42710568099994 meters Centerline goodness : 0.994981 Centerline is valid? [True, True] Translation: X:155.82, Y:130.12, Z:117.67 [[ 6.42722508e-02 -9.91015496e-01 -1.17291794e-01 1.55816182e+02] [ 4.42942580e-01 1.33652639e-01 -8.86531919e-01 1.30119714e+02] [ 8.94243227e-01 5.02587189e-03 4.47553116e-01 1.17670810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.4571056809999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:155.80, Y:130.12, Z:117.70 [[ 6.91216023e-02 -9.97385493e-01 -2.10803702e-02 1.55804629e+02] [ 4.32222854e-01 4.89855198e-02 -9.00435352e-01 1.30115737e+02] [ 8.99113791e-01 5.31281165e-02 4.34478762e-01 1.17704362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.48710568099995 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:155.81, Y:130.12, Z:117.73 [[ 6.77560364e-02 -9.92694105e-01 -9.98375388e-02 1.55814942e+02] [ 4.30390141e-01 1.19359850e-01 -8.94716465e-01 1.30119384e+02] [ 9.00096354e-01 1.76533489e-02 4.35333106e-01 1.17734890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.5171056809999 meters Centerline goodness : 0.994577 Centerline is valid? [True, True] Translation: X:155.82, Y:130.14, Z:117.74 [[ 5.09128805e-02 -9.80919716e-01 -1.87628326e-01 1.55820786e+02] [ 4.44313499e-01 1.90502649e-01 -8.75382348e-01 1.30143235e+02] [ 8.94423498e-01 -3.87975612e-02 4.45534910e-01 1.17739845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.54710568099995 meters Centerline goodness : 0.956487 Centerline is valid? [True, True] Translation: X:155.83, Y:130.22, Z:117.74 [[ 7.01721848e-02 -9.95860630e-01 -5.77708475e-02 1.55827609e+02] [ 4.77900233e-01 8.43966145e-02 -8.74350375e-01 1.30220950e+02] [ 8.75606779e-01 3.37463746e-02 4.81844322e-01 1.17742223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.5771056809999 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:155.82, Y:130.16, Z:117.80 [[ 5.54284091e-02 -9.97661580e-01 -3.99882954e-02 1.55823686e+02] [ 4.37984307e-01 6.02856067e-02 -8.96958969e-01 1.30159397e+02] [ 8.97272221e-01 3.22027629e-02 4.40301651e-01 1.17804001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.60710568099995 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:155.83, Y:130.17, Z:117.83 [[ 5.47679355e-02 -9.93114130e-01 -1.03560598e-01 1.55831641e+02] [ 4.36840137e-01 1.17095310e-01 -8.91885297e-01 1.30165642e+02] [ 8.97870351e-01 3.60729079e-03 4.40245181e-01 1.17833608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.6371056809999 meters Centerline goodness : 0.990561 Centerline is valid? [True, True] Translation: X:155.84, Y:130.20, Z:117.85 [[ 3.60370073e-02 -9.81725638e-01 -1.86858520e-01 1.55837210e+02] [ 4.52354802e-01 1.82752385e-01 -8.72912767e-01 1.30199090e+02] [ 8.91109683e-01 -5.30691853e-02 4.50674156e-01 1.17845517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.66710568099995 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:155.83, Y:130.19, Z:117.88 [[ 4.18346513e-02 -9.98930482e-01 -1.96914798e-02 1.55829584e+02] [ 4.28738755e-01 3.57502819e-02 -9.02720886e-01 1.30193624e+02] [ 9.02459385e-01 2.93225129e-02 4.29775812e-01 1.17880287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.6971056809999 meters Centerline goodness : 0.962503 Centerline is valid? [True, True] Translation: X:155.85, Y:130.22, Z:117.82 [[ 1.59667903e-02 -9.81691065e-01 -1.89809678e-01 1.55845217e+02] [ 4.73451059e-01 1.74626320e-01 -8.63336402e-01 1.30222105e+02] [ 8.80675398e-01 -7.60808820e-02 4.67570897e-01 1.17818461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.7271056809999 meters Centerline goodness : 0.979738 Centerline is valid? [True, True] Translation: X:155.79, Y:130.27, Z:117.87 [[ 2.67442491e-03 -9.88900353e-01 1.48556184e-01 1.55791161e+02] [ 4.58043874e-01 -1.30844919e-01 -8.79247074e-01 1.30268770e+02] [ 8.88925563e-01 7.03967303e-02 4.52609814e-01 1.17873522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.7571056809999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:155.84, Y:130.22, Z:117.93 [[ 3.10032246e-02 -9.99047933e-01 -3.06924577e-02 1.55836996e+02] [ 4.31506418e-01 4.10764489e-02 -9.01174199e-01 1.30215106e+02] [ 9.01576958e-01 1.46953136e-02 4.32369097e-01 1.17927069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.7871056809999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:155.84, Y:130.22, Z:117.96 [[ 3.36071698e-02 -9.95324188e-01 -9.05556178e-02 1.55841807e+02] [ 4.30141926e-01 9.61903399e-02 -8.97622049e-01 1.30220351e+02] [ 9.02135512e-01 -8.78523129e-03 4.31363348e-01 1.17957239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.81710568099993 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:155.84, Y:130.23, Z:117.98 [[ 3.63057563e-02 -9.93628324e-01 -1.06698857e-01 1.55841524e+02] [ 4.31078303e-01 1.11896358e-01 -8.95349486e-01 1.30229948e+02] [ 9.01583822e-01 -1.34892221e-02 4.32394094e-01 1.17981950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.8471056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:155.84, Y:130.24, Z:118.01 [[ 4.67003955e-02 -9.92524288e-01 -1.12759087e-01 1.55836741e+02] [ 4.29844122e-01 1.21863857e-01 -8.94641398e-01 1.30238675e+02] [ 9.01694573e-01 -6.68872385e-03 4.32321821e-01 1.18006786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.87710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:155.83, Y:130.25, Z:118.03 [[ 5.30706447e-02 -9.93500945e-01 -1.00694481e-01 1.55833682e+02] [ 4.29334563e-01 1.13741958e-01 -8.95954575e-01 1.30251838e+02] [ 9.01584904e-01 4.31726604e-03 4.32580653e-01 1.18030825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.9071056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:155.83, Y:130.26, Z:118.06 [[ 6.57129720e-02 -9.92518903e-01 -1.02898168e-01 1.55831207e+02] [ 4.26939729e-01 1.21171590e-01 -8.96124943e-01 1.30261288e+02] [ 9.01889280e-01 1.49557173e-02 4.31708297e-01 1.18056187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.93710568099993 meters Centerline goodness : 0.998367 Centerline is valid? [True, True] Translation: X:155.86, Y:130.29, Z:118.07 [[ 9.34360225e-02 -9.80144031e-01 -1.74892504e-01 1.55855541e+02] [ 4.24249202e-01 1.98110424e-01 -8.83609006e-01 1.30289624e+02] [ 9.00712121e-01 8.36290587e-03 4.34335973e-01 1.18070291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.9671056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:155.82, Y:130.29, Z:118.10 [[ 7.82937916e-02 -9.96454532e-01 -3.07968919e-02 1.55821352e+02] [ 4.26347737e-01 6.13914259e-02 -9.02473656e-01 1.30290471e+02] [ 9.01164629e-01 5.75278991e-02 4.29642703e-01 1.18102553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.83, Y:130.30, Z:118.13 [[ 8.20052266e-02 -9.92206811e-01 -9.38125151e-02 1.55830681e+02] [ 4.24250604e-01 1.19928518e-01 -8.97568146e-01 1.30297315e+02] [ 9.01824023e-01 3.38052630e-02 4.30779104e-01 1.18130234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0271056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:155.83, Y:130.31, Z:118.16 [[ 8.18979991e-02 -9.91569732e-01 -1.00410084e-01 1.55833733e+02] [ 4.22979876e-01 1.25806106e-01 -8.97363276e-01 1.30307190e+02] [ 9.02430464e-01 3.10208121e-02 4.29717310e-01 1.18155602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.84, Y:130.32, Z:118.18 [[ 7.98713112e-02 -9.93425014e-01 -8.20202115e-02 1.55835613e+02] [ 4.13949693e-01 1.07908736e-01 -9.03881273e-01 1.30317275e+02] [ 9.06788964e-01 3.82419410e-02 4.19846792e-01 1.18179806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0871056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:155.84, Y:130.33, Z:118.21 [[ 7.97070768e-02 -9.92893468e-01 -8.83704853e-02 1.55839006e+02] [ 4.11544766e-01 1.13522481e-01 -9.04291741e-01 1.30327497e+02] [ 9.07897399e-01 3.57100405e-02 4.17668655e-01 1.18205391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.85, Y:130.34, Z:118.23 [[ 7.95689110e-02 -9.90286119e-01 -1.14027153e-01 1.55846887e+02] [ 4.14959099e-01 1.36912913e-01 -8.99479739e-01 1.30337817e+02] [ 9.06354089e-01 2.42540185e-02 4.21822247e-01 1.18228964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.1471056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.85, Y:130.35, Z:118.26 [[ 7.78620625e-02 -9.93029585e-01 -8.84858299e-02 1.55851221e+02] [ 4.09406899e-01 1.12774450e-01 -9.05355132e-01 1.30348523e+02] [ 9.09023372e-01 3.42661086e-02 4.15334014e-01 1.18255686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.86, Y:130.36, Z:118.28 [[ 7.73572922e-02 -9.90425391e-01 -1.14338941e-01 1.55858683e+02] [ 4.09372469e-01 1.36122786e-01 -9.02155623e-01 1.30356040e+02] [ 9.09081972e-01 2.29811018e-02 4.15982978e-01 1.18281380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.2071056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.86, Y:130.36, Z:118.30 [[ 7.74088983e-02 -9.91199398e-01 -1.07385363e-01 1.55864756e+02] [ 4.10713615e-01 1.29847801e-01 -9.02470983e-01 1.30364981e+02] [ 9.08472448e-01 2.57546542e-02 4.17150463e-01 1.18304525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:155.87, Y:130.37, Z:118.33 [[ 7.71308531e-02 -9.90897962e-01 -1.10327063e-01 1.55869019e+02] [ 4.11735634e-01 1.32437007e-01 -9.01628641e-01 1.30373584e+02] [ 9.08033369e-01 2.41178032e-02 4.18202980e-01 1.18330496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.2671056809999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:155.91, Y:130.41, Z:118.35 [[ 1.07936966e-01 -9.74411555e-01 -1.97159156e-01 1.55914697e+02] [ 4.12722947e-01 2.24340170e-01 -8.82797405e-01 1.30405758e+02] [ 9.04438710e-01 1.39143655e-02 4.26376605e-01 1.18354601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29710568099995 meters Centerline goodness : 0.996892 Centerline is valid? [True, True] Translation: X:155.90, Y:130.43, Z:118.36 [[ 9.43316790e-02 -9.89226332e-01 -1.11949984e-01 1.55896422e+02] [ 4.27085472e-01 1.41789423e-01 -8.93025061e-01 1.30426513e+02] [ 8.99277229e-01 3.64283415e-02 4.35859429e-01 1.18363143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.3271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.88, Y:130.42, Z:118.40 [[ 6.68192347e-02 -9.97305736e-01 -3.02730823e-02 1.55879155e+02] [ 4.15642143e-01 5.54052546e-02 -9.07839120e-01 1.30415646e+02] [ 9.07070449e-01 4.80783464e-02 4.18224430e-01 1.18400982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.89, Y:130.42, Z:118.43 [[ 6.36407771e-02 -9.93632340e-01 -9.29764758e-02 1.55890946e+02] [ 4.12083819e-01 1.11016213e-01 -9.04357411e-01 1.30418861e+02] [ 9.08920666e-01 1.92399072e-02 4.16524967e-01 1.18431202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.3871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.90, Y:130.43, Z:118.45 [[ 5.40067655e-02 -9.93703631e-01 -9.81649765e-02 1.55898875e+02] [ 4.13065453e-01 1.11735409e-01 -9.03820851e-01 1.30429291e+02] [ 9.09098565e-01 8.26388021e-03 4.16499109e-01 1.18454900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41710568099995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:155.91, Y:130.44, Z:118.48 [[ 4.64047556e-02 -9.92929014e-01 -1.09263774e-01 1.55905772e+02] [ 4.11676523e-01 1.18670396e-01 -9.03570571e-01 1.30436362e+02] [ 9.10147812e-01 -3.05135903e-03 4.14272435e-01 1.18477914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.4471056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:155.91, Y:130.44, Z:118.50 [[ 4.12441933e-02 -9.93524489e-01 -1.05867873e-01 1.55906061e+02] [ 4.08764279e-01 1.13463532e-01 -9.05559380e-01 1.30442625e+02] [ 9.11707563e-01 -5.92593847e-03 4.10797033e-01 1.18504982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.4771056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:155.91, Y:130.46, Z:118.53 [[ 3.46727156e-02 -9.95435311e-01 -8.89176223e-02 1.55910372e+02] [ 4.08124890e-01 9.53174461e-02 -9.07936484e-01 1.30455077e+02] [ 9.12267437e-01 -4.80887126e-03 4.09566841e-01 1.18530651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.5071056809999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:155.91, Y:130.47, Z:118.56 [[ 3.13117823e-02 -9.97130185e-01 -6.89272622e-02 1.55912567e+02] [ 4.10762882e-01 7.57058547e-02 -9.08593682e-01 1.30472828e+02] [ 9.11204383e-01 1.36926714e-04 4.11954554e-01 1.18555646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.5371056809999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:155.92, Y:130.48, Z:118.58 [[ 2.79229188e-02 -9.93808310e-01 -1.07542330e-01 1.55919259e+02] [ 4.12121020e-01 1.09460639e-01 -9.04530062e-01 1.30476716e+02] [ 9.10701145e-01 -1.90633355e-02 4.12625755e-01 1.18582899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.56710568099993 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:155.91, Y:130.52, Z:118.59 [[ 4.46191602e-03 -9.90313977e-01 -1.38774345e-01 1.55907723e+02] [ 4.28993277e-01 1.27252528e-01 -8.94299482e-01 1.30520740e+02] [ 9.03296662e-01 -5.55429719e-02 4.25405828e-01 1.18590503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.5971056809999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:155.91, Y:130.51, Z:118.63 [[ 2.93241824e-02 -9.98396531e-01 -4.84196157e-02 1.55912229e+02] [ 4.10131309e-01 5.61929413e-02 -9.10293724e-01 1.30505715e+02] [ 9.11554936e-01 6.83521885e-03 4.11121488e-01 1.18629617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.62710568099993 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:155.92, Y:130.51, Z:118.66 [[ 3.60137108e-02 -9.95789658e-01 -8.42969118e-02 1.55915684e+02] [ 4.07679632e-01 9.16528422e-02 -9.08513662e-01 1.30513203e+02] [ 9.12414560e-01 -1.64718567e-03 4.09263921e-01 1.18657413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.6571056809999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:155.92, Y:130.53, Z:118.68 [[ 3.80147422e-02 -9.95143718e-01 -9.07957088e-02 1.55915917e+02] [ 4.11022515e-01 9.83908816e-02 -9.06300020e-01 1.30526674e+02] [ 9.10832241e-01 -2.86631889e-03 4.12766777e-01 1.18680613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.68710568099993 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:155.92, Y:130.53, Z:118.71 [[ 4.20925490e-02 -9.94222454e-01 -9.87417346e-02 1.55916503e+02] [ 4.09416882e-01 1.07314809e-01 -9.06013989e-01 1.30531053e+02] [ 9.11375902e-01 -2.29009483e-03 4.11568611e-01 1.18707674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7171056809999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:155.91, Y:130.54, Z:118.73 [[ 4.26517547e-02 -9.96134184e-01 -7.67952842e-02 1.55914951e+02] [ 4.07356875e-01 8.75247713e-02 -9.09065339e-01 1.30543583e+02] [ 9.12272549e-01 7.49014477e-03 4.09515194e-01 1.18731712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.74710568099994 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:155.93, Y:130.57, Z:118.75 [[ 5.55097804e-02 -9.87724843e-01 -1.46007875e-01 1.55932087e+02] [ 4.15020515e-01 1.55827308e-01 -8.96368129e-01 1.30565449e+02] [ 9.08117083e-01 -1.08390655e-02 4.18576013e-01 1.18748610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7771056809999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:155.91, Y:130.57, Z:118.78 [[ 4.30970040e-02 -9.98473210e-01 -3.45528144e-02 1.55909419e+02] [ 4.09427006e-01 4.91983387e-02 -9.11015395e-01 1.30573866e+02] [ 9.11324407e-01 2.51151787e-02 4.10922198e-01 1.18777774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.80710568099994 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:155.91, Y:130.58, Z:118.80 [[ 4.75290382e-02 -9.97605639e-01 -5.02392165e-02 1.55911831e+02] [ 4.03396776e-01 6.51824914e-02 -9.12700545e-01 1.30580416e+02] [ 9.13789928e-01 2.31134410e-02 4.05528960e-01 1.18796789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8371056809999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:155.91, Y:130.59, Z:118.83 [[ 4.87256493e-02 -9.97066313e-01 -5.90303271e-02 1.55912978e+02] [ 4.04334404e-01 7.37318402e-02 -9.11634414e-01 1.30590774e+02] [ 9.13312378e-01 2.05519866e-02 4.06740845e-01 1.18828430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.86710568099994 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:155.92, Y:130.60, Z:118.85 [[ 5.62725712e-02 -9.95544635e-01 -7.56589542e-02 1.55916426e+02] [ 3.97582057e-01 9.18556104e-02 -9.12957313e-01 1.30596051e+02] [ 9.15839454e-01 2.12938127e-02 4.00979635e-01 1.18851274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8971056809999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:155.92, Y:130.60, Z:118.88 [[ 5.80088640e-02 -9.93936859e-01 -9.34049922e-02 1.55918797e+02] [ 3.99713521e-01 1.08859802e-01 -9.10153089e-01 1.30603746e+02] [ 9.14802751e-01 1.54617084e-02 4.03604835e-01 1.18878543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.92710568099994 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:155.92, Y:130.62, Z:118.90 [[ 6.23621085e-02 -9.94619071e-01 -8.27276929e-02 1.55920207e+02] [ 4.02580568e-01 1.00914855e-01 -9.09804967e-01 1.30618402e+02] [ 9.13257824e-01 2.34327944e-02 4.06707574e-01 1.18904245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.9571056809999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:155.92, Y:130.63, Z:118.93 [[ 6.52271740e-02 -9.93942065e-01 -8.84566930e-02 1.55924583e+02] [ 4.00413630e-01 1.07266308e-01 -9.10034540e-01 1.30627568e+02] [ 9.14010033e-01 2.39397157e-02 4.04984628e-01 1.18931309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.98710568099995 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:155.93, Y:130.64, Z:118.95 [[ 6.58989104e-02 -9.94625295e-01 -7.98614804e-02 1.55926115e+02] [ 3.99122781e-01 9.96284689e-02 -9.11468691e-01 1.30641738e+02] [ 9.14526292e-01 2.81902574e-02 4.03543021e-01 1.18954538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.0171056809999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:155.93, Y:130.65, Z:118.98 [[ 6.70719183e-02 -9.94349161e-01 -8.22867163e-02 1.55932304e+02] [ 3.97731027e-01 1.02282199e-01 -9.11783078e-01 1.30653102e+02] [ 9.15047205e-01 2.84270600e-02 4.02343776e-01 1.18978867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.04710568099995 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:155.94, Y:130.66, Z:119.00 [[ 6.76694851e-02 -9.94638332e-01 -7.82012119e-02 1.55936699e+02] [ 3.96399368e-01 9.87319643e-02 -9.12753822e-01 1.30663775e+02] [ 9.15580899e-01 3.07666702e-02 4.00955147e-01 1.19004961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.0771056809999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:155.94, Y:130.67, Z:119.03 [[ 6.55243795e-02 -9.93898570e-01 -8.87253542e-02 1.55944363e+02] [ 3.96114749e-01 1.07518443e-01 -9.11884253e-01 1.30671458e+02] [ 9.15860067e-01 2.46052285e-02 4.00742961e-01 1.19032310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.10710568099995 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:155.95, Y:130.69, Z:119.05 [[ 5.64246841e-02 -9.90612906e-01 -1.24508334e-01 1.55947908e+02] [ 3.98513349e-01 1.36688163e-01 -9.06919763e-01 1.30685919e+02] [ 9.15425238e-01 1.55442812e-03 4.02485053e-01 1.19052136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.1371056809999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:155.94, Y:130.71, Z:119.08 [[ 5.68090671e-02 -9.98341061e-01 -9.37318333e-03 1.55942602e+02] [ 3.99997515e-01 3.13611558e-02 -9.15979512e-01 1.30706891e+02] [ 9.14753911e-01 4.82866915e-02 4.01115541e-01 1.19075215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.16710568099995 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:155.95, Y:130.71, Z:119.11 [[ 5.44868527e-02 -9.95992963e-01 -7.09168532e-02 1.55952404e+02] [ 3.96575744e-01 8.67662122e-02 -9.13892392e-01 1.30705670e+02] [ 9.16383578e-01 2.16712163e-02 3.99714268e-01 1.19107423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.1971056809999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:155.96, Y:130.71, Z:119.13 [[ 4.80433418e-02 -9.95721145e-01 -7.89381922e-02 1.55956456e+02] [ 3.98152948e-01 9.15702352e-02 -9.12737159e-01 1.30712260e+02] [ 9.16060078e-01 1.24214694e-02 4.00848650e-01 1.19134171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.2271056809999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:155.96, Y:130.72, Z:119.16 [[ 4.48902506e-02 -9.96603911e-01 -6.90326669e-02 1.55956803e+02] [ 3.98262917e-01 8.12269005e-02 -9.13667795e-01 1.30724155e+02] [ 9.16172208e-01 1.35216250e-02 4.00556676e-01 1.19158283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.2571056809999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:155.96, Y:130.74, Z:119.18 [[ 4.00062301e-02 -9.97141157e-01 -6.41015967e-02 1.55955569e+02] [ 3.97190116e-01 7.47367114e-02 -9.14688163e-01 1.30736500e+02] [ 9.16863956e-01 1.11327045e-02 3.99044546e-01 1.19181529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.2871056809999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:155.96, Y:130.75, Z:119.21 [[ 3.77359855e-02 -9.97324045e-01 -6.26158504e-02 1.55955112e+02] [ 3.92953499e-01 7.24223615e-02 -9.16701996e-01 1.30747190e+02] [ 9.18783730e-01 9.98753570e-03 3.94634902e-01 1.19207629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.31710568099993 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:155.95, Y:130.76, Z:119.23 [[ 3.61005587e-02 -9.97455226e-01 -6.14802618e-02 1.55954703e+02] [ 3.92955028e-01 7.07330431e-02 -9.16833236e-01 1.30757169e+02] [ 9.18848788e-01 8.93921408e-03 3.94508548e-01 1.19233185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.3471056809999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:155.95, Y:130.77, Z:119.26 [[ 3.36885854e-02 -9.98036122e-01 -5.28107851e-02 1.55953725e+02] [ 3.92531442e-01 6.18075284e-02 -9.17659467e-01 1.30767433e+02] [ 9.19121399e-01 1.01847557e-02 3.93842766e-01 1.19258996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.37710568099993 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:155.95, Y:130.79, Z:119.28 [[ 2.24701815e-02 -9.94878403e-01 -9.85497564e-02 1.55954555e+02] [ 4.03882358e-01 9.92061142e-02 -9.09415850e-01 1.30787454e+02] [ 9.14534927e-01 -1.93677687e-02 4.04043014e-01 1.19279368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.4071056809999 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:155.96, Y:130.81, Z:119.30 [[ 4.12866017e-02 -9.98009436e-01 -4.76716060e-02 1.55960944e+02] [ 4.06508400e-01 6.03633654e-02 -9.11650802e-01 1.30810389e+02] [ 9.12713721e-01 1.82600553e-02 4.08191417e-01 1.19299529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.43710568099993 meters Centerline goodness : 0.997281 Centerline is valid? [True, True] Translation: X:155.96, Y:130.83, Z:119.32 [[ 4.60351517e-02 -9.97857641e-01 -4.64854128e-02 1.55963255e+02] [ 4.11595484e-01 6.13484522e-02 -9.09299469e-01 1.30829396e+02] [ 9.10203231e-01 2.27265530e-02 4.13537884e-01 1.19321488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.4671056809999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:155.95, Y:130.81, Z:119.36 [[ 2.85534922e-02 -9.99531542e-01 -1.10179586e-02 1.55949871e+02] [ 3.98090472e-01 2.14814468e-02 -9.17094610e-01 1.30814983e+02] [ 9.16901671e-01 2.18001094e-02 3.98517353e-01 1.19361229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49710568099994 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:155.96, Y:130.82, Z:119.39 [[ 2.84706810e-02 -9.97785885e-01 -6.01061435e-02 1.55955018e+02] [ 3.97069901e-01 6.64718716e-02 -9.15378055e-01 1.30817037e+02] [ 9.17346671e-01 2.19509620e-03 3.98083242e-01 1.19390355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5271056809999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:155.95, Y:130.83, Z:119.41 [[ 2.34340365e-02 -9.95086166e-01 -9.61996255e-02 1.55953281e+02] [ 4.03488215e-01 9.74547391e-02 -9.09780102e-01 1.30833617e+02] [ 9.14684703e-01 -1.74955950e-02 4.03789299e-01 1.19410246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55710568099994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:155.95, Y:130.84, Z:119.44 [[ 3.27154983e-02 -9.99396925e-01 -1.16397293e-02 1.55949345e+02] [ 3.94233313e-01 2.36052780e-02 -9.18707182e-01 1.30842091e+02] [ 9.18427891e-01 2.54671942e-02 3.94767819e-01 1.19439014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5871056809999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:155.95, Y:130.85, Z:119.47 [[ 4.06589994e-02 -9.97552697e-01 -5.68811294e-02 1.55950494e+02] [ 3.91045531e-01 6.82741283e-02 -9.17835517e-01 1.30847823e+02] [ 9.19472805e-01 1.50751623e-02 3.92864482e-01 1.19467090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61710568099994 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:155.95, Y:130.85, Z:119.49 [[ 4.59041221e-02 -9.96475230e-01 -7.02134456e-02 1.55951231e+02] [ 3.84863457e-01 8.25033490e-02 -9.19278694e-01 1.30853002e+02] [ 9.21831292e-01 1.51760920e-02 3.87294145e-01 1.19492552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.6471056809999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:155.95, Y:130.87, Z:119.51 [[ 5.36082408e-02 -9.97684951e-01 -4.18437012e-02 1.55945314e+02] [ 3.84568482e-01 5.92993120e-02 -9.21189814e-01 1.30873118e+02] [ 9.21538517e-01 3.32915967e-02 3.86857119e-01 1.19514641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67710568099994 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:155.94, Y:130.89, Z:119.54 [[ 5.61417440e-02 -9.97621958e-01 -3.99816605e-02 1.55944462e+02] [ 3.85593983e-01 5.86026164e-02 -9.20805633e-01 1.30888117e+02] [ 9.20958949e-01 3.62789464e-02 3.87967078e-01 1.19537857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.7071056809999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:155.94, Y:130.90, Z:119.56 [[ 5.92869530e-02 -9.97424310e-01 -4.03708318e-02 1.55943887e+02] [ 3.83320725e-01 6.00888119e-02 -9.21658590e-01 1.30897429e+02] [ 9.21710518e-01 3.91673530e-02 3.85895892e-01 1.19562730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73710568099995 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:155.94, Y:130.92, Z:119.58 [[ 5.12751606e-02 -9.95858692e-01 -7.50754491e-02 1.55941127e+02] [ 3.89224309e-01 8.91572968e-02 -9.16818092e-01 1.30918032e+02] [ 9.19714790e-01 1.77888051e-02 3.92183966e-01 1.19583071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.7671056809999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:155.95, Y:130.92, Z:119.61 [[ 6.37987886e-02 -9.97714100e-01 -2.22775479e-02 1.55945935e+02] [ 3.79879668e-01 4.49217676e-02 -9.23944518e-01 1.30917651e+02] [ 9.22833220e-01 5.04837535e-02 3.81877256e-01 1.19613286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79710568099995 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:155.95, Y:130.93, Z:119.63 [[ 4.41901468e-02 -9.88810433e-01 -1.42482132e-01 1.55948475e+02] [ 3.85023882e-01 1.48460665e-01 -9.10887502e-01 1.30930832e+02] [ 9.21848058e-01 -1.46067709e-02 3.87276130e-01 1.19628763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.8271056809999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:155.94, Y:130.96, Z:119.66 [[ 6.64613057e-02 -9.88542975e-01 1.35520042e-01 1.55938506e+02] [ 3.81320651e-01 -1.00346877e-01 -9.18980449e-01 1.30961209e+02] [ 9.22050680e-01 1.12753231e-01 3.70282666e-01 1.19655605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85710568099995 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:155.96, Y:130.95, Z:119.69 [[ 6.18234128e-02 -9.97564814e-01 -3.22847827e-02 1.55963535e+02] [ 3.73647230e-01 5.31267859e-02 -9.26048213e-01 1.30945020e+02] [ 9.25508300e-01 4.51883413e-02 3.76021809e-01 1.19692076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.8871056809999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:155.96, Y:130.96, Z:119.71 [[ 5.72171968e-02 -9.98100180e-01 -2.28521868e-02 1.55963272e+02] [ 3.80628922e-01 4.29693816e-02 -9.23728995e-01 1.30959378e+02] [ 9.22956021e-01 4.41549805e-02 3.82364383e-01 1.19713944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91710568099995 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:155.97, Y:130.96, Z:119.74 [[ 5.46441612e-02 -9.98087397e-01 -2.89061310e-02 1.55974420e+02] [ 3.76418790e-01 4.74047490e-02 -9.25236015e-01 1.30964647e+02] [ 9.24836694e-01 3.96779351e-02 3.78289243e-01 1.19743606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.9471056809999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:155.97, Y:130.98, Z:119.77 [[ 5.04367770e-02 -9.98656373e-01 -1.18987387e-02 1.55974543e+02] [ 3.82544098e-01 3.03227994e-02 -9.23439517e-01 1.30980531e+02] [ 9.22559561e-01 4.20235207e-02 3.83559486e-01 1.19766906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.9771056809999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:155.98, Y:130.99, Z:119.79 [[ 4.44127749e-02 -9.98494035e-01 -3.22050790e-02 1.55981477e+02] [ 3.84660411e-01 4.68432379e-02 -9.21868797e-01 1.30987173e+02] [ 9.21989085e-01 2.85547324e-02 3.86161564e-01 1.19792270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.0071056809999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:155.98, Y:131.00, Z:119.82 [[ 4.05150572e-02 -9.98480997e-01 -3.73393681e-02 1.55984443e+02] [ 3.85750461e-01 5.01033913e-02 -9.21241680e-01 1.30995714e+02] [ 9.21713140e-01 2.29204808e-02 3.87194447e-01 1.19817689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.0371056809999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:155.99, Y:130.99, Z:119.85 [[ 3.47265354e-02 -9.97436113e-01 -6.25721018e-02 1.55992829e+02] [ 3.83218001e-01 7.11138282e-02 -9.20916276e-01 1.30993471e+02] [ 9.23004893e-01 8.00147596e-03 3.84705010e-01 1.19846943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.06710568099993 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:155.99, Y:131.02, Z:119.87 [[ 3.05571559e-02 -9.99518977e-01 -5.29850622e-03 1.55987852e+02] [ 3.88328503e-01 1.67561523e-02 -9.21368659e-01 1.31020076e+02] [ 9.21014242e-01 2.60968448e-02 3.88653729e-01 1.19866921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.0971056809999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:155.99, Y:131.02, Z:119.90 [[ 3.18445017e-02 -9.97885045e-01 -5.66688957e-02 1.55994183e+02] [ 3.86212861e-01 6.45790114e-02 -9.20146281e-01 1.31022508e+02] [ 9.21859834e-01 7.41534346e-03 3.87452524e-01 1.19898901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.12710568099993 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:155.99, Y:131.03, Z:119.92 [[ 3.33333501e-02 -9.97856847e-01 -5.63080821e-02 1.55994814e+02] [ 3.85104477e-01 6.48126251e-02 -9.20594300e-01 1.31032179e+02] [ 9.22270801e-01 9.00199760e-03 3.86439561e-01 1.19919132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.1571056809999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:156.00, Y:131.05, Z:119.94 [[ 3.57420553e-02 -9.98840539e-01 -3.22503257e-02 1.55995235e+02] [ 3.84991795e-01 4.35422102e-02 -9.21892290e-01 1.31048059e+02] [ 9.22227642e-01 2.05342144e-02 3.86101700e-01 1.19944811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.18710568099993 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:156.00, Y:131.05, Z:119.97 [[ 4.22107522e-02 -9.97899438e-01 -4.91422898e-02 1.55999626e+02] [ 3.81317237e-01 6.15534748e-02 -9.22392723e-01 1.31054235e+02] [ 9.23480058e-01 2.01960885e-02 3.83114475e-01 1.19972097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2171056809999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:156.01, Y:131.06, Z:119.99 [[ 5.12959847e-02 -9.98639977e-01 -9.32303479e-03 1.56005929e+02] [ 3.65075388e-01 2.74399895e-02 -9.30573483e-01 1.31062093e+02] [ 9.29563706e-01 4.43310727e-02 3.65986438e-01 1.19986771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.24710568099994 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:156.00, Y:131.09, Z:120.02 [[ 5.28892715e-02 -9.98551125e-01 9.91845661e-03 1.56003325e+02] [ 3.77337126e-01 1.07880953e-02 -9.26013127e-01 1.31085234e+02] [ 9.24564448e-01 5.27187616e-02 3.77360986e-01 1.20016816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2771056809999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:156.01, Y:131.09, Z:120.04 [[ 4.66947387e-02 -9.97021954e-01 -6.13744649e-02 1.56008654e+02] [ 3.74730176e-01 7.44382561e-02 -9.24140812e-01 1.31091478e+02] [ 9.25957287e-01 2.01536497e-02 3.77090087e-01 1.20041068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.30710568099994 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:156.01, Y:131.11, Z:120.07 [[ 5.59187860e-02 -9.98435103e-01 6.58439568e-04 1.56008676e+02] [ 3.75944963e-01 2.04443900e-02 -9.26416436e-01 1.31105781e+02] [ 9.24953228e-01 5.20516194e-02 3.76499873e-01 1.20066809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3371056809999 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:156.02, Y:131.11, Z:120.10 [[ 5.60258044e-02 -9.97987423e-01 -2.97020537e-02 1.56016046e+02] [ 3.75641250e-01 4.86323819e-02 -9.25488273e-01 1.31107916e+02] [ 9.25070138e-01 4.06939084e-02 3.77609911e-01 1.20096550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.36710568099994 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:156.02, Y:131.12, Z:120.12 [[ 5.64914737e-02 -9.97662326e-01 -3.84525382e-02 1.56020054e+02] [ 3.75122800e-01 5.69015856e-02 -9.25227050e-01 1.31115299e+02] [ 9.25252181e-01 3.78430158e-02 3.77460339e-01 1.20123389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3971056809999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:156.02, Y:131.13, Z:120.15 [[ 5.12616037e-02 -9.98080778e-01 -3.47420357e-02 1.56020777e+02] [ 3.78293567e-01 5.16011684e-02 -9.24246340e-01 1.31128075e+02] [ 9.24265235e-01 3.42356610e-02 3.80212696e-01 1.20148168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.42710568099994 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:156.02, Y:131.14, Z:120.17 [[ 4.84179728e-02 -9.98169958e-01 -3.62275375e-02 1.56022586e+02] [ 3.76959632e-01 5.18489126e-02 -9.24777339e-01 1.31138486e+02] [ 9.24963316e-01 3.11195249e-02 3.78780200e-01 1.20174991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.4571056809999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:156.03, Y:131.15, Z:120.20 [[ 4.03552299e-02 -9.98780735e-01 -2.84341107e-02 1.56025633e+02] [ 3.77513204e-01 4.15888772e-02 -9.25069806e-01 1.31151926e+02] [ 9.25124444e-01 2.65971525e-02 3.78731244e-01 1.20198034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.48710568099995 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:156.03, Y:131.16, Z:120.22 [[ 3.36715984e-02 -9.99126213e-01 -2.47595251e-02 1.56029085e+02] [ 3.75432644e-01 3.56039475e-02 -9.26165584e-01 1.31161099e+02] [ 9.26237849e-01 2.18899417e-02 3.76303438e-01 1.20224149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.5171056809999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:156.03, Y:131.17, Z:120.25 [[ 3.13578306e-02 -9.99313158e-01 -1.97458475e-02 1.56030091e+02] [ 3.75662273e-01 3.00905681e-02 -9.26268004e-01 1.31173816e+02] [ 9.26225968e-01 2.16279852e-02 3.76347827e-01 1.20249813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.54710568099995 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:156.03, Y:131.19, Z:120.26 [[ 1.92342523e-02 -9.99147065e-01 -3.65401985e-02 1.56026459e+02] [ 3.84425190e-01 4.11280263e-02 -9.22239534e-01 1.31193131e+02] [ 9.22955750e-01 3.69161512e-03 3.84888367e-01 1.20255304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.5771056809999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:156.01, Y:131.23, Z:120.28 [[ 2.28620032e-02 -9.93037631e-01 1.15557745e-01 1.56013266e+02] [ 3.77067169e-01 -9.84863291e-02 -9.20934739e-01 1.31226211e+02] [ 9.25903709e-01 6.46274447e-02 3.72190293e-01 1.20283236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.60710568099995 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:156.03, Y:131.21, Z:120.32 [[ 7.63577424e-03 -9.98946827e-01 -4.52430343e-02 1.56026010e+02] [ 3.70547621e-01 4.48499727e-02 -9.27729993e-01 1.31212722e+02] [ 9.28782082e-01 -9.68076194e-03 3.70499834e-01 1.20319681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.6371056809999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:156.02, Y:131.23, Z:120.34 [[ 1.52099515e-02 -9.99041529e-01 4.10448707e-02 1.56021974e+02] [ 3.75830631e-01 -3.23272727e-02 -9.26124335e-01 1.31230739e+02] [ 9.26563540e-01 2.95122259e-02 3.74978712e-01 1.20340196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.66710568099995 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:156.03, Y:131.22, Z:120.38 [[ 1.01254368e-02 -9.99555446e-01 -2.80425870e-02 1.56033742e+02] [ 3.71166716e-01 2.97974609e-02 -9.28088024e-01 1.31218658e+02] [ 9.28511036e-01 -1.01117827e-03 3.71303424e-01 1.20377351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.6971056809999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:156.03, Y:131.24, Z:120.40 [[ 2.99976737e-03 -9.99875827e-01 -1.54703378e-02 1.56031878e+02] [ 3.73493415e-01 1.54711117e-02 -9.27503808e-01 1.31236431e+02] [ 9.27627981e-01 -2.99577363e-03 3.73493447e-01 1.20400506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.7271056809999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:156.03, Y:131.24, Z:120.43 [[-6.37391097e-03 -9.99958597e-01 -6.49438458e-03 1.56028451e+02] [ 3.74107019e-01 3.63837779e-03 -9.27378402e-01 1.31242912e+02] [ 9.27363635e-01 -8.34062222e-03 3.74068340e-01 1.20425920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.7571056809999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:156.03, Y:131.25, Z:120.45 [[-1.20901028e-02 -9.99923115e-01 -2.75555483e-03 1.56025153e+02] [ 3.74392454e-01 -1.97145631e-03 -9.27268248e-01 1.31254130e+02] [ 9.27191523e-01 -1.22424273e-02 3.74387504e-01 1.20450285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.7871056809999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:156.02, Y:131.27, Z:120.48 [[-1.57477799e-02 -9.99866552e-01 4.34582269e-03 1.56022676e+02] [ 3.73592280e-01 -9.91549666e-03 -9.27540022e-01 1.31265918e+02] [ 9.27459334e-01 -1.29831303e-02 3.73698572e-01 1.20475844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.81710568099993 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:156.02, Y:131.27, Z:120.50 [[-1.99705589e-02 -9.99800398e-01 -5.83140338e-04 1.56019102e+02] [ 3.74382640e-01 -6.93729935e-03 -9.27248356e-01 1.31274484e+02] [ 9.27059230e-01 -1.87359856e-02 3.74446454e-01 1.20500971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.8471056809999 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:156.01, Y:131.30, Z:120.52 [[-2.39006945e-02 -9.99261319e-01 3.00927368e-02 1.56006446e+02] [ 3.78838075e-01 -3.69093136e-02 -9.24726671e-01 1.31297741e+02] [ 9.25154295e-01 -1.07013352e-02 3.79440392e-01 1.20520445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.87710568099993 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:156.00, Y:131.31, Z:120.55 [[-2.43702024e-02 -9.99380745e-01 2.53814908e-02 1.56002283e+02] [ 3.77032997e-01 -3.27022959e-02 -9.25622320e-01 1.31306557e+02] [ 9.25879157e-01 -1.29879437e-02 3.77596479e-01 1.20545861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.9071056809999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:156.00, Y:131.30, Z:120.58 [[-2.31041066e-02 -9.99541982e-01 -1.95454918e-02 1.56004107e+02] [ 3.74206249e-01 9.48311858e-03 -9.27297015e-01 1.31298234e+02] [ 9.27057649e-01 -2.87384142e-02 3.73815757e-01 1.20578819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.93710568099993 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:155.88, Y:131.02, Z:120.79 [[ 3.58112650e-04 -4.43882088e-03 -9.99990084e-01 1.55883493e+02] [ 3.07067699e-01 9.51678780e-01 -4.11440761e-03 1.31019574e+02] [ 9.51687606e-01 -3.07063180e-01 1.70382672e-03 1.20785095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.9671056809999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:155.99, Y:131.35, Z:120.69 [[-1.49532944e-02 -9.99869518e-01 6.11110693e-03 1.55987455e+02] [ 3.09755113e-01 -1.04434121e-02 -9.50759015e-01 1.31347355e+02] [ 9.50698779e-01 -1.23240328e-02 3.09870859e-01 1.20689743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99710568099994 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:155.98, Y:131.36, Z:120.71 [[-1.46777313e-02 -9.99892042e-01 6.85236164e-04 1.55982639e+02] [ 3.11448940e-01 -5.22307239e-03 -9.50248535e-01 1.31359506e+02] [ 9.50149526e-01 -1.37340766e-02 3.11491979e-01 1.20712648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0271056809999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:155.97, Y:131.37, Z:120.74 [[-1.43653447e-02 -9.99876561e-01 6.36398969e-03 1.55968168e+02] [ 3.08458588e-01 -1.04857079e-02 -9.51179977e-01 1.31368906e+02] [ 9.51129295e-01 -1.17010010e-02 3.08571143e-01 1.20738226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05710568099994 meters Centerline goodness : 0.997498 Centerline is valid? [True, True] Translation: X:155.96, Y:131.38, Z:120.74 [[-2.45957703e-02 -9.96952495e-01 -7.40322235e-02 1.55964848e+02] [ 3.17119985e-01 6.24492046e-02 -9.46327117e-01 1.31381649e+02] [ 9.48066434e-01 -4.67527420e-02 3.14617574e-01 1.20742635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0871056809999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:155.92, Y:131.43, Z:120.78 [[-9.01997359e-03 -9.52931027e-01 3.03052961e-01 1.55916205e+02] [ 2.98303139e-01 -2.91830184e-01 -9.08763105e-01 1.31431230e+02] [ 9.54428561e-01 8.22046303e-02 2.86894617e-01 1.20776087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11710568099994 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:155.95, Y:131.39, Z:120.82 [[-1.06646828e-02 -9.99835390e-01 1.46784703e-02 1.55947126e+02] [ 3.00156847e-01 -1.72032761e-02 -9.53734719e-01 1.31391584e+02] [ 9.53830243e-01 -5.76543488e-03 3.00290906e-01 1.20818067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.1471056809999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:155.94, Y:131.40, Z:120.84 [[-1.00711052e-02 -9.99853681e-01 1.38271042e-02 1.55943148e+02] [ 2.99466081e-01 -1.62089584e-02 -9.53969253e-01 1.31400701e+02] [ 9.54053793e-01 -5.46677599e-03 2.99585506e-01 1.20842894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17710568099994 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:155.94, Y:131.40, Z:120.87 [[-7.40413569e-03 -9.99969462e-01 2.50093134e-03 1.55937007e+02] [ 2.97547308e-01 -4.59085008e-03 -9.54696037e-01 1.31403978e+02] [ 9.54678364e-01 -6.32455361e-03 2.97572213e-01 1.20872737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.2071056809999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:155.94, Y:131.41, Z:120.90 [[-5.73069721e-03 -9.99734621e-01 -2.23124580e-02 1.55939339e+02] [ 2.99416341e-01 1.95736693e-02 -9.53921761e-01 1.31410894e+02] [ 9.54105347e-01 -1.21473513e-02 2.99224711e-01 1.20898414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23710568099995 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:155.93, Y:131.42, Z:120.92 [[ 3.29697408e-04 -9.99519434e-01 3.09966443e-02 1.55925024e+02] [ 3.02976307e-01 -2.94399018e-02 -9.52543254e-01 1.31422763e+02] [ 9.52998032e-01 9.70529987e-03 3.02821000e-01 1.20922308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.2671056809999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:155.94, Y:131.42, Z:120.92 [[ 1.76726576e-02 -9.99757739e-01 -1.31201961e-02 1.55940428e+02] [ 2.76772593e-01 1.75011174e-02 -9.60776063e-01 1.31423295e+02] [ 9.60772923e-01 1.33481557e-02 2.77014833e-01 1.20924677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29710568099995 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:155.91, Y:131.42, Z:120.95 [[ 1.67561091e-02 -9.99605079e-01 2.25592429e-02 1.55914752e+02] [ 2.74873301e-01 -1.70877867e-02 -9.61328600e-01 1.31419953e+02] [ 9.61334438e-01 2.23090604e-02 2.74478422e-01 1.20954149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.3271056809999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:155.92, Y:131.34, Z:120.68 [[ 2.67217735e-02 -9.99636236e-01 -3.65287260e-03 1.55915820e+02] [ 2.72824686e-01 1.08083658e-02 -9.62003051e-01 1.31337478e+02] [ 9.61692590e-01 2.47098338e-02 2.73014261e-01 1.20682382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:155.94, Y:131.34, Z:120.71 [[ 4.02719975e-02 -9.95269171e-01 -8.84163074e-02 1.55937148e+02] [ 2.65638942e-01 9.59681812e-02 -9.59284140e-01 1.31336248e+02] [ 9.63231083e-01 1.51454741e-02 2.68247080e-01 1.20707025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.3871056809999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:155.90, Y:131.37, Z:120.73 [[ 3.19163469e-02 -9.90003157e-01 1.37386667e-01 1.55895930e+02] [ 2.80279451e-01 -1.23076383e-01 -9.51995606e-01 1.31369202e+02] [ 9.59387709e-01 6.88908816e-02 2.73549393e-01 1.20730541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41710568099995 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:155.91, Y:131.36, Z:120.76 [[ 3.01044654e-02 -9.99516310e-01 -7.80177549e-03 1.55910092e+02] [ 2.75813988e-01 1.58090176e-02 -9.61081016e-01 1.31358198e+02] [ 9.60739489e-01 2.67809914e-02 2.76156501e-01 1.20762698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.4471056809999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:155.91, Y:131.39, Z:120.78 [[ 2.14038451e-02 -9.99437065e-01 -2.58346494e-02 1.55906354e+02] [ 2.86712932e-01 3.08913003e-02 -9.57518367e-01 1.31385048e+02] [ 9.57777412e-01 1.30874467e-02 2.87212723e-01 1.20780427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.4771056809999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:155.91, Y:131.40, Z:120.81 [[ 2.28434514e-02 -9.99739012e-01 -2.90109679e-04 1.55905091e+02] [ 2.87270372e-01 6.84190677e-03 -9.57825100e-01 1.31395332e+02] [ 9.57577104e-01 2.17966912e-02 2.87351691e-01 1.20805632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.5071056809999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:155.92, Y:131.38, Z:120.80 [[ 3.90968062e-02 -9.99234743e-01 1.17000651e-03 1.55921133e+02] [ 2.68733142e-01 9.38687703e-03 -9.63168929e-01 1.31380871e+02] [ 9.62420874e-01 3.79712485e-02 2.68894489e-01 1.20803108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.5371056809999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:155.91, Y:131.39, Z:120.79 [[ 3.38602211e-02 -9.99418235e-01 4.08364099e-03 1.55913881e+02] [ 2.73711487e-01 5.34340641e-03 -9.61797000e-01 1.31393122e+02] [ 9.61215641e-01 3.36843985e-02 2.73733180e-01 1.20789309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.56710568099993 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:155.91, Y:131.38, Z:120.78 [[ 2.29406387e-02 -9.99703502e-01 8.16299361e-03 1.55911325e+02] [ 2.81536469e-01 -1.37457793e-03 -9.59549544e-01 1.31380755e+02] [ 9.59276260e-01 2.43108598e-02 2.81421460e-01 1.20783718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.5971056809999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:155.91, Y:131.40, Z:120.77 [[ 2.18502778e-02 -9.99216561e-01 3.29974044e-02 1.55909852e+02] [ 2.84703852e-01 -2.54197575e-02 -9.58278432e-01 1.31399876e+02] [ 9.58366466e-01 3.03331381e-02 2.83925375e-01 1.20767921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.62710568099993 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:155.93, Y:131.38, Z:120.78 [[ 2.37219297e-02 -9.99496322e-01 2.10801381e-02 1.55929762e+02] [ 2.85691786e-01 -1.34291707e-02 -9.58227458e-01 1.31376348e+02] [ 9.58027908e-01 2.87534267e-02 2.85229324e-01 1.20781374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.6571056809999 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:155.92, Y:131.39, Z:120.77 [[-3.68204079e-03 -9.99866218e-01 -1.59370146e-02 1.55923439e+02] [ 2.41951203e-01 1.45728319e-02 -9.70178977e-01 1.31388527e+02] [ 9.70281432e-01 -7.42821843e-03 2.41865177e-01 1.20765991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.68710568099993 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:155.94, Y:131.38, Z:120.75 [[ 2.45011841e-02 -9.95421477e-01 9.23892557e-02 1.55935296e+02] [ 2.73988655e-01 -8.21919797e-02 -9.58214326e-01 1.31383064e+02] [ 9.61420776e-01 4.87909936e-02 2.70720391e-01 1.20753385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7171056809999 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:155.94, Y:131.38, Z:120.77 [[ 1.46838541e-02 -9.99364721e-01 3.24736531e-02 1.55937758e+02] [ 2.99096523e-01 -2.66000689e-02 -9.53852036e-01 1.31377547e+02] [ 9.54109875e-01 2.37189809e-02 2.98515922e-01 1.20771609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.74710568099994 meters Centerline goodness : 0.998373 Centerline is valid? [True, True] Translation: X:155.94, Y:131.37, Z:120.76 [[ 1.17986803e-02 -9.99713096e-01 2.08450731e-02 1.55944352e+02] [ 3.01818724e-01 -1.63136782e-02 -9.53225745e-01 1.31372789e+02] [ 9.53292321e-01 1.75382392e-02 3.01539651e-01 1.20755219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7771056809999 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:155.95, Y:131.38, Z:120.78 [[ 9.63037505e-03 -9.99835600e-01 1.53632609e-02 1.55950007e+02] [ 2.95441891e-01 -1.18330591e-02 -9.55287427e-01 1.31377066e+02] [ 9.55312171e-01 1.37387271e-02 2.95279364e-01 1.20776854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.80710568099994 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:155.95, Y:131.38, Z:120.78 [[ 6.41859738e-03 -9.99829103e-01 1.73368745e-02 1.55950679e+02] [ 2.94631674e-01 -1.46767381e-02 -9.55498179e-01 1.31378571e+02] [ 9.55589336e-01 1.12409505e-02 2.94487118e-01 1.20780468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8371056809999 meters Centerline goodness : 0.998442 Centerline is valid? [True, True] Translation: X:155.95, Y:131.38, Z:120.78 [[ 5.17892052e-03 -9.99738126e-01 2.22903010e-02 1.55949777e+02] [ 2.92675589e-01 -1.97991205e-02 -9.56006796e-01 1.31379622e+02] [ 9.56197772e-01 1.14749102e-02 2.92496407e-01 1.20776417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.86710568099994 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:155.95, Y:131.38, Z:120.76 [[ 2.97421671e-04 -9.99668444e-01 2.57471282e-02 1.55948900e+02] [ 3.00954747e-01 -2.44639709e-02 -9.53324580e-01 1.31379184e+02] [ 9.53638376e-01 8.03225985e-03 3.00847688e-01 1.20761632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8971056809999 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:155.95, Y:131.38, Z:120.77 [[-1.02373695e-02 -9.99651091e-01 2.43493983e-02 1.55951437e+02] [ 2.96871757e-01 -2.62912078e-02 -9.54555359e-01 1.31382985e+02] [ 9.54862480e-01 -2.54348725e-03 2.97037328e-01 1.20773062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.92710568099994 meters Centerline goodness : 0.998179 Centerline is valid? [True, True] Translation: X:155.95, Y:131.38, Z:120.76 [[-2.93757335e-03 -9.98867261e-01 4.74927884e-02 1.55949672e+02] [ 3.03932140e-01 -4.61380742e-02 -9.51575816e-01 1.31381479e+02] [ 9.52689155e-01 1.16392610e-02 3.03723398e-01 1.20760115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9571056809999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:155.96, Y:131.39, Z:120.77 [[ 2.06814576e-02 -9.99593372e-01 1.96307924e-02 1.55958857e+02] [ 3.00585184e-01 -1.25099024e-02 -9.53672926e-01 1.31392085e+02] [ 9.53530715e-01 2.56240715e-02 3.00204234e-01 1.20766422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.98710568099995 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:155.97, Y:131.36, Z:120.80 [[ 1.57383228e-02 -9.93285128e-01 -1.14616581e-01 1.55967103e+02] [ 2.92251532e-01 1.14194697e-01 -9.49499138e-01 1.31357600e+02] [ 9.56211978e-01 -1.85533475e-02 2.92086334e-01 1.20797407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.0171056809999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:155.97, Y:131.38, Z:120.82 [[ 3.22221076e-02 -9.95617427e-01 -8.77933605e-02 1.55972228e+02] [ 2.97398879e-01 9.34110594e-02 -9.50172764e-01 1.31383213e+02] [ 9.54209433e-01 4.50692206e-03 2.99105408e-01 1.20820199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.04710568099995 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:155.96, Y:131.39, Z:120.84 [[ 2.74447159e-02 -9.99232952e-01 -2.79337770e-02 1.55957825e+02] [ 2.99977591e-01 3.48890553e-02 -9.53308029e-01 1.31391782e+02] [ 9.53551379e-01 1.77837609e-02 3.00705014e-01 1.20843128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.0771056809999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:155.96, Y:131.40, Z:120.87 [[ 2.85485603e-02 -9.99389271e-01 -2.01510487e-02 1.55957332e+02] [ 2.97200060e-01 2.77339817e-02 -9.54412359e-01 1.31398472e+02] [ 9.54388340e-01 2.12582059e-02 2.97810317e-01 1.20869543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.10710568099995 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:155.96, Y:131.40, Z:120.90 [[ 3.00269749e-02 -9.98902263e-01 -3.59534272e-02 1.55960924e+02] [ 2.97402416e-01 4.32689381e-02 -9.53771252e-01 1.31403600e+02] [ 9.54279930e-01 1.79462293e-02 2.98375182e-01 1.20897975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.1371056809999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:155.96, Y:131.41, Z:120.92 [[ 2.90789644e-02 -9.98943934e-01 -3.55728778e-02 1.55960208e+02] [ 2.98432740e-01 4.26410909e-02 -9.53477654e-01 1.31411897e+02] [ 9.53987586e-01 1.71100313e-02 2.99357535e-01 1.20922520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.16710568099995 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:155.96, Y:131.42, Z:120.95 [[ 3.04604140e-02 -9.99469256e-01 -1.15485902e-02 1.55961447e+02] [ 2.90445963e-01 1.99060245e-02 -9.56684323e-01 1.31421175e+02] [ 9.56406454e-01 2.57867591e-02 2.90898156e-01 1.20949506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.1971056809999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:155.98, Y:131.44, Z:120.97 [[ 4.93502003e-02 -9.95274211e-01 -8.36289608e-02 1.55979075e+02] [ 3.00280643e-01 9.46420982e-02 -9.49144040e-01 1.31438824e+02] [ 9.52573406e-01 2.17282904e-02 3.03532186e-01 1.20971934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.2271056809999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:155.95, Y:131.45, Z:121.00 [[ 3.71974469e-02 -9.98672534e-01 3.56303349e-02 1.55954665e+02] [ 2.89477628e-01 -2.33578363e-02 -9.56899741e-01 1.31447035e+02] [ 9.56461736e-01 4.59084121e-02 2.88224505e-01 1.20998453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.2571056809999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:155.96, Y:131.44, Z:121.03 [[ 3.84849310e-02 -9.98939094e-01 -2.52902337e-02 1.55961687e+02] [ 2.88267869e-01 3.53316204e-02 -9.56897754e-01 1.31443944e+02] [ 9.56776121e-01 2.95357823e-02 2.89321779e-01 1.21028634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.2871056809999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:155.96, Y:131.45, Z:121.06 [[ 3.93964789e-02 -9.98800794e-01 -2.90670076e-02 1.55963825e+02] [ 2.88062581e-01 3.92072324e-02 -9.56808624e-01 1.31451715e+02] [ 9.56800850e-01 2.93217735e-02 2.89261761e-01 1.21056464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.31710568099993 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:155.97, Y:131.46, Z:121.08 [[ 4.05119659e-02 -9.98481101e-01 -3.73399384e-02 1.55968158e+02] [ 2.87938552e-01 4.74516570e-02 -9.56472546e-01 1.31458961e+02] [ 9.56791603e-01 2.79969754e-02 2.89423562e-01 1.21082405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.3471056809999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:155.97, Y:131.47, Z:121.11 [[ 4.00616356e-02 -9.99098271e-01 -1.40609288e-02 1.55967137e+02] [ 2.90218475e-01 2.51003834e-02 -9.56631176e-01 1.31474524e+02] [ 9.56121489e-01 3.42434682e-02 2.90962339e-01 1.21106523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.37710568099993 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:155.98, Y:131.48, Z:121.14 [[ 4.12138502e-02 -9.97567115e-01 -5.62251640e-02 1.55978181e+02] [ 2.89354074e-01 6.57781749e-02 -9.54959398e-01 1.31476965e+02] [ 9.56334480e-01 2.30885733e-02 2.91361081e-01 1.21135825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.4071056809999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:155.98, Y:131.48, Z:121.16 [[ 4.11879607e-02 -9.97388147e-01 -5.93332559e-02 1.55982276e+02] [ 2.81993719e-01 6.85735507e-02 -9.56962492e-01 1.31480296e+02] [ 9.58531739e-01 2.26837279e-02 2.84081598e-01 1.21163912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.43710568099993 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:155.98, Y:131.50, Z:121.18 [[ 2.85053010e-02 -9.95482791e-01 -9.05619217e-02 1.55984753e+02] [ 2.85728699e-01 9.49331718e-02 -9.53596772e-01 1.31502103e+02] [ 9.57886506e-01 1.30642295e-03 2.87144101e-01 1.21181286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.4671056809999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:155.99, Y:131.53, Z:121.21 [[ 4.30008269e-02 -9.98867936e-01 2.03414465e-02 1.55985438e+02] [ 2.96717056e-01 -6.67338001e-03 -9.54942121e-01 1.31531238e+02] [ 9.53996812e-01 4.70989550e-02 2.96094193e-01 1.21205952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49710568099994 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:156.00, Y:131.51, Z:121.24 [[ 1.92328146e-02 -9.92476889e-01 -1.20912046e-01 1.55995973e+02] [ 2.87868371e-01 1.21310224e-01 -9.49955594e-01 1.31506159e+02] [ 9.57476840e-01 -1.65364340e-02 2.88035843e-01 1.21244685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5271056809999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:156.00, Y:131.52, Z:121.26 [[ 3.09844706e-02 -9.99473937e-01 -9.58186314e-03 1.56002625e+02] [ 2.91793070e-01 1.82138482e-02 -9.56308036e-01 1.31521402e+02] [ 9.55979480e-01 2.68347770e-02 2.92203915e-01 1.21264927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55710568099994 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:156.01, Y:131.53, Z:121.29 [[ 2.85950277e-02 -9.98565364e-01 -4.52718360e-02 1.56008238e+02] [ 2.96595222e-01 5.17266437e-02 -9.53601399e-01 1.31529593e+02] [ 9.54575088e-01 1.38408481e-02 2.97648841e-01 1.21290198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5871056809999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:156.01, Y:131.64, Z:121.65 [[ 2.00844202e-02 -9.99699663e-01 1.40427948e-02 1.56006094e+02] [ 2.91103194e-01 -7.58984254e-03 -9.56661552e-01 1.31639067e+02] [ 9.56480814e-01 2.33018950e-02 2.90863327e-01 1.21654622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61710568099994 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:155.54, Y:131.38, Z:121.68 [[-1.12807031e-01 9.85592025e-01 -1.26027512e-01 1.55535508e+02] [ 2.45686258e-01 1.50566482e-01 9.57584460e-01 1.31381824e+02] [ 9.62763126e-01 7.70590321e-02 -2.59131374e-01 1.21677028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.6471056809999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:155.58, Y:131.35, Z:121.64 [[-1.70064487e-01 9.40144146e-01 -2.95308408e-01 1.55576632e+02] [ 2.14986948e-01 3.27852170e-01 9.19942154e-01 1.31352292e+02] [ 9.61695733e-01 9.29620371e-02 -2.57874732e-01 1.21644967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67710568099994 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:155.98, Y:131.69, Z:121.29 [[-1.64672111e-01 -8.00458809e-01 5.76323513e-01 1.55978479e+02] [ 2.67276800e-01 -5.98651804e-01 -7.55102066e-01 1.31685589e+02] [ 9.49445211e-01 2.96936532e-02 3.12525325e-01 1.21285350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.7071056809999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:155.74, Y:131.20, Z:121.35 [[-2.01624517e-01 7.10477017e-01 -6.74218038e-01 1.55744014e+02] [ 1.59734812e-01 7.02990852e-01 6.93028609e-01 1.31203920e+02] [ 9.66350011e-01 3.20354674e-02 -2.55228103e-01 1.21347886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73710568099995 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:155.70, Y:131.24, Z:121.32 [[-2.68440481e-01 8.28822381e-01 -4.90910552e-01 1.55704148e+02] [ 1.12498265e-01 5.33101557e-01 8.38538532e-01 1.31243619e+02] [ 9.56704682e-01 1.69871102e-01 -2.36347118e-01 1.21319223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.7671056809999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:155.78, Y:131.22, Z:121.30 [[-3.14922319e-01 6.78754669e-01 -6.63412415e-01 1.55779802e+02] [ 5.73038065e-02 7.11300595e-01 7.00548169e-01 1.31223368e+02] [ 9.47385986e-01 1.82602197e-01 -2.62899659e-01 1.21298092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79710568099995 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:155.85, Y:131.22, Z:121.31 [[-3.46103759e-01 4.83040796e-01 -8.04290854e-01 1.55851439e+02] [-1.08337840e-02 8.55158721e-01 5.18253018e-01 1.31221271e+02] [ 9.38133688e-01 1.88082831e-01 -2.90740488e-01 1.21308041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.8271056809999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:155.83, Y:131.23, Z:121.55 [[-3.80985692e-01 1.88961181e-01 -9.05065508e-01 1.55834751e+02] [-7.77858036e-02 9.68871465e-01 2.35026495e-01 1.31232452e+02] [ 9.21303029e-01 1.59942980e-01 -3.54427668e-01 1.21551148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85710568099995 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:155.75, Y:131.76, Z:121.28 [[-4.21171915e-01 1.58407776e-01 8.93040421e-01 1.55747356e+02] [-3.51975003e-02 -9.86742811e-01 1.58429039e-01 1.31756164e+02] [ 9.06297608e-01 3.52930714e-02 4.21163917e-01 1.21278676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.8871056809999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:156.04, Y:131.33, Z:121.45 [[-3.43799704e-01 -4.01424874e-01 -8.48916859e-01 1.56039130e+02] [-1.57155426e-01 9.15869600e-01 -3.69438828e-01 1.31326815e+02] [ 9.25799079e-01 6.39893090e-03 -3.77961795e-01 1.21451071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91710568099995 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:156.06, Y:131.35, Z:121.33 [[-3.01080204e-01 -3.30756451e-01 -8.94399732e-01 1.56063459e+02] [-2.30984311e-01 9.35284860e-01 -2.68120270e-01 1.31346959e+02] [ 9.25201037e-01 1.25866600e-01 -3.57995307e-01 1.21333499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.9471056809999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:155.54, Y:131.66, Z:121.62 [[-3.62151236e-01 5.16052357e-01 7.76232212e-01 1.55543034e+02] [-1.72052250e-01 -8.55459809e-01 4.88453210e-01 1.31657500e+02] [ 9.16102890e-01 4.33414347e-02 3.98593796e-01 1.21623895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.9771056809999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:156.00, Y:131.34, Z:121.59 [[-2.76372742e-01 -5.50987159e-01 -7.87420636e-01 1.55997754e+02] [-2.96849878e-01 8.28210445e-01 -4.75339467e-01 1.31341128e+02] [ 9.14055938e-01 1.02374847e-01 -3.92455263e-01 1.21592203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.0071056809999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:156.05, Y:131.43, Z:121.49 [[-2.21225683e-01 -7.04753456e-01 -6.74078455e-01 1.56051290e+02] [-3.46811608e-01 7.02873990e-01 -6.21039341e-01 1.31430080e+02] [ 9.11471835e-01 9.63883806e-02 -3.99910457e-01 1.21488454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.0371056809999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:156.01, Y:131.41, Z:121.71 [[-1.62583437e-01 -8.35068276e-01 -5.25573592e-01 1.56012323e+02] [-3.89200070e-01 5.43747338e-01 -7.43546998e-01 1.31406537e+02] [ 9.06691751e-01 8.36648524e-02 -4.13412943e-01 1.21709891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.06710568099993 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:155.76, Y:131.85, Z:121.46 [[-1.82283469e-01 -2.20479530e-01 9.58207448e-01 1.55755027e+02] [-2.84749787e-01 -9.20935914e-01 -2.66072547e-01 1.31848748e+02] [ 9.41111203e-01 -3.21349993e-01 1.05089894e-01 1.21460884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.0971056809999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:156.02, Y:131.43, Z:121.71 [[-7.93881902e-02 -8.88265562e-01 -4.52417734e-01 1.56017997e+02] [-3.56837678e-01 4.49098375e-01 -8.19132176e-01 1.31434599e+02] [ 9.30786972e-01 9.64102729e-02 -3.52619728e-01 1.21714170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.12710568099993 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:156.01, Y:131.51, Z:121.71 [[ 1.52974196e-03 -9.61857213e-01 -2.73547731e-01 1.56014190e+02] [-3.61617692e-01 2.54503961e-01 -8.96917153e-01 1.31505222e+02] [ 9.32325214e-01 1.00291751e-01 -3.47435260e-01 1.21706597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.1571056809999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:155.47, Y:131.39, Z:121.69 [[-3.92173272e-02 9.98420722e-01 4.02251597e-02 1.55469950e+02] [-3.65442232e-01 -5.17984006e-02 9.29391683e-01 1.31391711e+02] [ 9.30007514e-01 2.17482855e-02 3.66896492e-01 1.21688509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.18710568099993 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:155.95, Y:131.70, Z:121.57 [[ 6.13929411e-02 -9.68132114e-01 2.42798512e-01 1.55949247e+02] [-3.53113103e-01 -2.48592758e-01 -9.01949432e-01 1.31696003e+02] [ 9.33564161e-01 -3.03620079e-02 -3.57121976e-01 1.21566286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2171056809999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:155.49, Y:131.39, Z:121.51 [[ 4.24492087e-02 9.83107001e-01 -1.78041260e-01 1.55490114e+02] [-3.49514217e-01 1.81554207e-01 9.19172390e-01 1.31392632e+02] [ 9.35968951e-01 2.32098110e-02 3.51316706e-01 1.21509718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.24710568099994 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:155.48, Y:131.40, Z:121.54 [[ 4.49513261e-02 9.91285322e-01 -1.23825641e-01 1.55481580e+02] [-3.44373210e-01 1.31729553e-01 9.29545274e-01 1.31398142e+02] [ 9.37756083e-01 8.57940793e-04 3.47293527e-01 1.21543905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2771056809999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:156.00, Y:131.68, Z:121.63 [[ 1.20750754e-01 -9.68605033e-01 2.17309793e-01 1.55995163e+02] [-3.39201803e-01 -2.45994936e-01 -9.07980522e-01 1.31677690e+02] [ 9.32931612e-01 3.59274586e-02 -3.58256647e-01 1.21629123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.30710568099994 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:156.07, Y:131.58, Z:121.59 [[ 1.93564703e-01 -9.63445213e-01 -1.85218864e-01 1.56067865e+02] [-3.42012869e-01 1.10682093e-01 -9.33154152e-01 1.31575643e+02] [ 9.19543312e-01 2.43972942e-01 -3.08086515e-01 1.21594596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3371056809999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:155.65, Y:131.27, Z:121.61 [[ 2.06162921e-01 8.21129353e-01 -5.32206197e-01 1.55648577e+02] [-3.34393517e-01 5.70267209e-01 7.50317457e-01 1.31269263e+02] [ 9.19607430e-01 2.32786633e-02 3.92148286e-01 1.21609259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.36710568099994 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:155.97, Y:131.74, Z:121.73 [[ 2.51426569e-01 -7.33530436e-01 6.31441034e-01 1.55966369e+02] [-3.16112980e-01 -6.78856169e-01 -6.62741946e-01 1.31736363e+02] [ 9.14799030e-01 -3.29757735e-02 -4.02560969e-01 1.21728178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3971056809999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:155.72, Y:131.26, Z:121.68 [[ 2.65062964e-01 7.41865843e-01 -6.15935627e-01 1.55722726e+02] [-2.82574969e-01 6.70503184e-01 6.85986055e-01 1.31259306e+02] [ 9.21896421e-01 -7.78150664e-03 3.87358279e-01 1.21675948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.42710568099994 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:156.01, Y:131.75, Z:121.76 [[ 3.09294337e-01 -7.18038884e-01 6.23503948e-01 1.56009058e+02] [-2.64058107e-01 -6.94716677e-01 -6.69060576e-01 1.31749040e+02] [ 9.13570101e-01 4.22953751e-02 -4.04475923e-01 1.21764822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4571056809999 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:155.84, Y:131.26, Z:121.72 [[ 3.17125729e-01 5.72353304e-01 -7.56202994e-01 1.55837906e+02] [-2.35422437e-01 8.19911290e-01 5.21844567e-01 1.31258370e+02] [ 9.18698834e-01 1.25368131e-02 3.94759776e-01 1.21723675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.48710568099995 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:155.83, Y:131.26, Z:121.76 [[ 3.11212828e-01 6.28231352e-01 -7.13072187e-01 1.55827035e+02] [-2.42726854e-01 7.77992679e-01 5.79492076e-01 1.31260752e+02] [ 9.18820031e-01 -7.26359895e-03 3.94609921e-01 1.21763934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.5171056809999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:155.97, Y:131.77, Z:121.86 [[ 3.56435243e-01 -4.78275154e-01 8.02624940e-01 1.55970387e+02] [-1.79906090e-01 -8.78104242e-01 -4.43358477e-01 1.31774501e+02] [ 9.16835709e-01 1.36314717e-02 -3.99031911e-01 1.21863188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.54710568099995 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:155.93, Y:131.29, Z:121.81 [[ 3.47431596e-01 4.35428410e-01 -8.30477806e-01 1.55930956e+02] [-1.88728756e-01 8.99996222e-01 3.92922711e-01 1.31286372e+02] [ 9.18516599e-01 2.02212792e-02 3.94864986e-01 1.21814067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.5771056809999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:155.91, Y:131.78, Z:121.94 [[ 3.69448705e-01 -9.20248710e-02 9.24683231e-01 1.55906140e+02] [-9.39898819e-02 -9.93681764e-01 -6.13388392e-02 1.31784040e+02] [ 9.24485563e-01 -6.42493130e-02 -3.75763847e-01 1.21936188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.60710568099995 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:155.92, Y:131.83, Z:121.95 [[ 3.82583966e-01 -6.08428423e-02 9.21915212e-01 1.55917347e+02] [-1.16054403e-02 -9.98067088e-01 -6.10524508e-02 1.31825424e+02] [ 9.23847835e-01 1.26584568e-02 -3.82550573e-01 1.21947326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.6371056809999 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:155.95, Y:131.88, Z:121.94 [[ 3.91952244e-01 -1.89405559e-01 9.00277164e-01 1.55952986e+02] [ 6.48877268e-02 -9.70448916e-01 -2.32418768e-01 1.31878030e+02] [ 9.17694405e-01 1.49513996e-01 -3.68079535e-01 1.21944264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.66710568099995 meters Centerline goodness : 0.995354 Centerline is valid? [True, True] Translation: X:155.85, Y:131.91, Z:122.00 [[ 3.54218102e-01 1.61790145e-01 9.21061065e-01 1.55850037e+02] [ 1.58653784e-01 -9.81039638e-01 1.11311299e-01 1.31905983e+02] [ 9.21606485e-01 1.06701346e-01 -3.73170618e-01 1.21996269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.6971056809999 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:155.84, Y:131.91, Z:122.01 [[ 3.46777516e-01 3.45693988e-01 8.71918013e-01 1.55842307e+02] [ 2.13522704e-01 -9.34289697e-01 2.85500993e-01 1.31905646e+02] [ 9.13319993e-01 8.71689663e-02 -3.97804175e-01 1.22009945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.7271056809999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:155.82, Y:131.93, Z:122.03 [[ 3.07243879e-01 5.17508840e-01 7.98614926e-01 1.55817233e+02] [ 2.86869785e-01 -8.50535575e-01 4.40789023e-01 1.31932019e+02] [ 9.07362621e-01 9.36687627e-02 -4.09779498e-01 1.22027633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.7571056809999 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:156.22, Y:131.73, Z:121.98 [[ 3.42130351e-01 -6.51571353e-01 -6.77053613e-01 1.56220740e+02] [ 2.46001414e-01 7.57514634e-01 -6.04694041e-01 1.31730405e+02] [ 9.06879334e-01 4.03280383e-02 4.19456222e-01 1.21978953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.7871056809999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:156.20, Y:131.72, Z:122.02 [[ 3.24139336e-01 -6.37543102e-01 -6.98908066e-01 1.56198196e+02] [ 2.40051691e-01 7.70046177e-01 -5.91104112e-01 1.31719596e+02] [ 9.15045833e-01 2.38260311e-02 4.02645556e-01 1.22020552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.81710568099993 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:156.21, Y:131.73, Z:122.05 [[ 3.23364501e-01 -6.40803783e-01 -6.96280052e-01 1.56210779e+02] [ 2.47129476e-01 7.67464239e-01 -5.91545150e-01 1.31733478e+02] [ 9.13434410e-01 1.92133776e-02 4.06532194e-01 1.22046077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.8471056809999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:156.22, Y:131.74, Z:122.07 [[ 3.19298674e-01 -6.44276728e-01 -6.94950253e-01 1.56220660e+02] [ 2.49027559e-01 7.64609185e-01 -5.94439289e-01 1.31741480e+02] [ 9.14348747e-01 1.67419118e-02 4.04581360e-01 1.22070021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.87710568099993 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:156.23, Y:131.74, Z:122.10 [[ 3.14407426e-01 -6.27759576e-01 -7.12085589e-01 1.56225881e+02] [ 2.42634926e-01 7.78351973e-01 -5.79047924e-01 1.31738524e+02] [ 9.17756102e-01 9.28013313e-03 3.97036038e-01 1.22102190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.9071056809999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:156.23, Y:131.74, Z:122.13 [[ 3.14582276e-01 -6.02943449e-01 -7.33141998e-01 1.56230590e+02] [ 2.41982129e-01 7.97775470e-01 -5.52267099e-01 1.31739543e+02] [ 9.17868531e-01 -3.67382113e-03 3.96867562e-01 1.22130000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.93710568099993 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:156.24, Y:131.75, Z:122.15 [[ 3.14781567e-01 -6.15639873e-01 -7.22426544e-01 1.56239503e+02] [ 2.39674163e-01 7.88009373e-01 -5.67095693e-01 1.31749001e+02] [ 9.18405608e-01 5.36429347e-03 3.95603796e-01 1.22151629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.9671056809999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:156.26, Y:131.75, Z:122.17 [[ 3.21285203e-01 -6.18918610e-01 -7.16739543e-01 1.56256763e+02] [ 2.38694397e-01 7.85356797e-01 -5.71173955e-01 1.31754699e+02] [ 9.16406462e-01 1.24280273e-02 4.00055923e-01 1.22169512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99710568099994 meters Centerline goodness : 0.983049 Centerline is valid? [True, True] Translation: X:155.80, Y:131.98, Z:122.31 [[ 2.32951741e-01 6.89013938e-01 6.86289502e-01 1.55803353e+02] [ 3.27313035e-01 -7.20082616e-01 6.11839197e-01 1.31979642e+02] [ 9.15750874e-01 8.21024936e-02 -3.93267742e-01 1.22305126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0271056809999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:156.28, Y:131.91, Z:122.26 [[ 2.79603168e-01 -8.94089864e-01 -3.49893389e-01 1.56278757e+02] [ 2.92994884e-01 4.26502551e-01 -8.55715824e-01 1.31906026e+02] [ 9.14317268e-01 1.36743883e-01 3.81215221e-01 1.22256183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05710568099994 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:156.28, Y:131.85, Z:122.31 [[ 2.74837180e-01 -7.41769456e-01 -6.11753708e-01 1.56278251e+02] [ 2.96328788e-01 6.70631431e-01 -6.80031421e-01 1.31849424e+02] [ 9.14687802e-01 5.61768303e-03 4.04122095e-01 1.22307569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0871056809999 meters Centerline goodness : 0.998353 Centerline is valid? [True, True] Translation: X:156.31, Y:131.88, Z:122.31 [[ 2.84988321e-01 -7.42381490e-01 -6.06342626e-01 1.56305510e+02] [ 3.15891467e-01 6.69977401e-01 -6.71820559e-01 1.31876898e+02] [ 9.04983004e-01 -7.74489860e-05 4.25447713e-01 1.22312319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11710568099994 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:156.30, Y:131.88, Z:122.35 [[ 2.67839140e-01 -7.84696455e-01 -5.59029220e-01 1.56302963e+02] [ 2.97533658e-01 6.19234060e-01 -7.26651843e-01 1.31880191e+02] [ 9.16371059e-01 2.82957962e-02 3.99328724e-01 1.22352403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.1471056809999 meters Centerline goodness : 0.961099 Centerline is valid? [True, True] Translation: X:155.82, Y:132.05, Z:122.49 [[ 1.95202645e-01 7.33414510e-01 6.51152121e-01 1.55815735e+02] [ 3.58101880e-01 -6.71383889e-01 6.48850304e-01 1.32045005e+02] [ 9.13049271e-01 1.06521503e-01 -3.93693025e-01 1.22489654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17710568099994 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:156.32, Y:132.04, Z:122.44 [[ 0.23896499 -0.95679148 -0.16566771 156.31990532] [ 0.34000712 0.24225697 -0.90868406 132.0355065 ] [ 0.90955533 0.16081547 0.38320685 122.43808589] [ 0. 0. 0. 1. ]] SLAMing on 335.2071056809999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:156.34, Y:131.96, Z:122.50 [[ 2.41660799e-01 -8.19905969e-01 -5.18993506e-01 1.56335425e+02] [ 3.44084466e-01 5.72496803e-01 -7.44213202e-01 1.31962185e+02] [ 9.07306970e-01 1.26955364e-03 4.20466943e-01 1.22495197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23710568099995 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:156.36, Y:131.97, Z:122.51 [[ 2.54199227e-01 -7.80252987e-01 -5.71478809e-01 1.56360204e+02] [ 3.43376181e-01 6.25202897e-01 -7.00866703e-01 1.31967839e+02] [ 9.04143546e-01 -1.80724362e-02 4.26846384e-01 1.22513143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.2671056809999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:156.34, Y:131.98, Z:122.55 [[ 2.31099871e-01 -8.37980907e-01 -4.94348914e-01 1.56340803e+02] [ 3.37022365e-01 5.45594338e-01 -7.67295734e-01 1.31979092e+02] [ 9.12693144e-01 1.07153051e-02 4.08505089e-01 1.22548540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29710568099995 meters Centerline goodness : 0.997108 Centerline is valid? [True, True] Translation: X:156.38, Y:132.00, Z:122.56 [[ 2.54621989e-01 -7.90822102e-01 -5.56568096e-01 1.56379869e+02] [ 3.50503502e-01 6.11873389e-01 -7.09054477e-01 1.32000366e+02] [ 9.01285159e-01 -1.45382053e-02 4.32982336e-01 1.22558458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.3271056809999 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:156.36, Y:132.03, Z:122.59 [[ 2.23655905e-01 -8.68022969e-01 -4.43299179e-01 1.56357385e+02] [ 3.50857390e-01 4.96031680e-01 -7.94261711e-01 1.32025231e+02] [ 9.09327844e-01 2.21065289e-02 4.15492687e-01 1.22586161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35710568099995 meters Centerline goodness : 0.998160 Centerline is valid? [True, True] Translation: X:156.39, Y:132.01, Z:122.61 [[ 2.46653663e-01 -7.81290364e-01 -5.73364926e-01 1.56385659e+02] [ 3.57442321e-01 6.23274028e-01 -6.95531792e-01 1.32012503e+02] [ 9.00775753e-01 -3.33894252e-02 4.32999063e-01 1.22612682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.3871056809999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:156.36, Y:132.04, Z:122.64 [[ 2.21123837e-01 -8.62321605e-01 -4.55527933e-01 1.56362620e+02] [ 3.54093645e-01 5.06204566e-01 -7.86367998e-01 1.32038847e+02] [ 9.08692434e-01 1.25851631e-02 4.17276496e-01 1.22642241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.4171056809999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:156.37, Y:132.02, Z:122.67 [[ 2.34835646e-01 -7.87430851e-01 -5.69916550e-01 1.56373807e+02] [ 3.58351835e-01 6.15148023e-01 -7.02265528e-01 1.32023043e+02] [ 9.03568582e-01 -3.93136624e-02 4.26635974e-01 1.22672456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.4471056809999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:156.36, Y:132.07, Z:122.69 [[ 2.23939061e-01 -8.67468708e-01 -4.44240180e-01 1.56364339e+02] [ 3.53459000e-01 4.97071624e-01 -7.92456015e-01 1.32066738e+02] [ 9.08249983e-01 2.04411666e-02 4.17928375e-01 1.22692994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.4771056809999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:156.38, Y:132.05, Z:122.72 [[ 2.54781328e-01 -7.73782109e-01 -5.79954931e-01 1.56384636e+02] [ 3.45165744e-01 6.33010812e-01 -6.92934283e-01 1.32052454e+02] [ 9.03297893e-01 -2.36338588e-02 4.28362413e-01 1.22723125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.5071056809999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:156.37, Y:132.08, Z:122.75 [[ 2.36623547e-01 -8.51654637e-01 -4.67646956e-01 1.56369213e+02] [ 3.42945568e-01 5.23545695e-01 -7.79928357e-01 1.32080842e+02] [ 9.09064153e-01 2.41719634e-02 4.15954422e-01 1.22751968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.5371056809999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:156.37, Y:132.08, Z:122.78 [[ 2.42976349e-01 -8.02429381e-01 -5.45040900e-01 1.56366534e+02] [ 3.37430231e-01 5.96705914e-01 -7.28067916e-01 1.32076911e+02] [ 9.09452216e-01 -7.00999296e-03 4.15749356e-01 1.22784483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.56710568099993 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:156.38, Y:132.09, Z:122.80 [[ 2.60097317e-01 -7.77991322e-01 -5.71908112e-01 1.56382984e+02] [ 3.25665947e-01 6.28270134e-01 -7.06553841e-01 1.32089130e+02] [ 9.09005543e-01 -2.47823847e-03 4.16776657e-01 1.22802038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.5971056809999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:156.37, Y:132.12, Z:122.83 [[ 2.52136129e-01 -8.39145435e-01 -4.81936003e-01 1.56372094e+02] [ 3.29688115e-01 5.42721902e-01 -7.72501576e-01 1.32115619e+02] [ 9.09798395e-01 3.58869849e-02 4.13496076e-01 1.22827638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.62710568099993 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:156.38, Y:132.12, Z:122.86 [[ 2.52107815e-01 -8.10764165e-01 -5.28302108e-01 1.56378353e+02] [ 3.22937028e-01 5.85128169e-01 -7.43866051e-01 1.32116669e+02] [ 9.12224383e-01 1.69261321e-02 4.09341155e-01 1.22855735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.6571056809999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:156.38, Y:132.13, Z:122.88 [[ 2.52654849e-01 -8.08353564e-01 -5.31723653e-01 1.56382370e+02] [ 3.21487563e-01 5.88466267e-01 -7.41857937e-01 1.32126783e+02] [ 9.12584941e-01 1.64914633e-02 4.08554473e-01 1.22880515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.68710568099993 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:156.39, Y:132.14, Z:122.90 [[ 2.52117401e-01 -8.15074416e-01 -5.21622960e-01 1.56389378e+02] [ 3.21394979e-01 5.78965570e-01 -7.49335797e-01 1.32136871e+02] [ 9.12766171e-01 2.12735930e-02 4.07928120e-01 1.22904560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7171056809999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:156.40, Y:132.14, Z:122.93 [[ 2.50373074e-01 -8.09838014e-01 -5.30542849e-01 1.56395507e+02] [ 3.22101028e-01 5.86457012e-01 -7.43181741e-01 1.32143039e+02] [ 9.12997399e-01 1.51842999e-02 4.07682702e-01 1.22929155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.74710568099994 meters Centerline goodness : 0.998030 Centerline is valid? [True, True] Translation: X:156.42, Y:132.18, Z:122.94 [[ 2.45786853e-01 -8.03825559e-01 -5.41713295e-01 1.56417037e+02] [ 3.50178473e-01 5.94747327e-01 -7.23637101e-01 1.32183787e+02] [ 9.03860531e-01 -1.18358489e-02 4.27663481e-01 1.22936283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7771056809999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:156.41, Y:132.17, Z:122.97 [[ 2.47875888e-01 -8.40464548e-01 -4.81847370e-01 1.56411660e+02] [ 3.27378542e-01 5.40778690e-01 -7.74843016e-01 1.32170771e+02] [ 9.11800874e-01 3.43184112e-02 4.09196056e-01 1.22974743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.80710568099994 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:156.42, Y:132.17, Z:123.00 [[ 2.46900890e-01 -8.16241668e-01 -5.22292534e-01 1.56420953e+02] [ 3.26517834e-01 5.77536080e-01 -7.48223350e-01 1.32169989e+02] [ 9.12373857e-01 1.41991843e-02 4.09111633e-01 1.23002366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8371056809999 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:156.43, Y:132.18, Z:123.03 [[ 2.41914709e-01 -8.27897171e-01 -5.06027220e-01 1.56428161e+02] [ 3.22539167e-01 5.60474764e-01 -7.62782095e-01 1.32179906e+02] [ 9.15120626e-01 2.13146101e-02 4.02616354e-01 1.23027706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.86710568099994 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:156.45, Y:132.19, Z:123.04 [[ 2.57266329e-01 -7.90019531e-01 -5.56491847e-01 1.56453459e+02] [ 3.25959093e-01 6.13070218e-01 -7.19649621e-01 1.32188309e+02] [ 9.09705835e-01 3.74803829e-03 4.15236375e-01 1.23043705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8971056809999 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:156.44, Y:132.20, Z:123.08 [[ 2.47364886e-01 -8.37472056e-01 -4.87289615e-01 1.56444446e+02] [ 3.26457175e-01 5.45550809e-01 -7.71880837e-01 1.32195481e+02] [ 9.12269876e-01 3.18570244e-02 4.08348875e-01 1.23075491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.92710568099994 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:156.45, Y:132.20, Z:123.11 [[ 2.46958172e-01 -8.21314884e-01 -5.14250447e-01 1.56452950e+02] [ 3.24502069e-01 5.70141244e-01 -7.54743247e-01 1.32196600e+02] [ 9.13077252e-01 1.95146789e-02 4.07319418e-01 1.23106648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9571056809999 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:156.46, Y:132.21, Z:123.13 [[ 2.49353920e-01 -8.19001451e-01 -5.16777753e-01 1.56462459e+02] [ 3.27511728e-01 5.73509532e-01 -7.50881405e-01 1.32205052e+02] [ 9.11349927e-01 1.79844470e-02 4.11239431e-01 1.23131978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.98710568099995 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:156.47, Y:132.22, Z:123.16 [[ 2.49966446e-01 -8.21351937e-01 -5.12735577e-01 1.56470182e+02] [ 3.28657704e-01 5.70081237e-01 -7.52988377e-01 1.32215718e+02] [ 9.10769394e-01 1.97073315e-02 4.12444822e-01 1.23156578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.0171056809999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:156.50, Y:132.23, Z:123.17 [[ 2.63411324e-01 -8.08834589e-01 -5.25738606e-01 1.56496611e+02] [ 3.28365711e-01 5.87618468e-01 -7.39513688e-01 1.32232362e+02] [ 9.07077965e-01 2.21617480e-02 4.20378904e-01 1.23173572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.04710568099995 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:156.49, Y:132.24, Z:123.20 [[ 2.43927280e-01 -8.42679947e-01 -4.79989571e-01 1.56494218e+02] [ 3.32879845e-01 5.37622940e-01 -7.74695155e-01 1.32237541e+02] [ 9.10873477e-01 2.91904283e-02 4.11652071e-01 1.23204975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.0771056809999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:156.50, Y:132.24, Z:123.23 [[ 2.40329346e-01 -8.28593382e-01 -5.05642971e-01 1.56503492e+02] [ 3.33754912e-01 5.59687254e-01 -7.58523458e-01 1.32239853e+02] [ 9.11509443e-01 1.35346215e-02 4.11056383e-01 1.23234131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.10710568099995 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:156.51, Y:132.25, Z:123.26 [[ 2.30546169e-01 -8.37057660e-01 -4.96168256e-01 1.56514208e+02] [ 3.35239639e-01 5.47013746e-01 -7.67066064e-01 1.32247895e+02] [ 9.13489381e-01 1.05088757e-02 4.06726831e-01 1.23257880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.1371056809999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:156.52, Y:132.24, Z:123.29 [[ 2.29246245e-01 -8.12668203e-01 -5.35739256e-01 1.56521385e+02] [ 3.38435250e-01 5.82604888e-01 -7.38940544e-01 1.32243584e+02] [ 9.12637793e-01 -1.19137040e-02 4.08595549e-01 1.23289908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.1671056809999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:156.53, Y:132.26, Z:123.31 [[ 2.23561581e-01 -8.29487970e-01 -5.11829979e-01 1.56532426e+02] [ 3.43122387e-01 5.58483413e-01 -7.55224010e-01 1.32259167e+02] [ 9.12297784e-01 -6.78125045e-03 4.09471327e-01 1.23310667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.1971056809999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:156.54, Y:132.26, Z:123.34 [[ 2.22122756e-01 -8.22182200e-01 -5.24097234e-01 1.56537983e+02] [ 3.39219754e-01 5.69110086e-01 -7.49028483e-01 1.32260050e+02] [ 9.14106908e-01 -1.14078637e-02 4.05312745e-01 1.23339601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.2271056809999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:156.54, Y:132.27, Z:123.36 [[ 2.21472775e-01 -8.25960964e-01 -5.18399745e-01 1.56543788e+02] [ 3.39441182e-01 5.63652444e-01 -7.53044226e-01 1.32271103e+02] [ 9.14182418e-01 -9.18742768e-03 4.05198837e-01 1.23364516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.2571056809999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:156.55, Y:132.28, Z:123.39 [[ 2.24562555e-01 -8.30102781e-01 -5.10393018e-01 1.56550615e+02] [ 3.39180604e-01 5.57602476e-01 -7.57651633e-01 1.32282124e+02] [ 9.13525138e-01 -2.97522566e-03 4.06771399e-01 1.23389585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.2871056809999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:156.56, Y:132.30, Z:123.41 [[ 2.31273307e-01 -8.42222807e-01 -4.87004518e-01 1.56556190e+02] [ 3.39880505e-01 5.38979550e-01 -7.70702463e-01 1.32303283e+02] [ 9.11588668e-01 1.27195655e-02 4.10906696e-01 1.23407962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.31710568099993 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:156.56, Y:132.30, Z:123.44 [[ 2.34471409e-01 -8.24861319e-01 -5.14419053e-01 1.56559619e+02] [ 3.31846736e-01 5.65299320e-01 -7.55191646e-01 1.32299293e+02] [ 9.13729119e-01 6.36256625e-03 4.06274064e-01 1.23441815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.3471056809999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:156.57, Y:132.32, Z:123.46 [[ 2.41533509e-01 -8.32701147e-01 -4.98267361e-01 1.56566372e+02] [ 3.29862016e-01 5.53347582e-01 -7.64851295e-01 1.32315164e+02] [ 9.12607591e-01 2.03777410e-02 4.08328462e-01 1.23464306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.37710568099993 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:156.57, Y:132.32, Z:123.49 [[ 2.42288911e-01 -8.21479675e-01 -5.16204637e-01 1.56570753e+02] [ 3.24313141e-01 5.70027249e-01 -7.54910539e-01 1.32318071e+02] [ 9.14394373e-01 1.54945053e-02 4.04527935e-01 1.23493897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.4071056809999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:156.58, Y:132.34, Z:123.52 [[ 2.44305709e-01 -8.33330250e-01 -4.95858260e-01 1.56577162e+02] [ 3.21636265e-01 5.52042594e-01 -7.69284789e-01 1.32335891e+02] [ 9.14803167e-01 2.84546671e-02 4.02896387e-01 1.23516074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.43710568099993 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:156.58, Y:132.35, Z:123.54 [[ 2.42399907e-01 -8.46376423e-01 -4.74224879e-01 1.56581176e+02] [ 3.14977341e-01 5.30979965e-01 -7.86669913e-01 1.32347419e+02] [ 9.17622776e-01 4.13186227e-02 3.95298889e-01 1.23539580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.4671056809999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:156.59, Y:132.34, Z:123.57 [[ 2.47392888e-01 -8.10988951e-01 -5.30182687e-01 1.56587892e+02] [ 3.21009433e-01 5.84891883e-01 -7.44885515e-01 1.32342666e+02] [ 9.14193471e-01 1.40857353e-02 4.05033195e-01 1.23571150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49710568099994 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:156.60, Y:132.36, Z:123.59 [[ 2.48446882e-01 -8.31434097e-01 -4.96982383e-01 1.56597268e+02] [ 3.21081025e-01 5.54750749e-01 -7.67566663e-01 1.32360307e+02] [ 9.13882444e-01 3.11279314e-02 4.04783806e-01 1.23594441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5271056809999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:156.60, Y:132.38, Z:123.62 [[ 2.44673684e-01 -8.49828806e-01 -4.66825223e-01 1.56602017e+02] [ 3.16104397e-01 5.25067686e-01 -7.90178420e-01 1.32377117e+02] [ 9.16631223e-01 4.57703600e-02 3.97104867e-01 1.23615726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55710568099994 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:156.61, Y:132.37, Z:123.65 [[ 2.45238240e-01 -8.17394653e-01 -5.21271702e-01 1.56608629e+02] [ 3.15673629e-01 5.75716062e-01 -7.54255379e-01 1.32374017e+02] [ 9.16628805e-01 2.04205321e-02 3.99217530e-01 1.23646854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5871056809999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:156.62, Y:132.39, Z:123.67 [[ 2.44044939e-01 -8.32200173e-01 -4.97880448e-01 1.56620237e+02] [ 3.21082151e-01 5.53786473e-01 -7.68262192e-01 1.32394251e+02] [ 9.15067386e-01 2.76299744e-02 4.02353407e-01 1.23666167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61710568099994 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:156.63, Y:132.40, Z:123.69 [[ 2.43999400e-01 -8.43212772e-01 -4.79016194e-01 1.56628638e+02] [ 3.20656618e-01 5.36312088e-01 -7.80735985e-01 1.32402942e+02] [ 9.15228729e-01 3.68993991e-02 4.01241583e-01 1.23693953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.6471056809999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:156.64, Y:132.41, Z:123.72 [[ 2.35459612e-01 -8.32292863e-01 -5.01843962e-01 1.56637114e+02] [ 3.27434057e-01 5.54108477e-01 -7.65343540e-01 1.32411413e+02] [ 9.15065959e-01 1.58866883e-02 4.02991195e-01 1.23716769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67710568099994 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:156.65, Y:132.42, Z:123.74 [[ 2.41606295e-01 -8.41632136e-01 -4.82992491e-01 1.56649872e+02] [ 3.27249980e-01 5.39249408e-01 -7.75962323e-01 1.32424900e+02] [ 9.13528242e-01 2.94180992e-02 4.05710151e-01 1.23739362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.7071056809999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:156.65, Y:132.43, Z:123.77 [[ 2.30349941e-01 -8.47995998e-01 -4.77327657e-01 1.56649441e+02] [ 3.30649289e-01 5.29540875e-01 -7.81189804e-01 1.32428968e+02] [ 9.15210332e-01 2.21189753e-02 4.02368983e-01 1.23771162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73710568099995 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:156.66, Y:132.43, Z:123.80 [[ 2.20688425e-01 -8.51641046e-01 -4.75398936e-01 1.56655540e+02] [ 3.28753430e-01 5.23845436e-01 -7.85816227e-01 1.32431300e+02] [ 9.18268915e-01 1.71315149e-02 3.95586539e-01 1.23797935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.7671056809999 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:156.66, Y:132.43, Z:123.82 [[ 2.18348853e-01 -8.36495807e-01 -5.02591826e-01 1.56661747e+02] [ 3.32642338e-01 5.47973178e-01 -7.67511871e-01 1.32432369e+02] [ 9.17427302e-01 4.02016994e-04 3.97903236e-01 1.23824971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79710568099995 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:156.67, Y:132.45, Z:123.85 [[ 2.15117746e-01 -8.48368091e-01 -4.83731266e-01 1.56670114e+02] [ 3.39026517e-01 5.29396554e-01 -7.77689082e-01 1.32450835e+02] [ 9.15852268e-01 3.29699645e-03 4.01501873e-01 1.23848156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.8271056809999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:156.67, Y:132.46, Z:123.87 [[ 2.09441865e-01 -8.37741285e-01 -5.04305110e-01 1.56673821e+02] [ 3.41160749e-01 5.45940254e-01 -7.65217997e-01 1.32455778e+02] [ 9.16375168e-01 -1.17804251e-02 4.00147190e-01 1.23874744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85710568099995 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:156.68, Y:132.48, Z:123.90 [[ 2.06585599e-01 -8.63314718e-01 -4.60445532e-01 1.56678300e+02] [ 3.33354619e-01 5.04545149e-01 -7.96435114e-01 1.32475337e+02] [ 9.19889715e-01 1.10403801e-02 3.92021711e-01 1.23895987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.8871056809999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:156.68, Y:132.47, Z:123.93 [[ 2.09994322e-01 -8.36950259e-01 -5.05387622e-01 1.56682198e+02] [ 3.35436935e-01 5.47213042e-01 -7.66837629e-01 1.32471706e+02] [ 9.18359651e-01 -8.49412642e-03 3.95655661e-01 1.23927121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.9171056809999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:156.69, Y:132.49, Z:123.95 [[ 2.15443962e-01 -8.45910571e-01 -4.87872119e-01 1.56686947e+02] [ 3.30858745e-01 5.33287356e-01 -7.78548063e-01 1.32486203e+02] [ 9.18758069e-01 6.31672201e-03 3.94770451e-01 1.23951170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.9471056809999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:156.69, Y:132.50, Z:123.98 [[ 2.21025324e-01 -8.45105631e-01 -4.86769226e-01 1.56690384e+02] [ 3.25099401e-01 5.34410839e-01 -7.80202175e-01 1.32498568e+02] [ 9.19488002e-01 1.41960544e-02 3.92861663e-01 1.23977061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.9771056809999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:156.69, Y:132.50, Z:124.00 [[ 2.23541375e-01 -8.37535603e-01 -4.98561297e-01 1.56692879e+02] [ 3.21320733e-01 5.46234612e-01 -7.73550733e-01 1.32503373e+02] [ 9.20207716e-01 1.27225135e-02 3.91223590e-01 1.24004616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.0071056809999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:156.70, Y:132.52, Z:124.03 [[ 2.29883701e-01 -8.54817029e-01 -4.65232557e-01 1.56700217e+02] [ 3.20132904e-01 5.17851384e-01 -7.93312591e-01 1.32524365e+02] [ 9.19058435e-01 3.34333852e-02 3.92700651e-01 1.24025331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.0371056809999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:156.70, Y:132.52, Z:124.06 [[ 2.29753805e-01 -8.40341224e-01 -4.90958060e-01 1.56704204e+02] [ 3.10930572e-01 5.41393804e-01 -7.81162549e-01 1.32518942e+02] [ 9.22244744e-01 2.68211970e-02 3.85675064e-01 1.24056216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.06710568099993 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:156.71, Y:132.53, Z:124.08 [[ 2.30677524e-01 -8.42788145e-01 -4.86308568e-01 1.56709512e+02] [ 3.08807336e-01 5.37360273e-01 -7.84781477e-01 1.32527674e+02] [ 9.22727429e-01 3.08557949e-02 3.84216099e-01 1.24080468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.0971056809999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:156.72, Y:132.54, Z:124.11 [[ 2.33918349e-01 -8.37707818e-01 -4.93485377e-01 1.56716195e+02] [ 3.10625194e-01 5.45357609e-01 -7.78522361e-01 1.32538424e+02] [ 9.21300274e-01 2.88216744e-02 3.87782305e-01 1.24106270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.12710568099993 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:156.73, Y:132.56, Z:124.13 [[ 2.38658432e-01 -8.54666499e-01 -4.61071934e-01 1.56726247e+02] [ 3.14194896e-01 5.17212269e-01 -7.96098635e-01 1.32561711e+02] [ 9.18870894e-01 4.51292035e-02 3.91968921e-01 1.24126645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.1571056809999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:156.73, Y:132.55, Z:124.16 [[ 2.33056344e-01 -8.25421345e-01 -5.14163733e-01 1.56725220e+02] [ 3.00276262e-01 5.63968088e-01 -7.69268590e-01 1.32547989e+02] [ 9.24942651e-01 2.48917618e-02 3.79290776e-01 1.24159738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.18710568099993 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:156.74, Y:132.59, Z:124.17 [[ 2.44824771e-01 -8.58520981e-01 -4.50558049e-01 1.56741115e+02] [ 3.13706726e-01 5.09845216e-01 -8.01028055e-01 1.32585984e+02] [ 9.17414258e-01 5.47684196e-02 3.94146545e-01 1.24174266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2171056809999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:156.75, Y:132.59, Z:124.21 [[ 2.43103636e-01 -8.45760520e-01 -4.74962909e-01 1.56746338e+02] [ 3.11083100e-01 5.31767098e-01 -7.87687158e-01 1.32586295e+02] [ 9.18764348e-01 4.37366782e-02 3.92376319e-01 1.24205025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.24710568099994 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:156.75, Y:132.59, Z:124.23 [[ 2.40143379e-01 -8.43462454e-01 -4.80522889e-01 1.56753394e+02] [ 3.04402428e-01 5.35471616e-01 -7.87787605e-01 1.32591157e+02] [ 9.21775634e-01 4.29096432e-02 3.85341982e-01 1.24231071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2771056809999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:156.76, Y:132.60, Z:124.26 [[ 2.39722863e-01 -8.38403778e-01 -4.89501843e-01 1.56756845e+02] [ 3.07908831e-01 5.43831384e-01 -7.80666111e-01 1.32595310e+02] [ 9.20719882e-01 3.64215748e-02 3.88520744e-01 1.24257781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.30710568099994 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:156.76, Y:132.61, Z:124.28 [[ 2.39392497e-01 -8.46787316e-01 -4.75018393e-01 1.56764175e+02] [ 3.08476227e-01 5.30228866e-01 -7.89746648e-01 1.32609223e+02] [ 9.20615908e-01 4.25275407e-02 3.88146568e-01 1.24281813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3371056809999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:156.77, Y:132.62, Z:124.31 [[ 2.38077255e-01 -8.51055405e-01 -4.67999912e-01 1.56773192e+02] [ 3.10454496e-01 5.23258582e-01 -7.93611027e-01 1.32622581e+02] [ 9.20291925e-01 4.36480581e-02 3.88789944e-01 1.24306632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.36710568099994 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:156.79, Y:132.62, Z:124.33 [[ 2.41373461e-01 -8.19153443e-01 -5.20313837e-01 1.56787488e+02] [ 3.05598548e-01 5.73049417e-01 -7.60410345e-01 1.32618435e+02] [ 9.21058293e-01 2.45357234e-02 3.88651024e-01 1.24332731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3971056809999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:156.79, Y:132.64, Z:124.36 [[ 2.34430007e-01 -8.64977169e-01 -4.43685777e-01 1.56793513e+02] [ 3.13338799e-01 4.99279020e-01 -8.07799020e-01 1.32640656e+02] [ 9.20250710e-01 5.03483617e-02 3.88076891e-01 1.24356842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.42710568099994 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:156.80, Y:132.64, Z:124.39 [[ 2.27801637e-01 -8.44225052e-01 -4.85170563e-01 1.56798725e+02] [ 3.10710454e-01 5.35247311e-01 -7.85473952e-01 1.32635498e+02] [ 9.22803028e-01 2.81846862e-02 3.84239763e-01 1.24389176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4571056809999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:156.80, Y:132.64, Z:124.41 [[ 2.22027450e-01 -8.39726796e-01 -4.95542853e-01 1.56804735e+02] [ 3.20095514e-01 5.42834464e-01 -7.76446783e-01 1.32639367e+02] [ 9.21000908e-01 1.37714554e-02 3.89316932e-01 1.24411816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.48710568099995 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:156.81, Y:132.65, Z:124.44 [[ 2.18126945e-01 -8.56509329e-01 -4.67773883e-01 1.56812843e+02] [ 3.19894214e-01 5.15584942e-01 -7.94883551e-01 1.32653702e+02] [ 9.22002347e-01 2.37473614e-02 3.86455347e-01 1.24439924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.5171056809999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:156.82, Y:132.65, Z:124.47 [[ 2.11203411e-01 -8.42337103e-01 -4.95844051e-01 1.56817846e+02] [ 3.25587602e-01 5.38944568e-01 -7.76872876e-01 1.32651803e+02] [ 9.21621307e-01 2.63752614e-03 3.88081449e-01 1.24467769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.54710568099995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:156.83, Y:132.66, Z:124.49 [[ 2.02548959e-01 -8.50261734e-01 -4.85828058e-01 1.56826087e+02] [ 3.29981985e-01 5.26357716e-01 -7.83619452e-01 1.32662880e+02] [ 9.22000981e-01 -1.59320304e-03 3.87184262e-01 1.24492412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.5771056809999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:156.83, Y:132.66, Z:124.52 [[ 1.95337445e-01 -8.39598202e-01 -5.06870933e-01 1.56829092e+02] [ 3.28725737e-01 5.42981622e-01 -7.72729156e-01 1.32663165e+02] [ 9.24003611e-01 -1.56785823e-02 3.82062180e-01 1.24518416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.60710568099995 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:156.84, Y:132.69, Z:124.54 [[ 1.88106126e-01 -8.61551546e-01 -4.71534748e-01 1.56835621e+02] [ 3.35239444e-01 5.07594228e-01 -7.93701843e-01 1.32685877e+02] [ 9.23163366e-01 -8.77686832e-03 3.84307645e-01 1.24538657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.6371056809999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:156.84, Y:132.70, Z:124.57 [[ 1.78278419e-01 -8.61349294e-01 -4.75703898e-01 1.56836288e+02] [ 3.37328086e-01 5.07652760e-01 -7.92778934e-01 1.32697671e+02] [ 9.24351972e-01 -1.91329106e-02 3.81060840e-01 1.24566184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.6671056809999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:156.84, Y:132.70, Z:124.59 [[ 1.76999663e-01 -8.52559276e-01 -4.91745666e-01 1.56839763e+02] [ 3.39065474e-01 5.21869788e-01 -7.82742951e-01 1.32704049e+02] [ 9.23961971e-01 -2.81887386e-02 3.81444192e-01 1.24593354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.6971056809999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:156.84, Y:132.72, Z:124.62 [[ 1.74857716e-01 -8.62720041e-01 -4.74488051e-01 1.56843419e+02] [ 3.39621331e-01 5.05184670e-01 -7.93376204e-01 1.32721372e+02] [ 9.24165640e-01 -2.24183126e-02 3.81333566e-01 1.24616259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.7271056809999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:156.84, Y:132.74, Z:124.64 [[ 1.74942040e-01 -8.63900368e-01 -4.72304390e-01 1.56843237e+02] [ 3.42078142e-01 5.03149646e-01 -7.93613873e-01 1.32738288e+02] [ 9.23243103e-01 -2.27285784e-02 3.83543458e-01 1.24639987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.7571056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.86, Y:132.73, Z:124.67 [[ 1.89656952e-01 -8.11745661e-01 -5.52357876e-01 1.56859107e+02] [ 3.33943936e-01 5.82359720e-01 -7.41173801e-01 1.32726076e+02] [ 9.23315595e-01 -4.38877996e-02 3.81526110e-01 1.24666602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.7871056809999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:156.84, Y:132.79, Z:124.68 [[ 1.76177250e-01 -9.16547471e-01 -3.59029679e-01 1.56843277e+02] [ 3.32954879e-01 3.98722482e-01 -8.54494839e-01 1.32790140e+02] [ 9.26338289e-01 3.10018674e-02 3.75414783e-01 1.24681545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.81710568099993 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:156.84, Y:132.78, Z:124.72 [[ 1.81172406e-01 -8.67796997e-01 -4.62714742e-01 1.56843304e+02] [ 3.35039479e-01 4.96818538e-01 -8.00574724e-01 1.32780613e+02] [ 9.24621602e-01 -9.98565702e-03 3.80756064e-01 1.24719741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.8471056809999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:156.84, Y:132.78, Z:124.75 [[ 1.85841618e-01 -8.40104470e-01 -5.09595302e-01 1.56840492e+02] [ 3.34262760e-01 5.41751495e-01 -7.71215745e-01 1.32782521e+02] [ 9.23975812e-01 -2.70147499e-02 3.81495613e-01 1.24749235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.87710568099993 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:156.84, Y:132.79, Z:124.77 [[ 1.84069844e-01 -8.48579461e-01 -4.96015314e-01 1.56838538e+02] [ 3.30846578e-01 5.28681436e-01 -7.81688225e-01 1.32793583e+02] [ 9.25558661e-01 -2.02197402e-02 3.78063920e-01 1.24770030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.9071056809999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:156.84, Y:132.80, Z:124.80 [[ 1.87653661e-01 -8.46919412e-01 -4.97507399e-01 1.56841151e+02] [ 3.34110302e-01 5.31339876e-01 -7.78491003e-01 1.32804426e+02] [ 9.23664663e-01 -2.01356606e-02 3.82672373e-01 1.24796643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93710568099993 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:156.84, Y:132.82, Z:124.82 [[ 1.86245699e-01 -8.66809813e-01 -4.62550850e-01 1.56840093e+02] [ 3.28261736e-01 4.98633016e-01 -8.02252671e-01 1.32823684e+02] [ 9.26043612e-01 -2.42163576e-03 3.77408749e-01 1.24819798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.9671056809999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:156.84, Y:132.84, Z:124.85 [[ 1.86330055e-01 -8.68741519e-01 -4.58878288e-01 1.56841465e+02] [ 3.24159529e-01 4.95263690e-01 -8.05999055e-01 1.32835760e+02] [ 9.27470598e-01 1.43207869e-03 3.73893352e-01 1.24845410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99710568099994 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:156.84, Y:132.84, Z:124.87 [[ 1.88763033e-01 -8.45843860e-01 -4.98915506e-01 1.56844580e+02] [ 3.28996950e-01 5.33159122e-01 -7.79424376e-01 1.32837600e+02] [ 9.25272676e-01 -1.70151703e-02 3.78920783e-01 1.24874667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0271056809999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:156.85, Y:132.86, Z:124.89 [[ 1.90397352e-01 -8.59290249e-01 -4.74730572e-01 1.56851733e+02] [ 3.30144831e-01 5.11456786e-01 -7.93357641e-01 1.32864971e+02] [ 9.24528658e-01 -5.67665068e-03 3.81070252e-01 1.24889677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05710568099994 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:156.85, Y:132.88, Z:124.92 [[ 1.92416285e-01 -8.83301850e-01 -4.27497152e-01 1.56851798e+02] [ 3.20935326e-01 4.68325114e-01 -8.23208421e-01 1.32877125e+02] [ 9.27349174e-01 2.11997684e-02 3.73596146e-01 1.24917102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0871056809999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:156.86, Y:132.88, Z:124.95 [[ 2.00900748e-01 -8.51222543e-01 -4.84828910e-01 1.56857953e+02] [ 3.21256614e-01 5.24798404e-01 -7.88277123e-01 1.32876129e+02] [ 9.25436696e-01 2.61096997e-03 3.78893264e-01 1.24948675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11710568099994 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:156.86, Y:132.89, Z:124.97 [[ 2.00367170e-01 -8.56742746e-01 -4.75231381e-01 1.56862513e+02] [ 3.21803992e-01 5.15707125e-01 -7.94032967e-01 1.32888163e+02] [ 9.25362193e-01 6.16678311e-03 3.79034013e-01 1.24973502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.1471056809999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:156.86, Y:132.90, Z:125.00 [[ 2.00613112e-01 -8.63177358e-01 -4.63334898e-01 1.56862314e+02] [ 3.18806900e-01 5.04727508e-01 -8.02254513e-01 1.32897012e+02] [ 9.26345799e-01 1.32284118e-02 3.76441854e-01 1.24998724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17710568099994 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:156.87, Y:132.90, Z:125.02 [[ 2.00235134e-01 -8.59515395e-01 -4.70254374e-01 1.56865293e+02] [ 3.16148107e-01 5.10983013e-01 -7.99341439e-01 1.32903226e+02] [ 9.27338269e-01 1.13862100e-02 3.74050917e-01 1.25024607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.2071056809999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:156.87, Y:132.92, Z:125.05 [[ 2.01145170e-01 -8.62304997e-01 -4.64726492e-01 1.56870298e+02] [ 3.21723442e-01 5.06260320e-01 -8.00121563e-01 1.32916324e+02] [ 9.25221405e-01 1.14271810e-02 3.79255549e-01 1.25049125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23710568099995 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:156.89, Y:132.94, Z:125.06 [[ 2.01923400e-01 -8.57107824e-01 -4.73912565e-01 1.56886094e+02] [ 3.30429011e-01 5.15127728e-01 -7.90860349e-01 1.32938933e+02] [ 9.21978096e-01 3.09875024e-03 3.87229633e-01 1.25064540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.2671056809999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:156.88, Y:132.95, Z:125.09 [[ 1.97975295e-01 -8.86099607e-01 -4.19086230e-01 1.56883211e+02] [ 3.30031109e-01 4.62843426e-01 -8.22712240e-01 1.32949147e+02] [ 9.22976300e-01 2.45652056e-02 3.84072000e-01 1.25093930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29710568099995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:156.89, Y:132.94, Z:125.12 [[ 1.91453040e-01 -8.59633337e-01 -4.73683713e-01 1.56889458e+02] [ 3.24111862e-01 5.10910297e-01 -7.96192294e-01 1.32936276e+02] [ 9.26443325e-01 -1.09307505e-03 3.76432691e-01 1.25122869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.3271056809999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:156.90, Y:132.98, Z:125.14 [[ 1.91095515e-01 -9.05635569e-01 -3.78558741e-01 1.56897155e+02] [ 3.42102858e-01 4.22933738e-01 -8.39102311e-01 1.32983257e+02] [ 9.20026162e-01 3.08426612e-02 3.90641257e-01 1.25135119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35710568099995 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:156.90, Y:132.97, Z:125.17 [[ 1.85101201e-01 -8.71953615e-01 -4.53248760e-01 1.56900573e+02] [ 3.41214932e-01 4.89550212e-01 -8.02441873e-01 1.32968162e+02] [ 9.21580119e-01 -6.12229062e-03 3.88139926e-01 1.25168803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.3871056809999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:156.91, Y:132.98, Z:125.20 [[ 1.80835165e-01 -8.83905064e-01 -4.31289325e-01 1.56908474e+02] [ 3.42500631e-01 4.67666234e-01 -8.14850668e-01 1.32981317e+02] [ 9.21950086e-01 -3.63210806e-04 3.87308543e-01 1.25196088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.4171056809999 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:156.91, Y:132.98, Z:125.22 [[ 1.78636433e-01 -8.65637299e-01 -4.67719031e-01 1.56912982e+02] [ 3.45071982e-01 5.00290287e-01 -7.94125277e-01 1.32982025e+02] [ 9.21419748e-01 -1.95370266e-02 3.88077251e-01 1.25222388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.4471056809999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:156.91, Y:132.99, Z:125.25 [[ 1.71435910e-01 -8.70830038e-01 -4.60722014e-01 1.56914710e+02] [ 3.44484974e-01 4.91111721e-01 -8.00087108e-01 1.32992635e+02] [ 9.23005868e-01 -2.15481498e-02 3.84182048e-01 1.25247923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.4771056809999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:156.92, Y:133.01, Z:125.27 [[ 1.69999850e-01 -8.82802637e-01 -4.37903592e-01 1.56918887e+02] [ 3.46241998e-01 4.69548624e-01 -8.12182595e-01 1.33009742e+02] [ 9.22613966e-01 -1.35496951e-02 3.85486545e-01 1.25269145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.5071056809999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:156.92, Y:133.02, Z:125.29 [[ 1.68401951e-01 -8.93281401e-01 -4.16760268e-01 1.56920739e+02] [ 3.37343057e-01 4.49495994e-01 -8.27135427e-01 1.33020775e+02] [ 9.26196764e-01 -1.29996315e-03 3.77038281e-01 1.25294464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.5371056809999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:156.92, Y:133.03, Z:125.32 [[ 1.71538100e-01 -8.77482695e-01 -4.47882574e-01 1.56924427e+02] [ 3.44919322e-01 4.79339652e-01 -8.07009392e-01 1.33030700e+02] [ 9.22824654e-01 -1.60504960e-02 3.84885750e-01 1.25320778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.56710568099993 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:156.92, Y:133.04, Z:125.35 [[ 1.72197538e-01 -8.77361112e-01 -4.47867713e-01 1.56923774e+02] [ 3.37802972e-01 4.79684485e-01 -8.09809822e-01 1.33039049e+02] [ 9.25330838e-01 -1.18437870e-02 3.78975678e-01 1.25347425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.5971056809999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:156.94, Y:133.05, Z:125.37 [[ 1.83379314e-01 -8.72011582e-01 -4.53836785e-01 1.56938300e+02] [ 3.33786749e-01 4.89470854e-01 -8.05608273e-01 1.33050013e+02] [ 9.24639624e-01 -3.75281227e-03 3.80824741e-01 1.25369421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.62710568099993 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:156.93, Y:133.07, Z:125.39 [[ 1.77904287e-01 -8.94733449e-01 -4.09636570e-01 1.56930863e+02] [ 3.33587317e-01 4.46463497e-01 -8.30295036e-01 1.33068567e+02] [ 9.25780518e-01 1.10634821e-02 3.77899501e-01 1.25392301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.6571056809999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:156.94, Y:133.08, Z:125.42 [[ 1.81965706e-01 -8.69066646e-01 -4.60012660e-01 1.56939420e+02] [ 3.43365534e-01 4.94532994e-01 -7.98459284e-01 1.33076074e+02] [ 9.21405769e-01 -1.26602856e-02 3.88395578e-01 1.25415475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.68710568099993 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:156.94, Y:133.09, Z:125.44 [[ 1.80265343e-01 -9.01761590e-01 -3.92849133e-01 1.56936352e+02] [ 3.29144153e-01 4.31668958e-01 -8.39836911e-01 1.33087587e+02] [ 9.26913444e-01 2.20894935e-02 3.74624508e-01 1.25443135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7171056809999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:156.94, Y:133.09, Z:125.47 [[ 1.82622168e-01 -8.88057136e-01 -4.21904807e-01 1.56944254e+02] [ 3.29020336e-01 4.59580671e-01 -8.24943165e-01 1.33093347e+02] [ 9.26495959e-01 1.18376476e-02 3.76118476e-01 1.25469474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.74710568099994 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:156.94, Y:133.09, Z:125.50 [[ 1.78564498e-01 -8.78450362e-01 -4.43215163e-01 1.56942697e+02] [ 3.20115051e-01 4.77815186e-01 -8.18058068e-01 1.33087863e+02] [ 9.30398342e-01 4.19628385e-03 3.66526011e-01 1.25504192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7771056809999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:156.95, Y:133.09, Z:125.53 [[ 1.84137748e-01 -8.68938285e-01 -4.59390407e-01 1.56954213e+02] [ 3.17971339e-01 4.94912337e-01 -8.08675464e-01 1.33093566e+02] [ 9.30047051e-01 2.83469617e-03 3.67429513e-01 1.25530224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.80710568099994 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:156.95, Y:133.11, Z:125.56 [[ 1.85879726e-01 -8.75951827e-01 -4.45148430e-01 1.56953324e+02] [ 3.26867569e-01 4.82366548e-01 -8.12699272e-01 1.33106317e+02] [ 9.26610123e-01 5.55973267e-03 3.75982406e-01 1.25558463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8371056809999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:156.96, Y:133.12, Z:125.58 [[ 1.90400534e-01 -8.58639610e-01 -4.75905092e-01 1.56962543e+02] [ 3.33206470e-01 5.12518986e-01 -7.91389751e-01 1.33117861e+02] [ 9.23428982e-01 -7.89362427e-03 3.83688162e-01 1.25577666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.86710568099994 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:156.96, Y:133.13, Z:125.60 [[ 1.94365609e-01 -8.95050100e-01 -4.01381774e-01 1.56961534e+02] [ 3.21257157e-01 4.44701148e-01 -8.36082967e-01 1.33134055e+02] [ 9.26831079e-01 3.35590071e-02 3.73975860e-01 1.25600486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8971056809999 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:156.97, Y:133.15, Z:125.62 [[ 1.96349656e-01 -9.00976928e-01 -3.86894543e-01 1.56966407e+02] [ 3.12927106e-01 4.31520820e-01 -8.46088889e-01 1.33148137e+02] [ 9.29259619e-01 4.50594729e-02 3.66669068e-01 1.25624838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.92710568099994 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:156.99, Y:133.15, Z:125.65 [[ 2.10975882e-01 -8.72339777e-01 -4.41035702e-01 1.56988380e+02] [ 3.09023499e-01 4.87574000e-01 -8.16563575e-01 1.33154570e+02] [ 9.27358428e-01 3.59848249e-02 3.72439846e-01 1.25650428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9571056809999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:156.98, Y:133.16, Z:125.68 [[ 2.04188292e-01 -8.96357317e-01 -3.93510740e-01 1.56981315e+02] [ 3.14442826e-01 4.40733026e-01 -8.40761624e-01 1.33164737e+02] [ 9.27056013e-01 4.79370508e-02 3.71845652e-01 1.25677321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.98710568099995 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:156.99, Y:133.16, Z:125.71 [[ 2.03947765e-01 -8.87510993e-01 -4.13194321e-01 1.56987589e+02] [ 3.10790352e-01 4.58928582e-01 -8.32342426e-01 1.33164656e+02] [ 9.28339736e-01 4.13375692e-02 3.69427312e-01 1.25706567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.0171056809999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:157.00, Y:133.18, Z:125.73 [[ 2.03929696e-01 -8.93664312e-01 -3.99720874e-01 1.56996049e+02] [ 3.11944886e-01 4.46335747e-01 -8.38734039e-01 1.33178633e+02] [ 9.27956393e-01 4.63518949e-02 3.69795125e-01 1.25728210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.04710568099995 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:157.00, Y:133.18, Z:125.76 [[ 2.02894524e-01 -8.84318277e-01 -4.20493753e-01 1.57003886e+02] [ 3.06991488e-01 4.65221962e-01 -8.30255835e-01 1.33178442e+02] [ 9.29833339e-01 3.93663592e-02 3.65869173e-01 1.25760317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.0771056809999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:157.02, Y:133.19, Z:125.79 [[ 2.02851923e-01 -8.84404796e-01 -4.20332313e-01 1.57015942e+02] [ 3.07660274e-01 4.65082874e-01 -8.30086186e-01 1.33186076e+02] [ 9.29621564e-01 3.90650246e-02 3.66439178e-01 1.25786619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.10710568099995 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:157.03, Y:133.19, Z:125.81 [[ 2.00521954e-01 -8.79610500e-01 -4.31365639e-01 1.57029986e+02] [ 3.09947589e-01 4.74651299e-01 -8.23795264e-01 1.33189198e+02] [ 9.29367225e-01 3.14882964e-02 3.67811160e-01 1.25810433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.1371056809999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:157.04, Y:133.20, Z:125.84 [[ 1.99558659e-01 -8.91018795e-01 -4.07752191e-01 1.57037728e+02] [ 3.07523730e-01 4.52047297e-01 -8.37306633e-01 1.33200554e+02] [ 9.30379222e-01 4.16983144e-02 3.64219375e-01 1.25837831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.1671056809999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:157.05, Y:133.20, Z:125.86 [[ 1.93527264e-01 -8.82777915e-01 -4.28077506e-01 1.57047474e+02] [ 3.07303866e-01 4.68912912e-01 -8.28060997e-01 1.33202894e+02] [ 9.31725030e-01 2.87025063e-02 3.62028499e-01 1.25864120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.1971056809999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:157.05, Y:133.22, Z:125.89 [[ 1.91610443e-01 -8.93589446e-01 -4.05935143e-01 1.57053979e+02] [ 3.10887241e-01 4.47560485e-01 -8.38474052e-01 1.33219320e+02] [ 9.30932093e-01 3.44603277e-02 3.63562820e-01 1.25885310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.2271056809999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:157.06, Y:133.22, Z:125.92 [[ 1.89420476e-01 -8.83978922e-01 -4.27435550e-01 1.57064579e+02] [ 3.15280935e-01 4.67021798e-01 -8.26128666e-01 1.33217524e+02] [ 9.29902046e-01 2.17234052e-02 3.67165192e-01 1.25916819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.2571056809999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:157.07, Y:133.23, Z:125.94 [[ 1.82584240e-01 -8.94927062e-01 -4.07146839e-01 1.57072948e+02] [ 3.20657066e-01 4.45667350e-01 -8.35798815e-01 1.33229692e+02] [ 9.29431031e-01 2.20491805e-02 3.68336521e-01 1.25938986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.2871056809999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:157.08, Y:133.23, Z:125.97 [[ 1.79289053e-01 -8.89834715e-01 -4.19582669e-01 1.57079719e+02] [ 3.12130452e-01 4.55908911e-01 -8.33499638e-01 1.33225146e+02] [ 9.32968390e-01 1.84728328e-02 3.59483988e-01 1.25969760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.31710568099993 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:157.09, Y:133.25, Z:125.99 [[ 1.78005185e-01 -9.02599987e-01 -3.91953335e-01 1.57086084e+02] [ 3.23985543e-01 4.29863844e-01 -8.42763575e-01 1.33248968e+02] [ 9.29164960e-01 2.30290722e-02 3.68947340e-01 1.25991556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.3471056809999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:157.09, Y:133.25, Z:126.02 [[ 1.73668661e-01 -8.91868093e-01 -4.17624832e-01 1.57092423e+02] [ 3.19466366e-01 4.52156707e-01 -8.32763804e-01 1.33249189e+02] [ 9.31547335e-01 1.12078879e-02 3.63447309e-01 1.26021192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.37710568099993 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:157.10, Y:133.26, Z:126.05 [[ 1.71722289e-01 -8.91784500e-01 -4.18607049e-01 1.57097416e+02] [ 3.18648034e-01 4.52357453e-01 -8.32968286e-01 1.33257901e+02] [ 9.32188225e-01 9.65090750e-03 3.61845235e-01 1.26045346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.4071056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.10, Y:133.26, Z:126.07 [[ 1.71252764e-01 -8.91600518e-01 -4.19190895e-01 1.57099817e+02] [ 3.13173969e-01 4.52671799e-01 -8.34871432e-01 1.33261062e+02] [ 9.34127698e-01 1.16943640e-02 3.56747370e-01 1.26071469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43710568099993 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:157.11, Y:133.29, Z:126.09 [[ 1.73905635e-01 -9.07818618e-01 -3.81604753e-01 1.57105644e+02] [ 3.24029068e-01 4.18682404e-01 -8.48357358e-01 1.33290028e+02] [ 9.29925800e-01 2.38830921e-02 3.66970850e-01 1.26092286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.4671056809999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:157.11, Y:133.28, Z:126.13 [[ 1.75681369e-01 -8.84475744e-01 -4.32248441e-01 1.57106816e+02] [ 3.17880682e-01 4.66524171e-01 -8.25413272e-01 1.33280168e+02] [ 9.31712364e-01 7.60630389e-03 3.63117358e-01 1.26125575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49710568099994 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:157.11, Y:133.29, Z:126.15 [[ 1.76245101e-01 -8.91430594e-01 -4.17479533e-01 1.57109082e+02] [ 3.15880627e-01 4.52906737e-01 -8.33723526e-01 1.33294020e+02] [ 9.32285951e-01 1.50659899e-02 3.61408248e-01 1.26149289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5271056809999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:157.11, Y:133.32, Z:126.16 [[ 1.66140802e-01 -8.96589488e-01 -4.10517387e-01 1.57109220e+02] [ 3.18441039e-01 4.42780457e-01 -8.38177053e-01 1.33323598e+02] [ 9.33269810e-01 8.52982435e-03 3.59074788e-01 1.26164673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55710568099994 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:157.12, Y:133.32, Z:126.20 [[ 1.80211025e-01 -9.01765649e-01 -3.92864737e-01 1.57116864e+02] [ 3.14742778e-01 4.31269749e-01 -8.45543250e-01 1.33324332e+02] [ 9.31912534e-01 2.87248772e-02 3.61543788e-01 1.26196112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5871056809999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:157.12, Y:133.32, Z:126.22 [[ 1.79038298e-01 -8.80823743e-01 -4.38286232e-01 1.57117870e+02] [ 3.09481703e-01 4.73291704e-01 -8.24752107e-01 1.33317321e+02] [ 9.33898476e-01 1.20206440e-02 3.57336173e-01 1.26224231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61710568099994 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:157.12, Y:133.35, Z:126.24 [[ 1.76266582e-01 -8.98862364e-01 -4.01218821e-01 1.57123748e+02] [ 3.16366424e-01 4.37707376e-01 -8.41620187e-01 1.33351291e+02] [ 9.32117148e-01 2.14173496e-02 3.61523055e-01 1.26238683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.6471056809999 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:157.12, Y:133.36, Z:126.27 [[ 1.78283699e-01 -9.03812039e-01 -3.89022776e-01 1.57124123e+02] [ 3.13952136e-01 4.26942132e-01 -8.48029759e-01 1.33355303e+02] [ 9.32549719e-01 2.90553509e-02 3.59870543e-01 1.26268834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67710568099994 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:157.12, Y:133.36, Z:126.30 [[ 1.70786148e-01 -9.04397952e-01 -3.91019738e-01 1.57124466e+02] [ 3.08756438e-01 4.25985493e-01 -8.50415088e-01 1.33360919e+02] [ 9.35682400e-01 2.45092552e-02 3.51991111e-01 1.26297731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.7071056809999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:157.13, Y:133.36, Z:126.33 [[ 1.69659686e-01 -8.87086658e-01 -4.29293433e-01 1.57128674e+02] [ 3.18108983e-01 4.61586173e-01 -8.28097144e-01 1.33357966e+02] [ 9.32749841e-01 3.93260385e-03 3.60502799e-01 1.26325478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73710568099995 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:157.13, Y:133.37, Z:126.35 [[ 1.62853396e-01 -9.01085354e-01 -4.01900430e-01 1.57131074e+02] [ 3.24851082e-01 4.33595668e-01 -8.40515658e-01 1.33374417e+02] [ 9.31638635e-01 6.32303943e-03 3.63331080e-01 1.26347618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.7671056809999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:157.14, Y:133.38, Z:126.37 [[ 1.58422836e-01 -8.98904275e-01 -4.08501297e-01 1.57135470e+02] [ 3.26583236e-01 4.38144458e-01 -8.37480044e-01 1.33382502e+02] [ 9.31796971e-01 -7.33711829e-04 3.62979155e-01 1.26372462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79710568099995 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:157.14, Y:133.40, Z:126.40 [[ 1.50076294e-01 -9.02337028e-01 -4.04060632e-01 1.57139426e+02] [ 3.32800561e-01 4.30945537e-01 -8.38766791e-01 1.33399030e+02] [ 9.30978460e-01 -8.59259323e-03 3.64972979e-01 1.26400047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.8271056809999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:157.14, Y:133.40, Z:126.43 [[ 1.42126851e-01 -8.93807619e-01 -4.25332691e-01 1.57138005e+02] [ 3.32631325e-01 4.47833284e-01 -8.29940812e-01 1.33397742e+02] [ 9.32285557e-01 -2.35221029e-02 3.60957547e-01 1.26428612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85710568099995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:157.14, Y:133.41, Z:126.45 [[ 1.35386408e-01 -9.02466345e-01 -4.08931555e-01 1.57139900e+02] [ 3.35510996e-01 4.30106174e-01 -8.38117563e-01 1.33410000e+02] [ 9.32256881e-01 -2.37313068e-02 3.61017913e-01 1.26451539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.8871056809999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:157.14, Y:133.42, Z:126.48 [[ 1.26307679e-01 -9.07702341e-01 -4.00153509e-01 1.57139225e+02] [ 3.37583415e-01 4.18638997e-01 -8.43077000e-01 1.33423947e+02] [ 9.32782830e-01 -2.85980889e-02 3.59302576e-01 1.26475242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.9171056809999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:157.14, Y:133.43, Z:126.50 [[ 1.24911035e-01 -9.00237041e-01 -4.17097715e-01 1.57138007e+02] [ 3.33683072e-01 4.34019238e-01 -8.36829079e-01 1.33427974e+02] [ 9.34372967e-01 -3.46492604e-02 3.54607654e-01 1.26497589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.9471056809999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:157.14, Y:133.45, Z:126.52 [[ 1.24128464e-01 -9.16360394e-01 -3.80625477e-01 1.57139235e+02] [ 3.33075975e-01 3.99814769e-01 -8.53937085e-01 1.33447573e+02] [ 9.34693811e-01 -2.07793035e-02 3.54846025e-01 1.26519110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.9771056809999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:157.14, Y:133.46, Z:126.54 [[ 1.22526962e-01 -9.17050910e-01 -3.79479607e-01 1.57137925e+02] [ 3.34712230e-01 3.98142268e-01 -8.54078719e-01 1.33456748e+02] [ 9.34320538e-01 -2.23687952e-02 3.55731317e-01 1.26544850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.0071056809999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:157.14, Y:133.48, Z:126.57 [[ 1.19620458e-01 -9.22681896e-01 -3.66536581e-01 1.57138219e+02] [ 3.41031110e-01 3.84910298e-01 -8.57637362e-01 1.33476004e+02] [ 9.32410172e-01 -2.24094034e-02 3.60706377e-01 1.26572694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.0371056809999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:157.14, Y:133.47, Z:126.60 [[ 1.19712747e-01 -8.89788636e-01 -4.40391918e-01 1.57142110e+02] [ 3.43465510e-01 4.53309028e-01 -8.22521956e-01 1.33465526e+02] [ 9.31504322e-01 -5.27930719e-02 3.59878577e-01 1.26604667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.06710568099993 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:157.14, Y:133.48, Z:126.63 [[ 1.19835286e-01 -8.86004395e-01 -4.47923785e-01 1.57136478e+02] [ 3.43953036e-01 4.60284281e-01 -8.18434291e-01 1.33478210e+02] [ 9.31308656e-01 -5.59874387e-02 3.59902200e-01 1.26629794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.0971056809999 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:157.13, Y:133.50, Z:126.65 [[ 1.17198101e-01 -8.95591683e-01 -4.29162141e-01 1.57134224e+02] [ 3.44123351e-01 4.41990088e-01 -8.28386312e-01 1.33497537e+02] [ 9.31581303e-01 -5.05994114e-02 3.59994410e-01 1.26651648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.12710568099993 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:157.13, Y:133.51, Z:126.68 [[ 1.21502903e-01 -8.96515438e-01 -4.26024781e-01 1.57130364e+02] [ 3.38591452e-01 4.40896273e-01 -8.31243830e-01 1.33509714e+02] [ 9.33055665e-01 -4.32498111e-02 3.57122641e-01 1.26680171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.1571056809999 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:157.12, Y:133.53, Z:126.70 [[ 1.30558847e-01 -9.01596393e-01 -4.12405543e-01 1.57119515e+02] [ 3.39907123e-01 4.31460391e-01 -8.35646504e-01 1.33527023e+02] [ 9.31352530e-01 -3.10785373e-02 3.62790007e-01 1.26703773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.18710568099993 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:157.12, Y:133.54, Z:126.73 [[ 1.35525256e-01 -8.98472754e-01 -4.17587853e-01 1.57116307e+02] [ 3.37683596e-01 4.38128454e-01 -8.33074574e-01 1.33536529e+02] [ 9.31451928e-01 -2.81099232e-02 3.62776982e-01 1.26730406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2171056809999 meters Centerline goodness : 0.998321 Centerline is valid? [True, True] Translation: X:157.11, Y:133.57, Z:126.75 [[ 1.35264557e-01 -9.04295399e-01 -4.04911511e-01 1.57113727e+02] [ 3.43550442e-01 4.26120584e-01 -8.36895657e-01 1.33566835e+02] [ 9.29342022e-01 -2.59052079e-02 3.68310096e-01 1.26745324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.24710568099994 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:157.10, Y:133.58, Z:126.78 [[ 1.51425431e-01 -9.22300799e-01 -3.55572179e-01 1.57100407e+02] [ 3.27225747e-01 3.86210393e-01 -8.62418021e-01 1.33577273e+02] [ 9.32734501e-01 1.42396488e-02 3.60282644e-01 1.26780144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2771056809999 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:157.10, Y:133.58, Z:126.81 [[ 1.52383068e-01 -8.96962302e-01 -4.15015698e-01 1.57101344e+02] [ 3.24672257e-01 4.42046336e-01 -8.36171611e-01 1.33578698e+02] [ 9.33470581e-01 -7.32568771e-03 3.58579152e-01 1.26806811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.30710568099994 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:157.09, Y:133.59, Z:126.83 [[ 1.57684002e-01 -9.08497539e-01 -3.86998679e-01 1.57094881e+02] [ 3.19310091e-01 4.17756924e-01 -8.50599917e-01 1.33592662e+02] [ 9.34439309e-01 1.05534156e-02 3.55966015e-01 1.26834874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.3371056809999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:157.09, Y:133.59, Z:126.86 [[ 1.56718885e-01 -8.97059342e-01 -4.13187281e-01 1.57092910e+02] [ 3.13538542e-01 4.41904775e-01 -8.40484237e-01 1.33592189e+02] [ 9.36553668e-01 2.16961490e-03 3.50517502e-01 1.26857864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.36710568099994 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:157.09, Y:133.62, Z:126.88 [[ 1.56480965e-01 -9.25449063e-01 -3.45047445e-01 1.57088504e+02] [ 3.21714181e-01 3.78057393e-01 -8.68085591e-01 1.33620803e+02] [ 9.33816734e-01 2.48322154e-02 3.56888873e-01 1.26884112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.3971056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.09, Y:133.61, Z:126.91 [[ 1.55024924e-01 -8.98848272e-01 -4.09925673e-01 1.57089501e+02] [ 3.13878731e-01 4.38255810e-01 -8.42265984e-01 1.33614736e+02] [ 9.36721631e-01 1.90527027e-03 3.50069929e-01 1.26909846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.42710568099994 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:157.09, Y:133.65, Z:126.93 [[ 1.54960546e-01 -9.29094853e-01 -3.35812422e-01 1.57089500e+02] [ 3.21547363e-01 3.68842769e-01 -8.72102233e-01 1.33645150e+02] [ 9.34127680e-01 2.71618397e-02 3.55904077e-01 1.26933115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4571056809999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:157.09, Y:133.64, Z:126.96 [[ 1.55585621e-01 -9.01739167e-01 -4.03310786e-01 1.57094517e+02] [ 3.09741727e-01 4.32226380e-01 -8.46900478e-01 1.33637321e+02] [ 9.38004892e-01 6.84335705e-03 3.46554456e-01 1.26960133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.48710568099995 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:157.10, Y:133.66, Z:126.98 [[ 1.59602270e-01 -9.21860293e-01 -3.53129885e-01 1.57097367e+02] [ 3.04937116e-01 3.86259869e-01 -8.70526662e-01 1.33655111e+02] [ 9.38903867e-01 3.12556228e-02 3.42757371e-01 1.26982714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.5171056809999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:157.10, Y:133.66, Z:127.01 [[ 1.61048985e-01 -9.21855423e-01 -3.52485182e-01 1.57100408e+02] [ 3.01376071e-01 3.86023422e-01 -8.71870622e-01 1.33664651e+02] [ 9.39806197e-01 3.41832794e-02 3.39993846e-01 1.27006537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.54710568099995 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:157.10, Y:133.68, Z:127.03 [[ 1.65078381e-01 -9.21358454e-01 -3.51920059e-01 1.57102709e+02] [ 2.95681074e-01 3.86635171e-01 -8.73547907e-01 1.33676210e+02] [ 9.40915421e-01 4.01477733e-02 3.36253366e-01 1.27031687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.5771056809999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:157.11, Y:133.68, Z:127.06 [[ 1.67276202e-01 -9.21295389e-01 -3.51046262e-01 1.57105843e+02] [ 2.93696824e-01 3.86462307e-01 -8.74293464e-01 1.33684890e+02] [ 9.41148685e-01 4.31473174e-02 3.35227477e-01 1.27056541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.60710568099995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:157.11, Y:133.69, Z:127.08 [[ 1.69263426e-01 -9.21332852e-01 -3.49993811e-01 1.57109426e+02] [ 2.92908675e-01 3.86098087e-01 -8.74718684e-01 1.33693408e+02] [ 9.41039001e-01 4.55416573e-02 3.35218670e-01 1.27082339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.6371056809999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:157.11, Y:133.70, Z:127.11 [[ 1.69985987e-01 -9.16651216e-01 -3.61739288e-01 1.57114365e+02] [ 2.94627061e-01 3.97565435e-01 -8.68985972e-01 1.33699711e+02] [ 9.40372086e-01 4.11372550e-02 3.37650806e-01 1.27114101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.6671056809999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:157.12, Y:133.70, Z:127.14 [[ 1.71112442e-01 -9.07816776e-01 -3.82869734e-01 1.57119665e+02] [ 2.91640860e-01 4.17855803e-01 -8.60431367e-01 1.33702397e+02] [ 9.41098370e-01 3.55700533e-02 3.36256792e-01 1.27135100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.6971056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.12, Y:133.71, Z:127.16 [[ 1.70174085e-01 -9.22538731e-01 -3.46356855e-01 1.57123568e+02] [ 2.96657125e-01 3.83139673e-01 -8.74756276e-01 1.33714037e+02] [ 9.39699596e-01 4.61116198e-02 3.38878131e-01 1.27158817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.7271056809999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:157.13, Y:133.72, Z:127.19 [[ 1.65932867e-01 -9.19899563e-01 -3.55318276e-01 1.57128500e+02] [ 3.02028756e-01 3.90405224e-01 -8.69690975e-01 1.33721181e+02] [ 9.38746459e-01 3.69939805e-02 3.42617179e-01 1.27188920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.7571056809999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:157.13, Y:133.72, Z:127.21 [[ 1.60857894e-01 -9.15626904e-01 -3.68445534e-01 1.57133856e+02] [ 3.05869948e-01 4.01174948e-01 -8.63424714e-01 1.33724308e+02] [ 9.38386015e-01 2.61922651e-02 3.44594911e-01 1.27211269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.7871056809999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:157.14, Y:133.74, Z:127.24 [[ 1.54362173e-01 -9.28368710e-01 -3.38088534e-01 1.57141094e+02] [ 3.14868304e-01 3.70571623e-01 -8.73804683e-01 1.33742575e+02] [ 9.36498943e-01 2.84290265e-02 3.49516123e-01 1.27237328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.81710568099993 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:157.15, Y:133.74, Z:127.27 [[ 1.48008440e-01 -9.10681647e-01 -3.85684378e-01 1.57147770e+02] [ 3.11268951e-01 4.13055776e-01 -8.55860132e-01 1.33738662e+02] [ 9.38725275e-01 6.62295156e-03 3.44602662e-01 1.27266151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.8471056809999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:157.15, Y:133.75, Z:127.29 [[ 1.44898351e-01 -9.22838538e-01 -3.56894243e-01 1.57153547e+02] [ 3.15705607e-01 3.84967905e-01 -8.67254105e-01 1.33753956e+02] [ 9.37728339e-01 1.29901760e-02 3.47126515e-01 1.27289079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.87710568099993 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:157.16, Y:133.77, Z:127.31 [[ 1.40357995e-01 -9.26400590e-01 -3.49401745e-01 1.57157080e+02] [ 3.17262540e-01 3.76369144e-01 -8.70454334e-01 1.33765685e+02] [ 9.37893445e-01 1.13231394e-02 3.46738623e-01 1.27314278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.9071056809999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:157.16, Y:133.77, Z:127.34 [[ 1.38121174e-01 -9.18453120e-01 -3.70629744e-01 1.57164201e+02] [ 3.20725102e-01 3.95529855e-01 -8.60634384e-01 1.33768545e+02] [ 9.37047464e-01 1.56925634e-06 3.49202019e-01 1.27340627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93710568099993 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:157.17, Y:133.78, Z:127.37 [[ 1.33342479e-01 -9.25996052e-01 -3.53201209e-01 1.57169323e+02] [ 3.22249218e-01 3.77528217e-01 -8.68117438e-01 1.33777553e+02] [ 9.37216744e-01 1.93811812e-03 3.48742052e-01 1.27367107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.9671056809999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:157.18, Y:133.79, Z:127.39 [[ 1.30750997e-01 -9.27936443e-01 -3.49053197e-01 1.57175442e+02] [ 3.23222122e-01 3.72737349e-01 -8.69824309e-01 1.33788599e+02] [ 9.37246839e-01 9.08680345e-04 3.48665366e-01 1.27390988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99710568099994 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:157.19, Y:133.81, Z:127.41 [[ 1.31037075e-01 -9.28698303e-01 -3.46913169e-01 1.57192602e+02] [ 3.23040751e-01 3.70830622e-01 -8.70706221e-01 1.33805592e+02] [ 9.37269416e-01 2.02770518e-03 3.48599958e-01 1.27410245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0271056809999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:157.19, Y:133.82, Z:127.44 [[ 1.17109398e-01 -9.36401613e-01 -3.30813253e-01 1.57185387e+02] [ 3.30040362e-01 3.50869003e-01 -8.76335725e-01 1.33820109e+02] [ 9.36674302e-01 -6.55457653e-03 3.50140385e-01 1.27435388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05710568099994 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:157.18, Y:133.83, Z:127.46 [[ 1.10508208e-01 -9.37520261e-01 -3.29914680e-01 1.57181100e+02] [ 3.30153353e-01 3.47725527e-01 -8.77545282e-01 1.33825842e+02] [ 9.37436238e-01 -1.19464813e-02 3.47951983e-01 1.27461667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0871056809999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:157.18, Y:133.83, Z:127.49 [[ 1.13299611e-01 -9.40495864e-01 -3.20360309e-01 1.57177208e+02] [ 3.30506441e-01 3.39750067e-01 -8.80531308e-01 1.33827728e+02] [ 9.36978490e-01 -6.11729118e-03 3.49333492e-01 1.27492063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.19, Y:133.84, Z:127.52 [[ 1.18192570e-01 -9.33818160e-01 -3.37659829e-01 1.57186968e+02] [ 3.24422697e-01 3.57696916e-01 -8.75672787e-01 1.33836164e+02] [ 9.38499030e-01 -6.04649534e-03 3.45228924e-01 1.27517428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.1471056809999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:157.17, Y:133.85, Z:127.54 [[ 1.12088529e-01 -9.42046427e-01 -3.16203559e-01 1.57174298e+02] [ 3.29543466e-01 3.35440979e-01 -8.82542040e-01 1.33850349e+02] [ 9.37463208e-01 -5.27997737e-03 3.48044331e-01 1.27543111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17710568099994 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:157.17, Y:133.87, Z:127.56 [[ 1.10666033e-01 -9.49241552e-01 -2.94437607e-01 1.57173838e+02] [ 3.33347587e-01 3.14547981e-01 -8.88785100e-01 1.33872089e+02] [ 9.36286503e-01 2.08254965e-04 3.51237159e-01 1.27564903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.2071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.17, Y:133.87, Z:127.60 [[ 1.03582318e-01 -9.29829022e-01 -3.53112861e-01 1.57171369e+02] [ 3.30157273e-01 3.67036208e-01 -8.69643948e-01 1.33868473e+02] [ 9.38225388e-01 -2.65030435e-02 3.45008276e-01 1.27595203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.18, Y:133.89, Z:127.62 [[ 1.01913168e-01 -9.36603486e-01 -3.35242624e-01 1.57178336e+02] [ 3.28132624e-01 3.49786369e-01 -8.77484175e-01 1.33888241e+02] [ 9.39118037e-01 -2.05768498e-02 3.42977996e-01 1.27615136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.2671056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.17, Y:133.89, Z:127.64 [[ 9.54816122e-02 -9.45987139e-01 -3.09825104e-01 1.57168923e+02] [ 3.31742545e-01 3.23694240e-01 -8.86097581e-01 1.33894678e+02] [ 9.38525517e-01 -1.81761429e-02 3.44731029e-01 1.27642919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29710568099995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:157.17, Y:133.90, Z:127.67 [[ 9.05471845e-02 -9.42458721e-01 -3.21827231e-01 1.57167280e+02] [ 3.35631225e-01 3.33128366e-01 -8.81122677e-01 1.33900113e+02] [ 9.37631531e-01 -2.82320902e-02 3.46482411e-01 1.27669192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.3271056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.16, Y:133.93, Z:127.69 [[ 8.38940374e-02 -9.56348827e-01 -2.79926261e-01 1.57163210e+02] [ 3.45009925e-01 2.91418773e-01 -8.92212559e-01 1.33931235e+02] [ 9.34842202e-01 -2.17260247e-02 3.54398135e-01 1.27691897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.16, Y:133.94, Z:127.72 [[ 8.15700953e-02 -9.46628714e-01 -3.11833927e-01 1.57160638e+02] [ 3.42300028e-01 3.20453487e-01 -8.83255486e-01 1.33937208e+02] [ 9.36043274e-01 -3.46935277e-02 3.50170457e-01 1.27719221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.3871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.16, Y:133.95, Z:127.75 [[ 8.19988661e-02 -9.44178964e-01 -3.19064680e-01 1.57160295e+02] [ 3.42003110e-01 3.27360563e-01 -8.80834226e-01 1.33946630e+02] [ 9.36114341e-01 -3.68937050e-02 3.49755337e-01 1.27745295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.4171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.16, Y:133.96, Z:127.77 [[ 8.66780920e-02 -9.40182280e-01 -3.29460452e-01 1.57157194e+02] [ 3.43331587e-01 3.38636804e-01 -8.76041401e-01 1.33956060e+02] [ 9.35206036e-01 -3.71805825e-02 3.52146666e-01 1.27769189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.4471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.15, Y:133.97, Z:127.79 [[ 8.74312245e-02 -9.48806260e-01 -3.03516823e-01 1.57154001e+02] [ 3.40067648e-01 3.14808117e-01 -8.86143241e-01 1.33970265e+02] [ 9.36327814e-01 -2.57396635e-02 3.50182373e-01 1.27794177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.4771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.14, Y:133.98, Z:127.82 [[ 9.01132719e-02 -9.51832834e-01 -2.93076532e-01 1.57144802e+02] [ 3.33589406e-01 3.06122233e-01 -8.91631811e-01 1.33982158e+02] [ 9.38401677e-01 -1.74193664e-02 3.45107026e-01 1.27821792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.5071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.14, Y:134.00, Z:127.85 [[ 9.60161982e-02 -9.49192001e-01 -2.99692235e-01 1.57137442e+02] [ 3.33627166e-01 3.14356305e-01 -8.88748012e-01 1.33996452e+02] [ 9.37802647e-01 -1.46512657e-02 3.46859534e-01 1.27849770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.5371056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.13, Y:134.00, Z:127.88 [[ 9.87478607e-02 -9.47782541e-01 -3.03244315e-01 1.57134430e+02] [ 3.27257704e-01 3.18713624e-01 -8.89563950e-01 1.34003620e+02] [ 9.39761276e-01 -1.13965010e-02 3.41641427e-01 1.27875088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.56710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.13, Y:134.02, Z:127.90 [[ 1.06489108e-01 -9.46943184e-01 -3.03246890e-01 1.57126608e+02] [ 3.28106416e-01 3.21363602e-01 -8.88297031e-01 1.34015758e+02] [ 9.38619332e-01 -4.90329161e-03 3.44919858e-01 1.27903170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.5971056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.13, Y:134.03, Z:127.93 [[ 1.12739819e-01 -9.40717665e-01 -3.19906250e-01 1.57129096e+02] [ 3.21848751e-01 3.39174520e-01 -8.83953634e-01 1.34026842e+02] [ 9.40054847e-01 -3.30465428e-03 3.41007279e-01 1.27928373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.62710568099993 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:157.13, Y:134.06, Z:127.93 [[ 1.04956531e-01 -9.34412073e-01 -3.40379501e-01 1.57126713e+02] [ 3.42824025e-01 3.55285828e-01 -8.69622716e-01 1.34058578e+02] [ 9.33517978e-01 -2.54176869e-02 3.57628475e-01 1.27925086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.6571056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.10, Y:134.06, Z:127.97 [[ 1.22685550e-01 -9.89222609e-01 -7.99179895e-02 1.57095353e+02] [ 3.16991493e-01 1.15367276e-01 -9.41385567e-01 1.34059350e+02] [ 9.40459807e-01 9.01610833e-02 3.27729050e-01 1.27974587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.68710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.11, Y:134.06, Z:128.01 [[ 1.23992550e-01 -9.61347632e-01 -2.45838520e-01 1.57111791e+02] [ 3.13327352e-01 2.73006676e-01 -9.09556664e-01 1.34059868e+02] [ 9.41515703e-01 3.57503181e-02 3.35067301e-01 1.28005171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.12, Y:134.07, Z:128.03 [[ 1.31034953e-01 -9.42704840e-01 -3.06818229e-01 1.57117107e+02] [ 3.17305353e-01 3.33086956e-01 -8.87902243e-01 1.34068172e+02] [ 9.39226892e-01 1.89911621e-02 3.42771325e-01 1.28032028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.74710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.12, Y:134.08, Z:128.06 [[ 1.29984720e-01 -9.48943507e-01 -2.87419891e-01 1.57117035e+02] [ 3.15346490e-01 3.14393364e-01 -8.95384501e-01 1.34077026e+02] [ 9.40032214e-01 2.57494495e-02 3.40112338e-01 1.28060798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7771056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.12, Y:134.09, Z:128.08 [[ 1.27938991e-01 -9.49501799e-01 -2.86492494e-01 1.57121262e+02] [ 3.09077496e-01 3.12652058e-01 -8.98175813e-01 1.34085693e+02] [ 9.42392018e-01 2.63633243e-02 3.33470027e-01 1.28081925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.80710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.13, Y:134.09, Z:128.11 [[ 1.23660878e-01 -9.49458323e-01 -2.88508026e-01 1.57125702e+02] [ 3.11308422e-01 3.13180712e-01 -8.97220657e-01 1.34093745e+02] [ 9.42228769e-01 2.11361159e-02 3.34302574e-01 1.28108849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.8371056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.13, Y:134.10, Z:128.14 [[ 1.21180680e-01 -9.47089141e-01 -2.97216086e-01 1.57130331e+02] [ 3.17494574e-01 3.20674872e-01 -8.92392751e-01 1.34102088e+02] [ 9.40485214e-01 1.37762656e-02 3.39555263e-01 1.28136994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.86710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.14, Y:134.11, Z:128.16 [[ 1.12336797e-01 -9.33753569e-01 -3.39830423e-01 1.57138088e+02] [ 3.18152439e-01 3.57790637e-01 -8.77932164e-01 1.34114585e+02] [ 9.41360436e-01 -9.49379053e-03 3.37269030e-01 1.28157716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.8971056809999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:157.14, Y:134.13, Z:128.17 [[ 1.06204429e-01 -9.56206415e-01 -2.72745141e-01 1.57140310e+02] [ 3.22041834e-01 2.92589521e-01 -9.00377937e-01 1.34130977e+02] [ 9.40749529e-01 7.78877937e-03 3.39012771e-01 1.28171602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.92710568099994 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:157.14, Y:134.14, Z:128.20 [[ 1.05622147e-01 -9.69971414e-01 -2.19087697e-01 1.57136056e+02] [ 3.21015532e-01 2.41783373e-01 -9.15690902e-01 1.34141720e+02] [ 9.41165761e-01 2.63866852e-02 3.36913568e-01 1.28196009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9571056809999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:157.15, Y:134.14, Z:128.24 [[ 1.06590211e-01 -9.71752750e-01 -2.10559065e-01 1.57146567e+02] [ 3.24789148e-01 2.34177216e-01 -9.16336751e-01 1.34136469e+02] [ 9.39760893e-01 2.92852285e-02 3.40575747e-01 1.28235739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.98710568099995 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:157.18, Y:134.15, Z:128.27 [[ 1.07171377e-01 -9.37836372e-01 -3.30117001e-01 1.57176238e+02] [ 3.24092668e-01 3.46846678e-01 -8.80148467e-01 1.34147096e+02] [ 9.39935231e-01 -1.26617767e-02 3.41117929e-01 1.28265548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.0171056809999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:157.18, Y:134.15, Z:128.29 [[ 9.99543461e-02 -9.35070658e-01 -3.40076451e-01 1.57175347e+02] [ 3.20847655e-01 3.53821011e-01 -8.78559886e-01 1.34150090e+02] [ 9.41841765e-01 -2.12968531e-02 3.35381176e-01 1.28292293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.04710568099995 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:157.17, Y:134.16, Z:128.32 [[ 9.05524849e-02 -9.43204852e-01 -3.19632376e-01 1.57169794e+02] [ 3.22892886e-01 3.31419319e-01 -8.86510811e-01 1.34157649e+02] [ 9.42093643e-01 -2.29312635e-02 3.34564980e-01 1.28317495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.0771056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.17, Y:134.16, Z:128.34 [[ 9.06726037e-02 -9.49187743e-01 -3.01365406e-01 1.57171461e+02] [ 3.20641605e-01 3.14322920e-01 -8.93526756e-01 1.34162158e+02] [ 9.42850699e-01 -1.56118901e-02 3.32849559e-01 1.28342558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.10710568099995 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:157.17, Y:134.17, Z:128.37 [[ 9.28850939e-02 -9.48803622e-01 -3.01900722e-01 1.57172627e+02] [ 3.22635755e-01 3.15532885e-01 -8.92381739e-01 1.34171443e+02] [ 9.41954632e-01 -1.45150058e-02 3.35426275e-01 1.28369866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.1371056809999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:157.17, Y:134.18, Z:128.40 [[ 9.45705281e-02 -9.53815301e-01 -2.85118901e-01 1.57171339e+02] [ 3.19010691e-01 3.00334842e-01 -8.98905536e-01 1.34182635e+02] [ 9.43020994e-01 -5.94600624e-03 3.32680102e-01 1.28395258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.1671056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.18, Y:134.19, Z:128.42 [[ 1.07126422e-01 -9.33810273e-01 -3.41353636e-01 1.57183205e+02] [ 3.19697829e-01 3.57448729e-01 -8.77509946e-01 1.34186222e+02] [ 9.41444225e-01 -1.51255158e-02 3.36829320e-01 1.28417051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.1971056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.17, Y:134.18, Z:128.45 [[ 1.05400781e-01 -9.44113810e-01 -3.12313608e-01 1.57171153e+02] [ 3.12078104e-01 3.29600547e-01 -8.91050356e-01 1.34183501e+02] [ 9.44191682e-01 -3.54883500e-03 3.29377402e-01 1.28451066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.2271056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.17, Y:134.20, Z:128.47 [[ 1.12056128e-01 -9.56019598e-01 -2.71053412e-01 1.57171215e+02] [ 3.12576004e-01 2.92836496e-01 -9.03627704e-01 1.34204730e+02] [ 9.43260126e-01 1.65322295e-02 3.31642910e-01 1.28474845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.2571056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.18, Y:134.21, Z:128.50 [[ 1.13155383e-01 -9.47962240e-01 -2.97596122e-01 1.57175572e+02] [ 3.06260175e-01 3.18213535e-01 -8.97187188e-01 1.34208756e+02] [ 9.45198690e-01 1.03797191e-02 3.26330656e-01 1.28502972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.2871056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.19, Y:134.20, Z:128.53 [[ 1.16535908e-01 -9.11799771e-01 -3.93751901e-01 1.57186224e+02] [ 3.05734651e-01 4.10135494e-01 -8.59252699e-01 1.34200575e+02] [ 9.44958044e-01 -2.02498062e-02 3.26564297e-01 1.28532560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.31710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.18, Y:134.21, Z:128.56 [[ 1.16535644e-01 -9.41379476e-01 -3.16581943e-01 1.57182914e+02] [ 3.03526642e-01 3.37260273e-01 -8.91138085e-01 1.34214555e+02] [ 9.45669615e-01 7.75829662e-03 3.25036594e-01 1.28557431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.3471056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.19, Y:134.22, Z:128.58 [[ 1.17183289e-01 -9.39878618e-01 -3.20774468e-01 1.57189267e+02] [ 2.91040707e-01 3.41319206e-01 -8.93754165e-01 1.34219661e+02] [ 9.49506916e-01 1.13746250e-02 3.13539844e-01 1.28582298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.37710568099993 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:157.20, Y:134.23, Z:128.61 [[ 1.21522943e-01 -9.32443902e-01 -3.40265402e-01 1.57195881e+02] [ 2.94143535e-01 3.61238077e-01 -8.84865319e-01 1.34227901e+02] [ 9.48004090e-01 7.44456977e-03 3.18171060e-01 1.28606420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.4071056809999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:157.19, Y:134.25, Z:128.63 [[ 1.27655008e-01 -9.65393290e-01 -2.27420305e-01 1.57191314e+02] [ 2.91908656e-01 2.55710237e-01 -9.21629867e-01 1.34249209e+02] [ 9.47888989e-01 5.12647121e-02 3.14449350e-01 1.28628397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43710568099993 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:157.20, Y:134.25, Z:128.66 [[ 1.32420256e-01 -9.45198611e-01 -2.98436697e-01 1.57204600e+02] [ 2.93585489e-01 3.24979724e-01 -8.98997074e-01 1.34253423e+02] [ 9.46716661e-01 3.14287391e-02 3.20530495e-01 1.28657256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.4671056809999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:157.21, Y:134.25, Z:128.68 [[ 1.36875771e-01 -9.45327365e-01 -2.96008779e-01 1.57209320e+02] [ 2.87525289e-01 3.23870481e-01 -9.01352939e-01 1.34254893e+02] [ 9.47942103e-01 3.82633683e-02 3.16135546e-01 1.28683396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49710568099994 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:157.21, Y:134.26, Z:128.71 [[ 1.39774182e-01 -9.50089603e-01 -2.78913828e-01 1.57214533e+02] [ 2.85799100e-01 3.08400505e-01 -9.07308108e-01 1.34262682e+02] [ 9.48041166e-01 4.71049276e-02 3.14641182e-01 1.28707341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5271056809999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:157.22, Y:134.27, Z:128.73 [[ 1.39640352e-01 -9.46183382e-01 -2.91954758e-01 1.57221379e+02] [ 2.83828087e-01 3.20718427e-01 -9.03648885e-01 1.34268874e+02] [ 9.48652828e-01 4.33208879e-02 3.13338654e-01 1.28734720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55710568099994 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:157.23, Y:134.28, Z:128.76 [[ 1.39706400e-01 -9.44223111e-01 -2.98202680e-01 1.57233949e+02] [ 2.87727218e-01 3.26872537e-01 -9.00204084e-01 1.34279113e+02] [ 9.47467767e-01 3.99632445e-02 3.17344874e-01 1.28760871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5871056809999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:157.25, Y:134.29, Z:128.78 [[ 1.30935507e-01 -9.43106865e-01 -3.05622864e-01 1.57247038e+02] [ 2.82673600e-01 3.30995241e-01 -9.00298721e-01 1.34285258e+02] [ 9.50237617e-01 3.14895539e-02 3.09930442e-01 1.28780814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61710568099994 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:157.25, Y:134.29, Z:128.81 [[ 1.33917288e-01 -9.58305467e-01 -2.52421853e-01 1.57248772e+02] [ 2.85163611e-01 2.81207087e-01 -9.16299236e-01 1.34290549e+02] [ 9.49077381e-01 5.07267815e-02 3.10932338e-01 1.28813819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.6471056809999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:157.26, Y:134.28, Z:128.84 [[ 1.22828450e-01 -9.52780344e-01 -2.77709900e-01 1.57258386e+02] [ 2.75704442e-01 3.01573301e-01 -9.12710581e-01 1.34281502e+02] [ 9.53362593e-01 3.55409729e-02 2.99727554e-01 1.28841139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67710568099994 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:157.27, Y:134.29, Z:128.87 [[ 1.19881380e-01 -9.46769070e-01 -2.98758736e-01 1.57268876e+02] [ 2.86090543e-01 3.21108192e-01 -9.02796616e-01 1.34292414e+02] [ 9.50673790e-01 2.27564554e-02 3.09356571e-01 1.28869802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.7071056809999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:157.28, Y:134.29, Z:128.90 [[ 1.09936908e-01 -9.41301327e-01 -3.19164047e-01 1.57281971e+02] [ 2.89361793e-01 3.37511988e-01 -8.95742938e-01 1.34290915e+02] [ 9.50885708e-01 6.12132776e-03 3.09481664e-01 1.28895826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73710568099995 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:157.29, Y:134.30, Z:128.92 [[ 9.79023507e-02 -9.52474298e-01 -2.88457695e-01 1.57288731e+02] [ 2.89291356e-01 3.04571139e-01 -9.07494867e-01 1.34301548e+02] [ 9.52221424e-01 5.39756295e-03 3.05360812e-01 1.28922513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.7671056809999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:157.30, Y:134.30, Z:128.95 [[ 9.18608785e-02 -9.47974498e-01 -3.04804740e-01 1.57298958e+02] [ 2.93648416e-01 3.18275664e-01 -9.01371848e-01 1.34304233e+02] [ 9.51489457e-01 -6.70461931e-03 3.07608292e-01 1.28946477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79710568099995 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:157.30, Y:134.31, Z:128.97 [[ 8.82110105e-02 -9.48383538e-01 -3.04610378e-01 1.57301556e+02] [ 2.91905333e-01 3.16988747e-01 -9.02390941e-01 1.34307460e+02] [ 9.52370776e-01 -9.31657673e-03 3.04800110e-01 1.28974906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.8271056809999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:157.30, Y:134.32, Z:129.00 [[ 8.75707391e-02 -9.53210792e-01 -2.89345038e-01 1.57304758e+02] [ 2.95505935e-01 3.02244074e-01 -9.06269696e-01 1.34321281e+02] [ 9.51318878e-01 -6.14046886e-03 3.08147183e-01 1.28999797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85710568099995 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:157.31, Y:134.33, Z:129.02 [[ 8.55536978e-02 -9.50285268e-01 -2.99396851e-01 1.57308013e+02] [ 2.95043840e-01 3.11184635e-01 -9.03389869e-01 1.34328204e+02] [ 9.51645784e-01 -1.10468528e-02 3.06998811e-01 1.29023788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.8871056809999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:157.31, Y:134.33, Z:129.05 [[ 8.13564421e-02 -9.50394052e-01 -3.00220379e-01 1.57308499e+02] [ 2.86269522e-01 3.10808819e-01 -9.06337486e-01 1.34330312e+02] [ 9.54688897e-01 -1.22075509e-02 2.97355150e-01 1.29053410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.9171056809999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:157.32, Y:134.34, Z:129.07 [[ 8.76347445e-02 -9.45779814e-01 -3.12763001e-01 1.57315389e+02] [ 2.93564033e-01 3.24547480e-01 -8.99160215e-01 1.34340462e+02] [ 9.51914025e-01 -1.30182922e-02 3.06088572e-01 1.29074552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.9471056809999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:157.31, Y:134.35, Z:129.10 [[ 8.75311887e-02 -9.53879576e-01 -2.87144642e-01 1.57313764e+02] [ 2.90521588e-01 3.00164279e-01 -9.08569542e-01 1.34350560e+02] [ 9.52856494e-01 -3.89354519e-03 3.03396345e-01 1.29102337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.9771056809999 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:157.31, Y:134.36, Z:129.13 [[ 9.32013691e-02 -9.49397547e-01 -2.99929663e-01 1.57314778e+02] [ 2.94669384e-01 3.14047953e-01 -9.02520824e-01 1.34357622e+02] [ 9.51043353e-01 -4.26391246e-03 3.09028089e-01 1.29128601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.0071056809999 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:157.32, Y:134.38, Z:129.15 [[ 8.85864731e-02 -9.47695525e-01 -3.06635988e-01 1.57315086e+02] [ 2.90878339e-01 3.19040608e-01 -9.01999380e-01 1.34376835e+02] [ 9.52650108e-01 -9.28882286e-03 3.03926782e-01 1.29148229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.0371056809999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:157.31, Y:134.39, Z:129.18 [[ 9.69893060e-02 -9.62480636e-01 -2.53424743e-01 1.57312953e+02] [ 2.93853719e-01 2.70966186e-01 -9.16639142e-01 1.34385176e+02] [ 9.50916961e-01 1.44343910e-02 3.09109337e-01 1.29175374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.06710568099993 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:157.31, Y:134.39, Z:129.20 [[ 9.29187552e-02 -9.62748124e-01 -2.53933367e-01 1.57312258e+02] [ 2.89822663e-01 2.70145731e-01 -9.18163443e-01 1.34392367e+02] [ 9.52559147e-01 1.17189598e-02 3.04127830e-01 1.29204162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.0971056809999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:157.32, Y:134.39, Z:129.23 [[ 8.92832075e-02 -9.50623265e-01 -2.97227047e-01 1.57319791e+02] [ 2.95580294e-01 3.10264072e-01 -9.03531126e-01 1.34391180e+02] [ 9.51136583e-01 -7.18430099e-03 3.08686876e-01 1.29229610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.12710568099993 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:157.32, Y:134.41, Z:129.25 [[ 8.16262835e-02 -9.59617157e-01 -2.69206354e-01 1.57318696e+02] [ 3.01663283e-01 2.81225903e-01 -9.10994652e-01 1.34406434e+02] [ 9.49913898e-01 -6.84856497e-03 3.12436688e-01 1.29254675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.1571056809999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:157.32, Y:134.41, Z:129.28 [[ 6.95171740e-02 -9.57547782e-01 -2.79767061e-01 1.57321241e+02] [ 3.03992171e-01 2.87441065e-01 -9.08276607e-01 1.34412393e+02] [ 9.50134792e-01 -2.19061735e-02 3.11069120e-01 1.29282592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.18710568099993 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:157.32, Y:134.42, Z:129.31 [[ 5.89115754e-02 -9.60354576e-01 -2.72485806e-01 1.57319434e+02] [ 3.06633863e-01 2.77172312e-01 -9.10577390e-01 1.34424258e+02] [ 9.50002684e-01 -2.99098268e-02 3.10805891e-01 1.29306665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2171056809999 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:157.32, Y:134.46, Z:129.32 [[ 4.69076871e-02 -9.49893608e-01 -3.09033659e-01 1.57322139e+02] [ 3.26503793e-01 3.06960969e-01 -8.93963219e-01 1.34455946e+02] [ 9.44031219e-01 -5.89669149e-02 3.24542695e-01 1.29318670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.24710568099994 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:157.31, Y:134.44, Z:129.36 [[ 4.71525211e-02 -9.67218732e-01 -2.49528686e-01 1.57313968e+02] [ 3.05231478e-01 2.51809743e-01 -9.18382055e-01 1.34439626e+02] [ 9.51110080e-01 -3.28599802e-02 3.07099067e-01 1.29357478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2771056809999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:157.32, Y:134.46, Z:129.38 [[ 4.74575492e-02 -9.66147719e-01 -2.53587000e-01 1.57316154e+02] [ 3.12553104e-01 2.55487836e-01 -9.14897001e-01 1.34459402e+02] [ 9.48714045e-01 -3.58406345e-02 3.14097295e-01 1.29379419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.30710568099994 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:157.31, Y:134.46, Z:129.41 [[ 4.57560806e-02 -9.58015915e-01 -2.83040435e-01 1.57311804e+02] [ 3.09521503e-01 2.82989604e-01 -9.07806876e-01 1.34464418e+02] [ 9.49790935e-01 -4.60694162e-02 3.09475021e-01 1.29405749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3371056809999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:157.31, Y:134.46, Z:129.43 [[ 4.59945997e-02 -9.45255278e-01 -3.23074226e-01 1.57309794e+02] [ 3.03624711e-01 3.21343956e-01 -8.96967166e-01 1.34459687e+02] [ 9.51680898e-01 -5.68376728e-02 3.01782947e-01 1.29434350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.36710568099994 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:157.30, Y:134.48, Z:129.45 [[ 5.28762881e-02 -9.65547235e-01 -2.54799206e-01 1.57297199e+02] [ 3.02055727e-01 2.58668197e-01 -9.17525532e-01 1.34482743e+02] [ 9.51822692e-01 -2.84482150e-02 3.05326486e-01 1.29453449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3971056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.29, Y:134.50, Z:129.48 [[ 5.95172122e-02 -9.67206474e-01 -2.46919699e-01 1.57289428e+02] [ 3.04475812e-01 2.53160440e-01 -9.18261549e-01 1.34503133e+02] [ 9.50658814e-01 -2.05287084e-02 3.09558381e-01 1.29477701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.42710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.29, Y:134.49, Z:129.51 [[ 6.08911418e-02 -9.52549817e-01 -2.98229971e-01 1.57288275e+02] [ 2.89294730e-01 3.02801855e-01 -9.08085676e-01 1.34490502e+02] [ 9.55301433e-01 -3.09819853e-02 2.94005593e-01 1.29507780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4571056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.28, Y:134.53, Z:129.53 [[ 7.32345348e-02 -9.75373990e-01 -2.08043942e-01 1.57276855e+02] [ 2.98114591e-01 2.20475983e-01 -9.28718489e-01 1.34528163e+02] [ 9.51716551e-01 5.99333175e-03 3.06919674e-01 1.29525096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.48710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.28, Y:134.54, Z:129.55 [[ 7.65668343e-02 -9.71261046e-01 -2.25365260e-01 1.57276134e+02] [ 2.95193833e-01 2.37977507e-01 -9.25325514e-01 1.34536550e+02] [ 9.52364490e-01 4.32281045e-03 3.04931455e-01 1.29553330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.5171056809999 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:157.28, Y:134.54, Z:129.58 [[ 8.78585696e-02 -9.60491343e-01 -2.64078116e-01 1.57276562e+02] [ 2.96324332e-01 2.78302544e-01 -9.13640840e-01 1.34540575e+02] [ 9.51037729e-01 2.01840601e-03 3.09068219e-01 1.29579466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.54710568099995 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:157.28, Y:134.56, Z:129.61 [[ 9.61241841e-02 -9.61864689e-01 -2.56079016e-01 1.57281998e+02] [ 2.96420485e-01 2.73259764e-01 -9.15130590e-01 1.34557628e+02] [ 9.50207892e-01 1.20591153e-02 3.11383269e-01 1.29608414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.5771056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.27, Y:134.53, Z:129.64 [[ 9.25973155e-02 -9.42118723e-01 -3.22239119e-01 1.57274703e+02] [ 2.72819832e-01 3.35250419e-01 -9.01762993e-01 1.34529913e+02] [ 9.57598599e-01 -4.41238994e-03 2.88071960e-01 1.29639031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.60710568099995 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:157.26, Y:134.57, Z:129.66 [[ 9.77217514e-02 -9.80842673e-01 -1.68517389e-01 1.57261832e+02] [ 2.91858044e-01 1.90127076e-01 -9.37374300e-01 1.34573251e+02] [ 9.51456432e-01 4.24187026e-02 3.04846375e-01 1.29657710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.6371056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.27, Y:134.55, Z:129.69 [[ 9.92183893e-02 -9.51548161e-01 -2.91052931e-01 1.57274409e+02] [ 2.76081079e-01 3.07337068e-01 -9.10671820e-01 1.34553752e+02] [ 9.55999450e-01 1.00011839e-02 2.93197932e-01 1.29689944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.6671056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:157.27, Y:134.58, Z:129.71 [[ 1.02153150e-01 -9.77967596e-01 -1.82055253e-01 1.57266730e+02] [ 2.85952295e-01 2.04156978e-01 -9.36243138e-01 1.34582860e+02] [ 9.52783301e-01 4.35810679e-02 3.00507357e-01 1.29708361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.6971056809999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:157.27, Y:134.59, Z:129.73 [[ 9.75726942e-02 -9.79978882e-01 -1.73553913e-01 1.57268354e+02] [ 2.89723857e-01 1.94802566e-01 -9.37076329e-01 1.34594515e+02] [ 9.52123761e-01 4.11503533e-02 3.02930672e-01 1.29734177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.7271056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.28, Y:134.59, Z:129.76 [[ 9.30554341e-02 -9.66425950e-01 -2.39502753e-01 1.57279780e+02] [ 2.85521444e-01 2.56345298e-01 -9.23452540e-01 1.34588998e+02] [ 9.53843903e-01 1.75491052e-02 2.99789655e-01 1.29763904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.7571056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:157.28, Y:134.61, Z:129.79 [[ 9.14467341e-02 -9.76761656e-01 -1.93840559e-01 1.57278357e+02] [ 2.95383384e-01 2.12502043e-01 -9.31445939e-01 1.34610504e+02] [ 9.50992193e-01 2.79204088e-02 3.07951781e-01 1.29787648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.7871056809999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:157.29, Y:134.62, Z:129.81 [[ 8.21882893e-02 -9.64880409e-01 -2.49501267e-01 1.57291346e+02] [ 2.99966045e-01 2.62689010e-01 -9.17068621e-01 1.34622986e+02] [ 9.50402787e-01 5.30392859e-04 3.11021320e-01 1.29806506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.81710568099993 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:157.28, Y:134.63, Z:129.83 [[ 8.47185866e-02 -9.85209516e-01 -1.48946202e-01 1.57283424e+02] [ 3.00244540e-01 1.67776939e-01 -9.38991009e-01 1.34632731e+02] [ 9.50092615e-01 3.48297073e-02 3.10017603e-01 1.29830316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.8471056809999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:157.28, Y:134.64, Z:129.86 [[ 8.44290289e-02 -9.85016152e-01 -1.50382575e-01 1.57284931e+02] [ 2.99728805e-01 1.69037312e-01 -9.38929726e-01 1.34640146e+02] [ 9.50281212e-01 3.41989353e-02 3.09509371e-01 1.29857028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.87710568099993 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:157.29, Y:134.63, Z:129.89 [[ 7.80099419e-02 -9.83922419e-01 -1.60658401e-01 1.57290277e+02] [ 2.90262777e-01 1.76583821e-01 -9.40513516e-01 1.34629305e+02] [ 9.53762009e-01 2.67362512e-02 2.99371347e-01 1.29891749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.9071056809999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:157.30, Y:134.64, Z:129.92 [[ 7.32804201e-02 -9.80062585e-01 -1.84681642e-01 1.57296929e+02] [ 2.92374886e-01 1.98154743e-01 -9.35548836e-01 1.34636505e+02] [ 9.53491954e-01 1.45611376e-02 3.01066549e-01 1.29918163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93710568099993 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.30, Y:134.65, Z:129.94 [[ 6.34776359e-02 -9.84940410e-01 -1.60819706e-01 1.57302995e+02] [ 2.97549085e-01 1.72494191e-01 -9.38994300e-01 1.34651131e+02] [ 9.52593896e-01 1.17533819e-02 3.04017642e-01 1.29942035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.9671056809999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:157.31, Y:134.66, Z:129.97 [[ 5.10235014e-02 -9.82388070e-01 -1.79750610e-01 1.57312715e+02] [ 2.98000313e-01 1.86761932e-01 -9.36117404e-01 1.34656044e+02] [ 9.53201141e-01 -5.80175038e-03 3.02281200e-01 1.29970512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99710568099994 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:157.32, Y:134.66, Z:130.00 [[ 4.11353941e-02 -9.70528616e-01 -2.37449121e-01 1.57321541e+02] [ 2.98925683e-01 2.38719446e-01 -9.23935313e-01 1.34656968e+02] [ 9.53389383e-01 -3.29731974e-02 2.99935748e-01 1.29995847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0271056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.31, Y:134.67, Z:130.02 [[ 3.40702859e-02 -9.89374504e-01 -1.41341099e-01 1.57314503e+02] [ 2.94735826e-01 1.45080122e-01 -9.44501218e-01 1.34669692e+02] [ 9.54971208e-01 -9.47885897e-03 2.96547033e-01 1.30022856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.05710568099994 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:157.32, Y:134.67, Z:130.05 [[ 3.28805893e-02 -9.81916830e-01 -1.86435527e-01 1.57320715e+02] [ 2.95569058e-01 1.87746041e-01 -9.36691174e-01 1.34668871e+02] [ 9.54755361e-01 -2.43056154e-02 2.96397433e-01 1.30051014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0871056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.32, Y:134.67, Z:130.08 [[ 3.63395577e-02 -9.83845793e-01 -1.75290878e-01 1.57319462e+02] [ 2.92634148e-01 1.78194070e-01 -9.39474390e-01 1.34673942e+02] [ 9.55533721e-01 -1.71560127e-02 2.94382369e-01 1.30076174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.11710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.32, Y:134.68, Z:130.10 [[ 3.91721653e-02 -9.85601648e-01 -1.64483838e-01 1.57317266e+02] [ 2.87510645e-01 1.68766314e-01 -9.42791366e-01 1.34682762e+02] [ 9.56976055e-01 -1.03596753e-02 2.89981908e-01 1.30101900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.1471056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.32, Y:134.70, Z:130.12 [[ 4.70946989e-02 -9.76673505e-01 -2.09501682e-01 1.57316614e+02] [ 2.91200801e-01 2.14048142e-01 -9.32408433e-01 1.34699876e+02] [ 9.55502058e-01 -1.70955630e-02 2.94488639e-01 1.30123116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.17710568099994 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:157.31, Y:134.71, Z:130.15 [[ 6.06151107e-02 -9.91352018e-01 -1.16391515e-01 1.57308222e+02] [ 2.84907443e-01 1.28938475e-01 -9.49843471e-01 1.34713331e+02] [ 9.56636586e-01 2.44140582e-02 2.90259188e-01 1.30147335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.2071056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.31, Y:134.70, Z:130.18 [[ 7.10570075e-02 -9.82512912e-01 -1.72102525e-01 1.57313791e+02] [ 2.75474000e-01 1.85157976e-01 -9.43308327e-01 1.34704151e+02] [ 9.58678766e-01 1.96188960e-02 2.83813533e-01 1.30179919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.23710568099995 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:157.32, Y:134.73, Z:130.20 [[ 7.14794958e-02 -9.83510566e-01 -1.66125397e-01 1.57315069e+02] [ 2.82270031e-01 1.79688815e-01 -9.42356387e-01 1.34728942e+02] [ 9.56668339e-01 2.04669384e-02 2.90459624e-01 1.30201270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.2671056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:157.31, Y:134.73, Z:130.22 [[ 8.27657861e-02 -9.88022711e-01 -1.30234205e-01 1.57311306e+02] [ 2.76354681e-01 1.48312047e-01 -9.49542852e-01 1.34730854e+02] [ 9.57485204e-01 4.25988285e-02 2.85319864e-01 1.30224561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.29710568099995 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:157.31, Y:134.74, Z:130.25 [[ 8.61335967e-02 -9.87190841e-01 -1.34295373e-01 1.57309290e+02] [ 2.79006400e-01 1.53303943e-01 -9.47973275e-01 1.34741836e+02] [ 9.56418545e-01 4.41830793e-02 2.88637183e-01 1.30253981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.3271056809999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:157.31, Y:134.75, Z:130.28 [[ 8.77098700e-02 -9.82412580e-01 -1.64840836e-01 1.57314520e+02] [ 2.75941105e-01 1.82964406e-01 -9.43599774e-01 1.34746022e+02] [ 9.57164294e-01 3.72766509e-02 2.87135797e-01 1.30282676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.35710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.32, Y:134.73, Z:130.31 [[ 8.79507538e-02 -9.74277766e-01 -2.07478916e-01 1.57321289e+02] [ 2.61104753e-01 2.23551451e-01 -9.39068185e-01 1.34734178e+02] [ 9.61295466e-01 2.84180237e-02 2.74050074e-01 1.30311116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.3871056809999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:157.31, Y:134.76, Z:130.33 [[ 8.73096658e-02 -9.89516936e-01 -1.15035890e-01 1.57312273e+02] [ 2.76157218e-01 1.34992768e-01 -9.51585069e-01 1.34764297e+02] [ 9.57138555e-01 5.13145830e-02 2.85048417e-01 1.30331938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.4171056809999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:157.32, Y:134.77, Z:130.36 [[ 8.54669312e-02 -9.85542954e-01 -1.46289060e-01 1.57317709e+02] [ 2.73541807e-01 1.64394661e-01 -9.47707378e-01 1.34771118e+02] [ 9.58055470e-01 4.09814675e-02 2.83637508e-01 1.30358706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.4471056809999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:157.32, Y:134.78, Z:130.39 [[ 8.41161372e-02 -9.83360852e-01 -1.61015251e-01 1.57321785e+02] [ 2.67312132e-01 1.77933732e-01 -9.47039498e-01 1.34775025e+02] [ 9.59931612e-01 3.66199744e-02 2.77831384e-01 1.30385196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.4771056809999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:157.32, Y:134.79, Z:130.41 [[ 7.90719885e-02 -9.87038752e-01 -1.39650004e-01 1.57323230e+02] [ 2.77799309e-01 1.56357065e-01 -9.47829105e-01 1.34791115e+02] [ 9.57379321e-01 3.61520575e-02 2.86562147e-01 1.30409912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.5071056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.33, Y:134.79, Z:130.44 [[ 7.33590010e-02 -9.84760084e-01 -1.57689675e-01 1.57325863e+02] [ 2.74246385e-01 1.71939036e-01 -9.46163774e-01 1.34790523e+02] [ 9.58857329e-01 2.61638057e-02 2.82680169e-01 1.30438543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.5371056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.33, Y:134.80, Z:130.46 [[ 6.44438171e-02 -9.86978032e-01 -1.47381678e-01 1.57327773e+02] [ 2.75592071e-01 1.59547082e-01 -9.47941844e-01 1.34796547e+02] [ 9.59112092e-01 2.04717689e-02 2.82285143e-01 1.30464625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.56710568099993 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:157.33, Y:134.81, Z:130.49 [[ 5.52669465e-02 -9.88479649e-01 -1.40902618e-01 1.57328921e+02] [ 2.84064313e-01 1.50852820e-01 -9.46863714e-01 1.34810646e+02] [ 9.57211069e-01 1.23048610e-02 2.89128967e-01 1.30486814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.5971056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.33, Y:134.82, Z:130.51 [[ 4.67926865e-02 -9.93234300e-01 -1.06282969e-01 1.57329958e+02] [ 2.74589892e-01 1.15090389e-01 -9.54648937e-01 1.34815479e+02] [ 9.60422217e-01 1.54863595e-02 2.78117488e-01 1.30514557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.62710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.34, Y:134.81, Z:130.55 [[ 4.18582251e-02 -9.85500811e-01 -1.64426398e-01 1.57339079e+02] [ 2.65273295e-01 1.69626143e-01 -9.49134896e-01 1.34805356e+02] [ 9.63264226e-01 -3.88883030e-03 2.68527296e-01 1.30546084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.6571056809999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:157.34, Y:134.82, Z:130.57 [[ 3.70099416e-02 -9.89238482e-01 -1.41553845e-01 1.57336429e+02] [ 2.67977221e-01 1.46287350e-01 -9.52254283e-01 1.34818832e+02] [ 9.62714118e-01 -2.69033056e-03 2.70507465e-01 1.30570486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.68710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.33, Y:134.83, Z:130.59 [[ 3.80003735e-02 -9.92615004e-01 -1.15201674e-01 1.57333773e+02] [ 2.66114063e-01 1.21174090e-01 -9.56295010e-01 1.34833953e+02] [ 9.63192233e-01 5.68278210e-03 2.68753472e-01 1.30594731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7171056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.33, Y:134.84, Z:130.62 [[ 4.04933812e-02 -9.92025672e-01 -1.19353891e-01 1.57334048e+02] [ 2.64907472e-01 1.25836105e-01 -9.56027879e-01 1.34840689e+02] [ 9.63423229e-01 7.09506371e-03 2.67890542e-01 1.30622169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.74710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.34, Y:134.83, Z:130.65 [[ 4.06341437e-02 -9.85710629e-01 -1.63473002e-01 1.57338483e+02] [ 2.58906051e-01 1.68407357e-01 -9.51108101e-01 1.34831557e+02] [ 9.65047420e-01 -3.67668609e-03 2.62049535e-01 1.30651959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7771056809999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:157.33, Y:134.86, Z:130.67 [[ 4.27718188e-02 -9.94594132e-01 -9.46207383e-02 1.57329230e+02] [ 2.68513441e-01 1.02666529e-01 -9.57789181e-01 1.34857266e+02] [ 9.62325882e-01 1.55594453e-02 2.71453127e-01 1.30674167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.80710568099994 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:157.33, Y:134.85, Z:130.70 [[ 3.95901134e-02 -9.86185254e-01 -1.60845476e-01 1.57333779e+02] [ 2.62774081e-01 1.65581313e-01 -9.50543324e-01 1.34845245e+02] [ 9.64044815e-01 -4.63390411e-03 2.65699307e-01 1.30704830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8371056809999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:157.32, Y:134.88, Z:130.73 [[ 3.54024274e-02 -9.95477676e-01 -8.81525128e-02 1.57323599e+02] [ 2.77627521e-01 9.45323290e-02 -9.56026463e-01 1.34875470e+02] [ 9.60036264e-01 9.37209378e-03 2.79718674e-01 1.30725641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.86710568099994 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:157.32, Y:134.88, Z:130.75 [[ 3.02255841e-02 -9.91817500e-01 -1.24034113e-01 1.57323493e+02] [ 2.71664690e-01 1.27571130e-01 -9.53899315e-01 1.34875217e+02] [ 9.61917206e-01 -4.86352475e-03 2.73297705e-01 1.30754960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8971056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:157.31, Y:134.89, Z:130.79 [[ 2.55389428e-02 -9.95786616e-01 -8.80725760e-02 1.57312361e+02] [ 2.69327849e-01 9.16975131e-02 -9.58673081e-01 1.34888235e+02] [ 9.62709859e-01 7.63099509e-04 2.70534925e-01 1.30793334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.92710568099994 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:157.35, Y:134.86, Z:130.82 [[ 2.98832762e-02 -9.36868772e-01 -3.48401913e-01 1.57349018e+02] [ 2.78521540e-01 3.42557225e-01 -8.97262670e-01 1.34859238e+02] [ 9.59964969e-01 -7.02242891e-02 2.71174865e-01 1.30819324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9571056809999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:157.32, Y:134.90, Z:130.84 [[ 2.45291045e-02 -9.90756287e-01 -1.33417772e-01 1.57322303e+02] [ 2.83787881e-01 1.34868577e-01 -9.49354994e-01 1.34903014e+02] [ 9.58573295e-01 -1.45755190e-02 2.84472833e-01 1.30835874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.98710568099995 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:157.32, Y:134.92, Z:130.85 [[ 1.69665053e-02 -9.81461926e-01 -1.90904755e-01 1.57321572e+02] [ 2.85016519e-01 1.87757992e-01 -9.39953467e-01 1.34917880e+02] [ 9.58372434e-01 -3.84632832e-02 2.82918458e-01 1.30851481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.0171056809999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:157.30, Y:134.94, Z:130.88 [[ 1.52113783e-02 -9.98325710e-01 -5.58067234e-02 1.57298040e+02] [ 2.83227537e-01 5.78293073e-02 -9.57307648e-01 1.34940906e+02] [ 9.58932102e-01 -1.24403204e-03 2.83632995e-01 1.30881656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.04710568099995 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:157.30, Y:134.93, Z:130.91 [[ 2.59594983e-02 -9.95693936e-01 -8.89926440e-02 1.57298440e+02] [ 2.75562829e-01 9.27010625e-02 -9.56802822e-01 1.34931631e+02] [ 9.60932480e-01 3.15056444e-04 2.76782711e-01 1.30913254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.0771056809999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:157.30, Y:134.93, Z:130.94 [[ 2.88580069e-02 -9.92158171e-01 -1.21611593e-01 1.57299758e+02] [ 2.75925377e-01 1.24842003e-01 -9.53037072e-01 1.34933350e+02] [ 9.60745753e-01 -6.05297428e-03 2.77364308e-01 1.30942222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.10710568099995 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:157.30, Y:134.94, Z:130.97 [[ 3.28339137e-02 -9.87934168e-01 -1.51353938e-01 1.57297694e+02] [ 2.76652449e-01 1.54502222e-01 -9.48468495e-01 1.34938464e+02] [ 9.60408953e-01 -1.07305049e-02 2.78387319e-01 1.30968788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.1371056809999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:157.29, Y:134.95, Z:131.00 [[ 3.65925484e-02 -9.90579229e-01 -1.31961266e-01 1.57288712e+02] [ 2.73238545e-01 1.36935435e-01 -9.52149875e-01 1.34946436e+02] [ 9.61250063e-01 -1.21531403e-03 2.75675243e-01 1.30996070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.1671056809999 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:157.29, Y:134.96, Z:131.02 [[ 3.13446312e-02 -9.78855313e-01 -2.02138048e-01 1.57293593e+02] [ 2.79163395e-01 2.02762795e-01 -9.38592056e-01 1.34964569e+02] [ 9.59731897e-01 -2.70097218e-02 2.79616097e-01 1.31018052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.1971056809999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:157.27, Y:134.97, Z:131.05 [[ 4.09636907e-02 -9.96644595e-01 -7.08627403e-02 1.57272625e+02] [ 2.71032545e-01 7.93469525e-02 -9.59294231e-01 1.34965858e+02] [ 9.61698152e-01 2.00901233e-02 2.73373465e-01 1.31048382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.2271056809999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:157.28, Y:134.97, Z:131.08 [[ 4.92923749e-02 -9.90453419e-01 -1.28733393e-01 1.57275346e+02] [ 2.67676987e-01 1.37275337e-01 -9.53679460e-01 1.34971056e+02] [ 9.62247002e-01 1.25501589e-02 2.71888214e-01 1.31076054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.2571056809999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:157.27, Y:134.98, Z:131.10 [[ 5.51715252e-02 -9.90132337e-01 -1.28817923e-01 1.57270877e+02] [ 2.62926316e-01 1.38867817e-01 -9.54769858e-01 1.34979817e+02] [ 9.63237175e-01 1.88064873e-02 2.67993397e-01 1.31103017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.2871056809999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:157.27, Y:134.99, Z:131.13 [[ 5.66616348e-02 -9.89732600e-01 -1.31220576e-01 1.57270921e+02] [ 2.61015159e-01 1.41545512e-01 -9.54901018e-01 1.34987403e+02] [ 9.63670351e-01 1.98556932e-02 2.66355412e-01 1.31128861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.31710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.27, Y:135.00, Z:131.15 [[ 5.89929059e-02 -9.88957818e-01 -1.35949517e-01 1.57271286e+02] [ 2.59584729e-01 1.46699122e-01 -9.54513036e-01 1.34995550e+02] [ 9.63916804e-01 2.10190794e-02 2.65372554e-01 1.31153359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.3471056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.27, Y:135.00, Z:131.18 [[ 5.80089269e-02 -9.92223265e-01 -1.10127006e-01 1.57267532e+02] [ 2.55081520e-01 1.21382542e-01 -9.59270398e-01 1.35003204e+02] [ 9.65177902e-01 2.75548822e-02 2.60139089e-01 1.31181885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.37710568099993 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.27, Y:135.01, Z:131.21 [[ 5.84383360e-02 -9.90208908e-01 -1.26772553e-01 1.57271658e+02] [ 2.51543483e-01 1.37497862e-01 -9.58029339e-01 1.35009279e+02] [ 9.66080140e-01 2.40968309e-02 2.57115744e-01 1.31207295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.4071056809999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:157.27, Y:135.03, Z:131.23 [[ 4.43262761e-02 -9.83713260e-01 -1.74193583e-01 1.57273990e+02] [ 2.47821132e-01 1.79742261e-01 -9.51986032e-01 1.35029842e+02] [ 9.67791231e-01 -9.70855187e-04 2.51752239e-01 1.31230053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43710568099993 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:157.26, Y:135.02, Z:131.26 [[ 5.71382545e-02 -9.96888457e-01 -5.43012290e-02 1.57263149e+02] [ 2.45042179e-01 6.67297830e-02 -9.67213248e-01 1.35023693e+02] [ 9.67827232e-01 4.19587852e-02 2.48092543e-01 1.31260150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.4671056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.27, Y:135.03, Z:131.29 [[ 5.75456815e-02 -9.92835626e-01 -1.04718260e-01 1.57273294e+02] [ 2.43512121e-01 1.15682849e-01 -9.62974208e-01 1.35026030e+02] [ 9.68189208e-01 2.99148415e-02 2.48424558e-01 1.31285763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49710568099994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.28, Y:135.03, Z:131.32 [[ 5.70491140e-02 -9.90695257e-01 -1.23564991e-01 1.57279152e+02] [ 2.48481821e-01 1.33961558e-01 -9.59328455e-01 1.35029095e+02] [ 9.66955109e-01 2.40251843e-02 2.53812150e-01 1.31315075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5271056809999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:157.28, Y:135.03, Z:131.34 [[ 5.52236504e-02 -9.91378941e-01 -1.18819797e-01 1.57281082e+02] [ 2.49714268e-01 1.28932723e-01 -9.59697420e-01 1.35033152e+02] [ 9.66743571e-01 2.33269961e-02 2.54681602e-01 1.31343086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.55710568099994 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:157.29, Y:135.04, Z:131.37 [[ 4.01068094e-02 -9.85962880e-01 -1.62076039e-01 1.57291513e+02] [ 2.44382800e-01 1.66959612e-01 -9.55197118e-01 1.35042222e+02] [ 9.68849055e-01 -1.29868755e-03 2.47648587e-01 1.31369793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5871056809999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:157.29, Y:135.04, Z:131.40 [[ 4.35581891e-02 -9.92336594e-01 -1.15632038e-01 1.57291179e+02] [ 2.52297583e-01 1.22916505e-01 -9.59811160e-01 1.35040731e+02] [ 9.66668823e-01 1.26339523e-02 2.55718145e-01 1.31398812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.61710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.30, Y:135.04, Z:131.43 [[ 3.28397922e-02 -9.90963446e-01 -1.30049982e-01 1.57298999e+02] [ 2.54196124e-01 1.34122619e-01 -9.57807629e-01 1.35043276e+02] [ 9.66594992e-01 -1.60399769e-03 2.56303626e-01 1.31426721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.6471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.30, Y:135.05, Z:131.45 [[ 2.17472418e-02 -9.91686832e-01 -1.26823834e-01 1.57300817e+02] [ 2.55210679e-01 1.28157702e-01 -9.58354378e-01 1.35049962e+02] [ 9.66640868e-01 -1.15252325e-02 2.55876146e-01 1.31454472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.67710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.30, Y:135.06, Z:131.48 [[ 1.68204794e-02 -9.91422381e-01 -1.29609927e-01 1.57302855e+02] [ 2.54025438e-01 1.29612294e-01 -9.58473646e-01 1.35056730e+02] [ 9.67051265e-01 -1.68022322e-02 2.54026646e-01 1.31480949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.7071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.31, Y:135.06, Z:131.51 [[ 8.80022732e-03 -9.91494745e-01 -1.29848864e-01 1.57306583e+02] [ 2.48946269e-01 1.27937738e-01 -9.60030047e-01 1.35063625e+02] [ 9.68477316e-01 -2.38769076e-02 2.47954798e-01 1.31505708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.73710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.31, Y:135.07, Z:131.53 [[ 8.19836830e-03 -9.93120592e-01 -1.16808716e-01 1.57305037e+02] [ 2.47921376e-01 1.15184224e-01 -9.61908304e-01 1.35070529e+02] [ 9.68745466e-01 -2.10732991e-02 2.47160146e-01 1.31531652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.7671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.31, Y:135.06, Z:131.56 [[ 4.09995139e-03 -9.87121844e-01 -1.59917654e-01 1.57310363e+02] [ 2.38680895e-01 1.56262943e-01 -9.58443177e-01 1.35060472e+02] [ 9.71089399e-01 -3.42397182e-02 2.36247796e-01 1.31560062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.79710568099995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:157.29, Y:135.09, Z:131.58 [[ 2.81120031e-03 -9.98968647e-01 -4.53181944e-02 1.57294327e+02] [ 2.48675124e-01 4.45931339e-02 -9.67559887e-01 1.35089175e+02] [ 9.68582872e-01 -8.54950296e-03 2.48544013e-01 1.31582897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.8271056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.30, Y:135.09, Z:131.61 [[ 3.14310368e-03 -9.94455669e-01 -1.05109669e-01 1.57298833e+02] [ 2.52635681e-01 1.02490200e-01 -9.62117961e-01 1.35090909e+02] [ 9.67556372e-01 -2.35304163e-02 2.51557122e-01 1.31609973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.85710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.30, Y:135.10, Z:131.64 [[ 1.09694610e-03 -9.94558408e-01 -1.04174711e-01 1.57296341e+02] [ 2.50473165e-01 1.01127308e-01 -9.62827327e-01 1.35097581e+02] [ 9.68122921e-01 -2.50368000e-02 2.49221123e-01 1.31638529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.8871056809999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:157.30, Y:135.10, Z:131.66 [[-6.08881824e-04 -9.93135888e-01 -1.16964684e-01 1.57295701e+02] [ 2.51506216e-01 1.13052867e-01 -9.61230291e-01 1.35103424e+02] [ 9.67855492e-01 -3.00026207e-02 2.49711014e-01 1.31663124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.9171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.29, Y:135.09, Z:131.69 [[-7.50497544e-03 -9.88026044e-01 -1.54104550e-01 1.57293066e+02] [ 2.42084596e-01 1.47729496e-01 -9.58942670e-01 1.35094678e+02] [ 9.70226120e-01 -4.45031790e-02 2.38077180e-01 1.31693138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.9471056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:157.27, Y:135.12, Z:131.72 [[-1.04951726e-02 -9.99436979e-01 -3.18680974e-02 1.57270185e+02] [ 2.52924819e-01 2.81802308e-02 -9.67075442e-01 1.35123390e+02] [ 9.67429009e-01 -1.82098565e-02 2.52486661e-01 1.31715010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.9771056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.27, Y:135.13, Z:131.74 [[-9.91513661e-03 -9.97255601e-01 -7.33686367e-02 1.57272353e+02] [ 2.53118694e-01 6.84795896e-02 -9.65008535e-01 1.35127845e+02] [ 9.67384420e-01 -2.81391649e-02 2.51745051e-01 1.31742572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.0071056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.26, Y:135.13, Z:131.77 [[-4.42470442e-03 -9.96963423e-01 -7.77454496e-02 1.57262942e+02] [ 2.52886084e-01 7.41035320e-02 -9.64653977e-01 1.35132996e+02] [ 9.67485943e-01 -2.39290510e-02 2.51790290e-01 1.31769957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.0371056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.26, Y:135.14, Z:131.80 [[ 2.91105676e-07 -9.96888979e-01 -7.88185528e-02 1.57258007e+02] [ 2.51296156e-01 7.62893576e-02 -9.64899050e-01 1.35138361e+02] [ 9.67910245e-01 -1.98065184e-02 2.50514391e-01 1.31795014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.06710568099993 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:157.24, Y:135.14, Z:131.82 [[ 7.94202893e-03 -9.98167511e-01 -5.99878721e-02 1.57243571e+02] [ 2.44100400e-01 6.01101773e-02 -9.67885200e-01 1.35144464e+02] [ 9.69717443e-01 -6.95609132e-03 2.44130486e-01 1.31821552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.0971056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.24, Y:135.15, Z:131.85 [[ 1.41887984e-02 -9.95424195e-01 -9.44952427e-02 1.57243806e+02] [ 2.43850293e-01 9.50961510e-02 -9.65139242e-01 1.35151063e+02] [ 9.69709087e-01 -9.34852653e-03 2.44083782e-01 1.31849763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.12710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.24, Y:135.14, Z:131.88 [[ 2.40892476e-02 -9.89649411e-01 -1.41469964e-01 1.57238791e+02] [ 2.26806710e-01 1.43231243e-01 -9.63350158e-01 1.35140963e+02] [ 9.73641836e-01 -8.87995655e-03 2.27909459e-01 1.31879649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.1571056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:157.22, Y:135.16, Z:131.90 [[ 2.90284238e-02 -9.99350523e-01 -2.13514240e-02 1.57217470e+02] [ 2.36388521e-01 2.76178364e-02 -9.71266041e-01 1.35162035e+02] [ 9.71224906e-01 2.31470907e-02 2.37036694e-01 1.31902959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.18710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.22, Y:135.15, Z:131.93 [[ 3.83235666e-02 -9.93438550e-01 -1.07755055e-01 1.57223648e+02] [ 2.21775812e-01 1.13600840e-01 -9.68457711e-01 1.35152972e+02] [ 9.74344289e-01 1.32172887e-02 2.24674231e-01 1.31933568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.22, Y:135.16, Z:131.96 [[ 4.28333446e-02 -9.95873585e-01 -8.00069219e-02 1.57217243e+02] [ 2.23351814e-01 8.75985910e-02 -9.70793724e-01 1.35159499e+02] [ 9.73796320e-01 2.37126510e-02 2.26182312e-01 1.31959270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.24710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.20, Y:135.17, Z:131.98 [[ 4.54769742e-02 -9.98958931e-01 -3.59139373e-03 1.57201568e+02] [ 2.31823710e-01 1.40504602e-02 -9.72656338e-01 1.35173385e+02] [ 9.71694197e-01 4.34008970e-02 2.32221338e-01 1.31984198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2771056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:157.20, Y:135.18, Z:132.01 [[ 4.58072625e-02 -9.98785307e-01 -1.81550347e-02 1.57203248e+02] [ 2.29268144e-01 2.82004273e-02 -9.72954703e-01 1.35179990e+02] [ 9.72284841e-01 4.04060204e-02 2.30281438e-01 1.32011680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.30710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.21, Y:135.18, Z:132.04 [[ 4.47702481e-02 -9.96061479e-01 -7.65320541e-02 1.57212836e+02] [ 2.15594416e-01 8.44371055e-02 -9.72825485e-01 1.35177440e+02] [ 9.75456136e-01 2.70537548e-02 2.18525562e-01 1.32042251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3371056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.22, Y:135.18, Z:132.07 [[ 4.21792283e-02 -9.95534749e-01 -8.44480687e-02 1.57217955e+02] [ 2.13485503e-01 9.15516177e-02 -9.72647028e-01 1.35184868e+02] [ 9.76035272e-01 2.29970626e-02 2.16393813e-01 1.32067584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.36710568099994 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:157.23, Y:135.22, Z:132.09 [[ 4.98057455e-02 -9.95370040e-01 -8.22062671e-02 1.57227459e+02] [ 2.25290005e-01 9.13836405e-02 -9.69996621e-01 1.35216139e+02] [ 9.73017884e-01 2.97911546e-02 2.28798351e-01 1.32087977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3971056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.22, Y:135.21, Z:132.12 [[ 3.49730720e-02 -9.98858733e-01 -3.25287020e-02 1.57215902e+02] [ 2.24271979e-01 3.95625836e-02 -9.73723206e-01 1.35208588e+02] [ 9.73898847e-01 2.67588154e-02 2.25399650e-01 1.32115976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.42710568099994 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:157.24, Y:135.24, Z:132.14 [[ 4.91026948e-02 -9.94898511e-01 -8.81242233e-02 1.57241234e+02] [ 2.32586942e-01 9.71948952e-02 -9.67706808e-01 1.35239836e+02] [ 9.71335287e-01 2.70204685e-02 2.36172933e-01 1.32137392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4571056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.22, Y:135.22, Z:132.17 [[ 2.69203867e-02 -9.99377901e-01 -2.27838706e-02 1.57223226e+02] [ 2.23514535e-01 2.82327955e-02 -9.74291621e-01 1.35220463e+02] [ 9.74328767e-01 2.11357810e-02 2.24135524e-01 1.32170252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.48710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.23, Y:135.23, Z:132.20 [[ 2.60579381e-02 -9.98313298e-01 -5.18800824e-02 1.57230950e+02] [ 2.24602660e-01 5.64176090e-02 -9.72815861e-01 1.35225698e+02] [ 9.74101960e-01 1.36971709e-02 2.25693949e-01 1.32196774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.5171056809999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:157.24, Y:135.26, Z:132.22 [[ 7.89837218e-03 -9.94157059e-01 -1.07653880e-01 1.57237998e+02] [ 2.37469429e-01 1.06442289e-01 -9.65545602e-01 1.35255780e+02] [ 9.71362901e-01 -1.79382670e-02 2.36922630e-01 1.32217404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.54710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.23, Y:135.23, Z:132.25 [[ 1.87856199e-02 -9.99762568e-01 1.10412459e-02 1.57226904e+02] [ 2.17001161e-01 -6.70298392e-03 -9.76148332e-01 1.35231266e+02] [ 9.75990572e-01 2.07335148e-02 2.16823718e-01 1.32250684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.5771056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.24, Y:135.24, Z:132.28 [[ 1.70150677e-02 -9.97560103e-01 -6.77076729e-02 1.57242494e+02] [ 2.24427658e-01 6.97999853e-02 -9.71987751e-01 1.35239321e+02] [ 9.74342196e-01 1.34296299e-03 2.25067729e-01 1.32278040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.60710568099995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.24, Y:135.25, Z:132.31 [[ 1.30309184e-02 -9.98160314e-01 -5.92130354e-02 1.57244382e+02] [ 2.23914621e-01 6.06271248e-02 -9.72721231e-01 1.35245636e+02] [ 9.74521646e-01 -5.83213405e-04 2.24292716e-01 1.32305145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.6371056809999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:157.25, Y:135.25, Z:132.33 [[ 1.09889039e-02 -9.98586339e-01 -5.20054483e-02 1.57245267e+02] [ 2.20607332e-01 5.31481790e-02 -9.73913588e-01 1.35251059e+02] [ 9.75300799e-01 -7.70540342e-04 2.20879509e-01 1.32333547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.6671056809999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:157.25, Y:135.26, Z:132.36 [[ 1.04227219e-02 -9.98887586e-01 -4.59886638e-02 1.57246646e+02] [ 2.15347794e-01 4.71542288e-02 -9.75398281e-01 1.35255981e+02] [ 9.76481794e-01 2.62747768e-04 2.15599713e-01 1.32360055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.6971056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.25, Y:135.26, Z:132.39 [[ 1.17858057e-02 -9.96524251e-01 -8.24652167e-02 1.57252581e+02] [ 2.15809549e-01 8.30622839e-02 -9.72896138e-01 1.35260135e+02] [ 9.76364345e-01 -6.33041639e-03 2.16038405e-01 1.32390259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.7271056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.25, Y:135.26, Z:132.42 [[ 1.77803551e-02 -9.96556616e-01 -8.09862359e-02 1.57251288e+02] [ 2.15903001e-01 8.29148750e-02 -9.72887978e-01 1.35264220e+02] [ 9.76252915e-01 -1.86877684e-04 2.16633820e-01 1.32417784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.7571056809999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:157.25, Y:135.27, Z:132.44 [[ 2.18558185e-02 -9.97062748e-01 -7.34043545e-02 1.57248811e+02] [ 2.16861767e-01 7.64018051e-02 -9.73207962e-01 1.35267372e+02] [ 9.75957631e-01 5.35165854e-03 2.17894614e-01 1.32444889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.7871056809999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:157.26, Y:135.28, Z:132.46 [[ 4.03033441e-02 -9.91639274e-01 -1.22585441e-01 1.57263430e+02] [ 2.01875894e-01 1.28236396e-01 -9.70979686e-01 1.35275457e+02] [ 9.78581506e-01 1.43866830e-02 2.05356420e-01 1.32459176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.81710568099993 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:157.21, Y:135.28, Z:132.50 [[ 3.28832196e-02 -9.85967701e-01 1.63665472e-01 1.57212705e+02] [ 2.20548691e-01 -1.52559001e-01 -9.63371178e-01 1.35278583e+02] [ 9.74821506e-01 6.77749516e-02 2.12437255e-01 1.32496817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.8471056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.24, Y:135.28, Z:132.53 [[ 3.62802231e-02 -9.99161169e-01 -1.89922052e-02 1.57241723e+02] [ 2.17117429e-01 2.64315983e-02 -9.75787576e-01 1.35284130e+02] [ 9.75471049e-01 3.12782522e-02 2.17894249e-01 1.32527773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.87710568099993 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.25, Y:135.29, Z:132.55 [[ 3.98659027e-02 -9.96335326e-01 -7.56744919e-02 1.57251457e+02] [ 2.18891697e-01 8.26032839e-02 -9.72246431e-01 1.35288780e+02] [ 9.74934426e-01 2.21949636e-02 2.21382585e-01 1.32554284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.9071056809999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:157.25, Y:135.30, Z:132.58 [[ 4.07980002e-02 -9.96895052e-01 -6.73481865e-02 1.57251712e+02] [ 2.15967939e-01 7.46092579e-02 -9.73545740e-01 1.35295932e+02] [ 9.75547729e-01 2.51736702e-02 2.18341279e-01 1.32581322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93710568099993 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:157.26, Y:135.30, Z:132.61 [[ 4.19371312e-02 -9.95552429e-01 -8.43601666e-02 1.57255477e+02] [ 2.13301527e-01 9.14090040e-02 -9.72700803e-01 1.35300507e+02] [ 9.76085926e-01 2.27981289e-02 2.16186285e-01 1.32606265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.9671056809999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:157.26, Y:135.31, Z:132.63 [[ 4.38748858e-02 -9.96385572e-01 -7.27377901e-02 1.57256366e+02] [ 2.10014365e-01 8.03797535e-02 -9.74388558e-01 1.35308432e+02] [ 9.76713346e-01 2.74752060e-02 2.12781935e-01 1.32634547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99710568099994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.26, Y:135.31, Z:132.66 [[ 4.74727389e-02 -9.96312627e-01 -7.14666943e-02 1.57260635e+02] [ 2.07875221e-01 7.98350905e-02 -9.74891917e-01 1.35314393e+02] [ 9.77002677e-01 3.14246346e-02 2.10898698e-01 1.32661565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.27, Y:135.29, Z:132.69 [[ 4.75320573e-02 -9.86593757e-01 -1.56120023e-01 1.57272838e+02] [ 1.87971416e-01 1.62339098e-01 -9.68665455e-01 1.35294721e+02] [ 9.81023675e-01 1.66965602e-02 1.93167737e-01 1.32690078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.05710568099994 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:157.25, Y:135.33, Z:132.71 [[ 5.12525906e-02 -9.97810515e-01 4.18012965e-02 1.57246771e+02] [ 2.14781004e-01 -2.98639612e-02 -9.76205544e-01 1.35327400e+02] [ 9.75316509e-01 5.90111875e-02 2.12780139e-01 1.32714066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0871056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:157.26, Y:135.33, Z:132.74 [[ 5.33485097e-02 -9.98047505e-01 -3.24825373e-02 1.57261340e+02] [ 2.11910151e-01 4.31031902e-02 -9.76338160e-01 1.35331422e+02] [ 9.75831965e-01 4.52028065e-02 2.13795888e-01 1.32744075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.11710568099994 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:157.28, Y:135.33, Z:132.77 [[ 5.52832073e-02 -9.95990947e-01 -7.03263795e-02 1.57275542e+02] [ 2.06715063e-01 8.03250348e-02 -9.75098339e-01 1.35333523e+02] [ 9.76838088e-01 3.93690417e-02 2.10326957e-01 1.32774012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.1471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.29, Y:135.31, Z:132.80 [[ 5.30573056e-02 -9.85036722e-01 -1.63974322e-01 1.57291041e+02] [ 1.83358646e-01 1.71023754e-01 -9.68055000e-01 1.35309642e+02] [ 9.81613228e-01 2.12962802e-02 1.89689059e-01 1.32802062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.17710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.28, Y:135.32, Z:132.83 [[ 5.20702875e-02 -9.97959513e-01 -3.69526066e-02 1.57280603e+02] [ 1.87158887e-01 4.60991302e-02 -9.81247380e-01 1.35323241e+02] [ 9.80948641e-01 4.41778245e-02 1.89177387e-01 1.32826177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.2071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.28, Y:135.33, Z:132.86 [[ 4.88138467e-02 -9.98801721e-01 -3.51145913e-03 1.57279079e+02] [ 1.78607689e-01 1.21878639e-02 -9.83844881e-01 1.35327926e+02] [ 9.82708757e-01 4.73980796e-02 1.78988604e-01 1.32856360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.23710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.30, Y:135.33, Z:132.88 [[ 4.69141827e-02 -9.95145003e-01 -8.65186776e-02 1.57300648e+02] [ 1.84557016e-01 9.37581742e-02 -9.78339467e-01 1.35331462e+02] [ 9.81701465e-01 2.99303675e-02 1.88059581e-01 1.32883016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.2671056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.31, Y:135.34, Z:132.91 [[ 4.61047536e-02 -9.96453508e-01 -7.03900426e-02 1.57309073e+02] [ 1.82019235e-01 7.76653289e-02 -9.80222982e-01 1.35335715e+02] [ 9.82213495e-01 3.23805974e-02 1.84954446e-01 1.32907728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.29710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.31, Y:135.34, Z:132.93 [[ 4.52503739e-02 -9.98572767e-01 -2.83695693e-02 1.57308141e+02] [ 1.81604407e-01 3.61482349e-02 -9.82707049e-01 1.35343962e+02] [ 9.82330007e-01 3.93158226e-02 1.82980936e-01 1.32933088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.3271056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.31, Y:135.35, Z:132.96 [[ 4.34939992e-02 -9.98904177e-01 -1.72834166e-02 1.57310339e+02] [ 1.83451627e-01 2.49910346e-02 -9.82711020e-01 1.35353190e+02] [ 9.82066073e-01 3.95713614e-02 1.84337557e-01 1.32960944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.35710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.32, Y:135.36, Z:132.99 [[ 4.15904950e-02 -9.98207164e-01 -4.30428773e-02 1.57318425e+02] [ 1.83456477e-01 4.99772751e-02 -9.81756585e-01 1.35356711e+02] [ 9.82147622e-01 3.29352477e-02 1.85206149e-01 1.32988227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.3871056809999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:157.32, Y:135.38, Z:133.01 [[ 3.57329559e-02 -9.99104366e-01 -2.26632140e-02 1.57321442e+02] [ 1.98180491e-01 2.93115936e-02 -9.79727168e-01 1.35382606e+02] [ 9.79513986e-01 3.05171408e-02 1.99050383e-01 1.33011307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.4171056809999 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:157.32, Y:135.38, Z:133.04 [[ 3.58340371e-02 -9.99341374e-01 -5.72186466e-03 1.57323316e+02] [ 1.97120080e-01 1.26810890e-02 -9.80297335e-01 1.35382090e+02] [ 9.79724245e-01 3.40001166e-02 1.97444666e-01 1.33040945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.4471056809999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:157.34, Y:135.37, Z:133.07 [[ 2.60276753e-02 -9.97285263e-01 -6.88815244e-02 1.57338923e+02] [ 1.88512249e-01 7.25651489e-02 -9.79386252e-01 1.35371566e+02] [ 9.81725874e-01 1.25061363e-02 1.89889190e-01 1.33070520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.4771056809999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:157.34, Y:135.39, Z:133.10 [[ 2.18412394e-02 -9.99123121e-01 -3.57204233e-02 1.57337741e+02] [ 1.94411324e-01 3.92913987e-02 -9.80132860e-01 1.35385736e+02] [ 9.80676908e-01 1.44628617e-02 1.95099022e-01 1.33097207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.5071056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.35, Y:135.36, Z:133.12 [[ 1.21345946e-02 -9.93220368e-01 -1.15611648e-01 1.57349667e+02] [ 1.82176886e-01 1.15881038e-01 -9.76413420e-01 1.35364619e+02] [ 9.83190894e-01 -9.21338906e-03 1.82347963e-01 1.33124086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.5371056809999 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:157.33, Y:135.39, Z:133.15 [[ 6.78096701e-03 -9.99696410e-01 2.36876662e-02 1.57329318e+02] [ 1.90883080e-01 -2.19585918e-02 -9.81367143e-01 1.35390558e+02] [ 9.81589358e-01 1.11761929e-02 1.90676229e-01 1.33148807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.56710568099993 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:157.34, Y:135.40, Z:133.18 [[ 1.42518407e-03 -9.99989820e-01 -4.28114577e-03 1.57335176e+02] [ 1.92273812e-01 4.47529268e-03 -9.81331113e-01 1.35398737e+02] [ 9.81340283e-01 5.75425259e-04 1.92278233e-01 1.33177329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.5971056809999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:157.33, Y:135.40, Z:133.17 [[-5.81591090e-04 -9.99939844e-01 1.09530596e-02 1.57332780e+02] [ 1.90439385e-01 -1.08633601e-02 -9.81638848e-01 1.35398903e+02] [ 9.81698784e-01 1.51498152e-03 1.90434247e-01 1.33173621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.62710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.35, Y:135.39, Z:133.20 [[-5.58019007e-03 -9.97882709e-01 -6.47993829e-02 1.57345269e+02] [ 1.88874938e-01 6.25822633e-02 -9.80004958e-01 1.35392056e+02] [ 9.81985295e-01 -1.77075934e-02 1.88125814e-01 1.33204586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.6571056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.33, Y:135.40, Z:133.20 [[-8.54939288e-03 -9.99876213e-01 1.32086173e-02 1.57333434e+02] [ 1.89112666e-01 -1.45874460e-02 -9.81847038e-01 1.35400281e+02] [ 9.81918178e-01 -5.89627924e-03 1.89213970e-01 1.33200631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.68710568099993 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:157.32, Y:135.42, Z:133.27 [[-2.16538152e-02 -9.98979686e-01 3.96320568e-02 1.57324353e+02] [ 1.99095710e-01 -4.31561609e-02 -9.79029338e-01 1.35418616e+02] [ 9.79740787e-01 -1.33091479e-02 1.99827066e-01 1.33272874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7171056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.32, Y:135.41, Z:133.19 [[-2.36561055e-02 -9.98790867e-01 4.30951598e-02 1.57321337e+02] [ 1.95836127e-01 -4.69017596e-02 -9.79514388e-01 1.35407525e+02] [ 9.80351264e-01 -1.47319065e-02 1.96708848e-01 1.33192039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.74710568099994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.32, Y:135.41, Z:133.20 [[-3.24561436e-02 -9.98747843e-01 3.80702679e-02 1.57318549e+02] [ 1.91005315e-01 -4.35863704e-02 -9.80620823e-01 1.35408464e+02] [ 9.81052276e-01 -2.45555467e-02 1.92180792e-01 1.33198624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.31, Y:135.43, Z:133.47 [[-3.82093850e-02 -9.98477949e-01 3.97722017e-02 1.57313640e+02] [ 1.46278296e-01 -4.49613700e-02 -9.88221198e-01 1.35433471e+02] [ 9.88505287e-01 -3.19415143e-02 1.47773599e-01 1.33469789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.80710568099994 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.16, Y:135.08, Z:133.23 [[-5.65050030e-02 9.98283440e-01 -1.54063988e-02 1.57160988e+02] [ 1.11926705e-01 2.16675648e-02 9.93480211e-01 1.35084266e+02] [ 9.92108662e-01 5.44122148e-02 -1.12958902e-01 1.33230869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8371056809999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:157.21, Y:135.08, Z:133.24 [[-1.20429588e-01 9.69345335e-01 -2.14164272e-01 1.57212145e+02] [ 1.02633285e-01 2.26735881e-01 9.68533556e-01 1.35075174e+02] [ 9.87402209e-01 9.46597145e-02 -1.26792805e-01 1.33236350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.86710568099994 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:157.30, Y:135.08, Z:133.23 [[-1.72674894e-01 8.14054404e-01 -5.54525751e-01 1.57300369e+02] [ 7.39805733e-02 5.72110958e-01 8.16832863e-01 1.35077655e+02] [ 9.82196648e-01 1.00022395e-01 -1.59013411e-01 1.33225916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8971056809999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:157.33, Y:135.09, Z:133.21 [[-2.18745393e-01 7.91004817e-01 -5.71368386e-01 1.57327761e+02] [ 2.42646540e-02 5.89777638e-01 8.07201068e-01 1.35091881e+02] [ 9.75480230e-01 1.62707459e-01 -1.48204599e-01 1.33211294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.92710568099994 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:157.13, Y:135.32, Z:133.15 [[-3.23531059e-01 2.96334153e-02 9.45753411e-01 1.57134426e+02] [-4.42389217e-03 -9.99545926e-01 2.98055420e-02 1.35323229e+02] [ 9.46207209e-01 5.45910747e-03 3.23515247e-01 1.33146038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9571056809999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:157.15, Y:135.34, Z:133.13 [[-3.35061821e-01 -1.15360239e-01 9.35107262e-01 1.57147252e+02] [ 4.82305849e-03 -9.92673210e-01 -1.20733739e-01 1.35341619e+02] [ 9.42183801e-01 -3.59431894e-02 3.33163282e-01 1.33133297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.98710568099995 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:157.15, Y:135.33, Z:133.13 [[-3.35910268e-01 -1.32908152e-01 9.32469686e-01 1.57148517e+02] [ 9.40083574e-03 -9.90418075e-01 -1.37781207e-01 1.35331446e+02] [ 9.41847077e-01 -3.75161278e-02 3.33941049e-01 1.33125652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.0171056809999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:157.15, Y:135.33, Z:133.12 [[-3.36167586e-01 -1.38117911e-01 9.31619449e-01 1.57147311e+02] [ 8.74418441e-03 -9.89603121e-01 -1.43559052e-01 1.35325386e+02] [ 9.41761591e-01 -4.01136475e-02 3.33880221e-01 1.33124864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.04710568099995 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:157.15, Y:135.31, Z:133.11 [[-3.39250613e-01 -1.25040514e-01 9.32348589e-01 1.57148403e+02] [ 8.47244335e-03 -9.91492259e-01 -1.29889638e-01 1.35307974e+02] [ 9.40657876e-01 -3.61658685e-02 3.37423755e-01 1.33114267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.0771056809999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:157.15, Y:135.30, Z:133.10 [[-3.40375484e-01 -1.32788090e-01 9.30866184e-01 1.57150460e+02] [ 4.29122043e-03 -9.90187238e-01 -1.39681135e-01 1.35302220e+02] [ 9.40279807e-01 -4.35494821e-02 3.37605284e-01 1.33100408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.10710568099995 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:157.12, Y:135.29, Z:133.20 [[-3.33909428e-01 -1.20882632e-01 9.34821846e-01 1.57120464e+02] [-2.51263037e-03 -9.91625090e-01 -1.29125397e-01 1.35290651e+02] [ 9.42601815e-01 -4.54650492e-02 3.30809233e-01 1.33195421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.1371056809999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:157.15, Y:135.28, Z:133.08 [[-3.42050819e-01 -1.21837868e-01 9.31749307e-01 1.57151019e+02] [-1.22959345e-02 -9.90893464e-01 -1.34085618e-01 1.35275576e+02] [ 9.39601004e-01 -5.73208239e-02 3.37437811e-01 1.33083710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.1671056809999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:157.15, Y:135.27, Z:133.08 [[-3.40857941e-01 -1.13211053e-01 9.33273337e-01 1.57152165e+02] [-1.71732614e-02 -9.91807263e-01 -1.26583695e-01 1.35267654e+02] [ 9.39957948e-01 -5.91744045e-02 3.36121178e-01 1.33080448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.1971056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:157.16, Y:135.25, Z:133.07 [[-3.40995871e-01 -1.07632175e-01 9.33882825e-01 1.57156971e+02] [-2.22318393e-02 -9.92222730e-01 -1.22473669e-01 1.35250380e+02] [ 9.39801873e-01 -6.25249483e-02 3.35950993e-01 1.33067340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.2271056809999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:157.11, Y:135.25, Z:133.31 [[-3.00669433e-01 -1.27306399e-01 9.45193617e-01 1.57105487e+02] [-2.87955259e-02 -9.89387546e-01 -1.42418757e-01 1.35250520e+02] [ 9.53293612e-01 -7.00383143e-02 2.93812738e-01 1.33312762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.2571056809999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:157.16, Y:135.23, Z:133.07 [[-3.36418034e-01 -9.73792613e-02 9.36664393e-01 1.57157965e+02] [-2.02700134e-02 -9.93659940e-01 -1.10585040e-01 1.35232686e+02] [ 9.41494574e-01 -5.61890014e-02 3.32311245e-01 1.33067066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.2871056809999 meters Centerline goodness : 0.997013 Centerline is valid? [True, True] Translation: X:157.12, Y:135.24, Z:133.08 [[-3.10154560e-01 -1.49617547e-01 9.38839038e-01 1.57124264e+02] [-1.44561477e-03 -9.87462995e-01 -1.57844049e-01 1.35241955e+02] [ 9.50685047e-01 -5.03132511e-02 3.06049862e-01 1.33078398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.31710568099993 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:157.15, Y:135.20, Z:133.09 [[-3.30999807e-01 -7.62979539e-02 9.40541201e-01 1.57151385e+02] [-1.95841244e-03 -9.96668125e-01 -8.15402586e-02 1.35196380e+02] [ 9.43628790e-01 -2.88317774e-02 3.29747534e-01 1.33088555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.3471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.16, Y:135.19, Z:133.13 [[-2.84201641e-01 -1.33370479e-01 9.49442859e-01 1.57155706e+02] [ 9.80466152e-04 -9.90317323e-01 -1.38818723e-01 1.35194693e+02] [ 9.58764031e-01 -3.85216123e-02 2.81580573e-01 1.33132922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.37710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.16, Y:135.18, Z:133.13 [[-2.81105472e-01 -1.12087635e-01 9.53108638e-01 1.57156439e+02] [ 1.25969421e-02 -9.93501180e-01 -1.13122602e-01 1.35177066e+02] [ 9.59594201e-01 -1.97931280e-02 2.80690580e-01 1.33133546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.4071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.15, Y:135.17, Z:133.15 [[-2.80005740e-01 -1.10289253e-01 9.53642001e-01 1.57152416e+02] [ 1.54343252e-02 -9.93767608e-01 -1.10398019e-01 1.35170179e+02] [ 9.59874246e-01 -1.61932582e-02 2.79962874e-01 1.33145648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43710568099993 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.12, Y:135.16, Z:133.26 [[-2.88478045e-01 -9.91627515e-02 9.52337738e-01 1.57115956e+02] [ 2.18000667e-02 -9.95045012e-01 -9.70060903e-02 1.35159925e+02] [ 9.57238306e-01 -7.22310109e-03 2.89210394e-01 1.33258787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.4671056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:157.13, Y:135.16, Z:133.17 [[-2.84843472e-01 -1.17612875e-01 9.51331387e-01 1.57134554e+02] [ 1.92474215e-02 -9.92946009e-01 -1.16994702e-01 1.35156318e+02] [ 9.58380787e-01 -1.50145011e-02 2.85097934e-01 1.33172216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49710568099994 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:157.11, Y:135.15, Z:133.28 [[-2.83478229e-01 -9.16907749e-02 9.54585196e-01 1.57106378e+02] [ 2.28696755e-02 -9.95781867e-01 -8.88563497e-02 1.35147780e+02] [ 9.58705936e-01 -3.35778698e-03 2.84379418e-01 1.33277383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5271056809999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:157.08, Y:135.15, Z:133.37 [[-2.84190136e-01 -1.06104961e-01 9.52878641e-01 1.57075210e+02] [ 2.11932884e-02 -9.94309800e-01 -1.04397638e-01 1.35145883e+02] [ 9.58533678e-01 -9.47414701e-03 2.84821751e-01 1.33366477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.55710568099994 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:157.06, Y:135.14, Z:133.42 [[-2.77146354e-01 -1.03257879e-01 9.55263162e-01 1.57061626e+02] [ 1.87548224e-02 -9.94600537e-01 -1.02068744e-01 1.35142475e+02] [ 9.60644656e-01 -1.03721892e-02 2.77586496e-01 1.33424243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5871056809999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:157.15, Y:135.12, Z:133.09 [[-3.15548096e-01 -7.34879949e-02 9.46059678e-01 1.57150002e+02] [ 1.83806576e-02 -9.97282955e-01 -7.13362431e-02 1.35123955e+02] [ 9.48731548e-01 -5.12081663e-03 3.16041495e-01 1.33086621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.61710568099994 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:157.15, Y:135.13, Z:133.09 [[-3.16352268e-01 -8.58069791e-02 9.44753092e-01 1.57146919e+02] [ 1.65671848e-02 -9.96248624e-01 -8.49364972e-02 1.35125399e+02] [ 9.48497112e-01 -1.12179545e-02 3.16587092e-01 1.33092109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.6471056809999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:157.15, Y:135.13, Z:133.10 [[-2.81125390e-01 -1.17954092e-01 9.52394534e-01 1.57151980e+02] [ 7.20902836e-03 -9.92649265e-01 -1.20811699e-01 1.35129034e+02] [ 9.59643968e-01 -2.70973967e-02 2.79909246e-01 1.33101225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.67710568099994 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:157.16, Y:135.12, Z:133.09 [[-2.80441474e-01 -9.15568670e-02 9.55494594e-01 1.57161870e+02] [ 4.24610493e-03 -9.95549091e-01 -9.41486978e-02 1.35123620e+02] [ 9.59861735e-01 -2.23460693e-02 2.79582015e-01 1.33085955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.7071056809999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:157.04, Y:135.15, Z:133.48 [[-2.32559851e-01 -1.26002671e-01 9.64385422e-01 1.57043030e+02] [ 2.74060520e-03 -9.91653228e-01 -1.28904479e-01 1.35150952e+02] [ 9.72578226e-01 -2.73350068e-02 2.30964051e-01 1.33475747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.73710568099995 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:157.14, Y:135.12, Z:133.08 [[-2.97238090e-01 -2.91089543e-02 9.54359569e-01 1.57136459e+02] [ 1.63827647e-02 -9.99543508e-01 -2.53846510e-02 1.35121603e+02] [ 9.54662832e-01 8.08976312e-03 2.97579288e-01 1.33082751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.7671056809999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:157.09, Y:135.13, Z:133.34 [[-2.81673975e-01 -8.38962368e-02 9.55835338e-01 1.57086235e+02] [-1.49410127e-03 -9.96130535e-01 -8.78733495e-02 1.35125515e+02] [ 9.59509010e-01 -2.61797505e-02 2.80458698e-01 1.33342594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.79710568099995 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:157.17, Y:135.12, Z:133.08 [[-2.82457750e-01 -7.31492630e-02 9.56486699e-01 1.57165254e+02] [ 1.22038721e-03 -9.97114992e-01 -7.58960047e-02 1.35116248e+02] [ 9.59278964e-01 -2.02701306e-02 2.81732127e-01 1.33082341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.8271056809999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:157.07, Y:135.13, Z:133.40 [[-2.72327121e-01 -9.09878184e-02 9.57893082e-01 1.57067709e+02] [ 4.44836863e-03 -9.95627407e-01 -9.33074431e-02 1.35125691e+02] [ 9.62194446e-01 -2.11490858e-02 2.71541093e-01 1.33397895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.85710568099995 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:157.16, Y:135.11, Z:133.10 [[-2.78797620e-01 -6.80285673e-02 9.57937368e-01 1.57157442e+02] [ 9.88329828e-03 -9.97638307e-01 -6.79715260e-02 1.35114116e+02] [ 9.60299020e-01 -9.48271891e-03 2.78811532e-01 1.33096472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.8871056809999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:157.05, Y:135.12, Z:133.43 [[-2.83974269e-01 -8.12740433e-02 9.55381152e-01 1.57052061e+02] [ 1.58720008e-02 -9.96663018e-01 -8.00681418e-02 1.35123277e+02] [ 9.58700524e-01 -7.57348157e-03 2.84316633e-01 1.33427514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.9171056809999 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:157.06, Y:135.12, Z:133.41 [[-2.98861295e-01 -7.04852103e-02 9.51689950e-01 1.57057322e+02] [ 1.33631626e-02 -9.97479880e-01 -6.96800960e-02 1.35120011e+02] [ 9.54202993e-01 -8.10709622e-03 2.99050034e-01 1.33405206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.9471056809999 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:157.07, Y:135.12, Z:133.38 [[-2.89479614e-01 -7.25466445e-02 9.54431002e-01 1.57069047e+02] [ 2.50118536e-02 -9.97356499e-01 -6.82233137e-02 1.35118725e+02] [ 9.56857335e-01 4.12282994e-03 2.90528900e-01 1.33379661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.9771056809999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:157.16, Y:135.12, Z:133.12 [[-2.81681295e-01 -7.67737365e-02 9.56431619e-01 1.57155300e+02] [ 3.16565042e-02 -9.96994710e-01 -7.07065332e-02 1.35115222e+02] [ 9.58985669e-01 1.03605738e-02 2.83265149e-01 1.33120454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.0071056809999 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:157.15, Y:135.12, Z:133.13 [[-2.82771579e-01 -7.39171602e-02 9.56334924e-01 1.57153986e+02] [ 3.38924138e-02 -9.97173654e-01 -6.70522761e-02 1.35115170e+02] [ 9.58588305e-01 1.34520209e-02 2.84477600e-01 1.33126829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.0371056809999 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:157.16, Y:135.12, Z:133.12 [[-2.83002834e-01 -7.24597034e-02 9.56378057e-01 1.57155805e+02] [ 3.83987851e-02 -9.97198675e-01 -6.41898409e-02 1.35117625e+02] [ 9.58350108e-01 1.85578486e-02 2.84992415e-01 1.33121746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.06710568099993 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:157.15, Y:135.12, Z:133.14 [[-2.87761716e-01 -6.24831597e-02 9.55661577e-01 1.57152437e+02] [ 3.51989771e-02 -9.97885243e-01 -5.46449771e-02 1.35119425e+02] [ 9.57054976e-01 1.79135776e-02 2.89352513e-01 1.33137293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.0971056809999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:157.09, Y:135.12, Z:133.34 [[-3.04087167e-01 -5.23804247e-02 9.51203073e-01 1.57086172e+02] [ 4.21951970e-02 -9.98247877e-01 -4.14818150e-02 1.35123440e+02] [ 9.51709284e-01 2.75221135e-02 3.05764571e-01 1.33335149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.12710568099993 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:157.09, Y:135.13, Z:133.34 [[-2.88903329e-01 -6.48903872e-02 9.55156586e-01 1.57094122e+02] [ 4.13624219e-02 -9.97614670e-01 -5.52640913e-02 1.35125393e+02] [ 9.56464331e-01 2.35416098e-02 2.90898223e-01 1.33335070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.1571056809999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:157.09, Y:135.13, Z:133.34 [[-3.05927644e-01 -5.63263642e-02 9.50387088e-01 1.57085921e+02] [ 3.97129016e-02 -9.98134489e-01 -4.63726969e-02 1.35130205e+02] [ 9.51226136e-01 2.35559390e-02 3.07593816e-01 1.33335084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.18710568099993 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.08, Y:135.14, Z:133.35 [[-2.84069482e-01 -5.86320797e-02 9.57009304e-01 1.57084875e+02] [ 3.66103024e-02 -9.98063916e-01 -5.02802775e-02 1.35141857e+02] [ 9.58104491e-01 2.07533076e-02 2.85666038e-01 1.33354933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2171056809999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:157.15, Y:135.14, Z:133.10 [[-3.26118118e-01 -4.29628960e-02 9.44352245e-01 1.57145880e+02] [ 2.92323437e-02 -9.98947309e-01 -3.53517161e-02 1.35142458e+02] [ 9.44876946e-01 1.60767943e-02 3.27030722e-01 1.33100692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.24710568099994 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:157.08, Y:135.16, Z:133.33 [[-2.95785737e-01 -5.61220325e-02 9.53604276e-01 1.57083739e+02] [ 1.55616108e-02 -9.98423296e-01 -5.39328980e-02 1.35156681e+02] [ 9.55127549e-01 -1.11296343e-03 2.96192720e-01 1.33331121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2771056809999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:157.09, Y:135.16, Z:133.34 [[-2.75251867e-01 -5.10007113e-02 9.60018405e-01 1.57092089e+02] [ 1.12231983e-02 -9.98694280e-01 -4.98374949e-02 1.35160400e+02] [ 9.61306637e-01 -2.94338657e-03 2.75464856e-01 1.33340325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.30710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.15, Y:135.16, Z:133.06 [[-2.85053289e-01 -4.13792567e-02 9.57618076e-01 1.57146124e+02] [-5.81047799e-03 -9.98974773e-01 -4.48959042e-02 1.35162126e+02] [ 9.58494059e-01 -1.83619439e-02 2.84520611e-01 1.33064554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3371056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.16, Y:135.17, Z:133.07 [[-3.20269191e-01 -1.20519157e-02 9.47249912e-01 1.57160984e+02] [-6.16179554e-03 -9.99871418e-01 -1.48047512e-02 1.35168859e+02] [ 9.47306538e-01 -1.05782660e-02 3.20153749e-01 1.33069510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.36710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.16, Y:135.18, Z:133.05 [[-3.21487846e-01 -2.18359138e-02 9.46661903e-01 1.57163058e+02] [-1.42300245e-02 -9.99509778e-01 -2.78874530e-02 1.35179263e+02] [ 9.46806776e-01 -2.24364992e-02 3.21019520e-01 1.33054875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3971056809999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:157.17, Y:135.18, Z:133.04 [[-3.19822623e-01 -2.38866729e-02 9.47176286e-01 1.57165798e+02] [-1.82167755e-02 -9.99342344e-01 -3.13532982e-02 1.35182907e+02] [ 9.47302295e-01 -2.72819919e-02 3.19177151e-01 1.33042739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.42710568099994 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:157.17, Y:135.18, Z:133.05 [[-3.21252138e-01 -1.78887977e-02 9.46824722e-01 1.57165489e+02] [-2.06484014e-02 -9.99451552e-01 -2.58889836e-02 1.35184903e+02] [ 9.46768561e-01 -2.78673082e-02 3.20706572e-01 1.33047679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4571056809999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:157.17, Y:135.18, Z:133.04 [[-3.23274257e-01 -1.12036636e-02 9.46238994e-01 1.57170203e+02] [-2.33705784e-02 -9.99530401e-01 -1.98189980e-02 1.35182011e+02] [ 9.46016686e-01 -2.85211244e-02 3.22860611e-01 1.33036339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.48710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.17, Y:135.18, Z:133.04 [[-3.24551489e-01 -6.28230185e-03 9.45847167e-01 1.57170165e+02] [-2.30902815e-02 -9.99627316e-01 -1.45625491e-02 1.35181208e+02] [ 9.45586151e-01 -2.65661744e-02 3.24285474e-01 1.33037490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.5171056809999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:157.15, Y:135.18, Z:133.04 [[-2.91575750e-01 -3.91201616e-02 9.55747454e-01 1.57154878e+02] [-2.76402370e-02 -9.98401563e-01 -4.92984346e-02 1.35182101e+02] [ 9.56148315e-01 -4.07913142e-02 2.90028394e-01 1.33036455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.54710568099995 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:157.16, Y:135.18, Z:133.03 [[-2.91144383e-01 -2.72141478e-02 9.56291973e-01 1.57156631e+02] [-2.85075817e-02 -9.98904632e-01 -3.71059902e-02 1.35179972e+02] [ 9.56254289e-01 -3.80647722e-02 2.90049663e-01 1.33034299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.5771056809999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:157.17, Y:135.18, Z:133.02 [[-3.27534900e-01 8.83612016e-03 9.44797763e-01 1.57173451e+02] [-2.53633164e-02 -9.99678144e-01 5.56632227e-04 1.35180070e+02] [ 9.44498593e-01 -2.37808881e-02 3.27653595e-01 1.33024123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.60710568099995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.17, Y:135.18, Z:133.02 [[-3.32522075e-01 1.10178409e-03 9.43094829e-01 1.57173861e+02] [-2.50178529e-02 -9.99657710e-01 -7.65308130e-03 1.35178582e+02] [ 9.42763585e-01 -2.61390262e-02 3.32435820e-01 1.33020984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.6371056809999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:157.16, Y:135.18, Z:133.08 [[-3.31519654e-01 -6.53552379e-03 9.43425676e-01 1.57155869e+02] [-2.52458900e-02 -9.99556471e-01 -1.57957688e-02 1.35177714e+02] [ 9.43110473e-01 -2.90542287e-02 3.31207620e-01 1.33079220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.6671056809999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:157.17, Y:135.17, Z:133.03 [[-3.30059181e-01 -8.56223439e-03 9.43921408e-01 1.57172584e+02] [-2.40384812e-02 -9.99558336e-01 -1.74724019e-02 1.35172626e+02] [ 9.43654115e-01 -2.84573637e-02 3.29707583e-01 1.33028411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.6971056809999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:157.10, Y:135.17, Z:133.32 [[-2.91009125e-01 -2.90523760e-02 9.56279064e-01 1.57097147e+02] [-2.43890940e-02 -9.98988718e-01 -3.77718661e-02 1.35174713e+02] [ 9.56409359e-01 -3.43147377e-02 2.90006271e-01 1.33321568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.7271056809999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:157.17, Y:135.17, Z:133.07 [[-2.97979735e-01 -6.73469730e-03 9.54548438e-01 1.57165809e+02] [-2.94042025e-02 -9.99435824e-01 -1.62304537e-02 1.35167030e+02] [ 9.54119212e-01 -3.29040819e-02 2.97613594e-01 1.33071721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.7571056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.18, Y:135.17, Z:133.05 [[-2.74857364e-01 -9.07949592e-03 9.61442142e-01 1.57182043e+02] [-2.77773885e-02 -9.99463040e-01 -1.73795589e-02 1.35165454e+02] [ 9.61083683e-01 -3.14832516e-02 2.74457572e-01 1.33051940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.7871056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:157.11, Y:135.16, Z:133.28 [[-2.90790934e-01 -4.49162529e-03 9.56776075e-01 1.57107665e+02] [-3.82473255e-02 -9.99135109e-01 -1.63149105e-02 1.35162039e+02] [ 9.56021849e-01 -4.13383540e-02 2.90367639e-01 1.33276229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.81710568099993 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:157.17, Y:135.16, Z:133.07 [[-2.94624806e-01 1.37103989e-02 9.55514651e-01 1.57169309e+02] [-4.44834727e-02 -9.99009929e-01 6.18399833e-04 1.35155603e+02] [ 9.54577102e-01 -4.23224140e-02 2.94942993e-01 1.33070660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.8471056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.13, Y:135.15, Z:133.17 [[-3.09255063e-01 2.98953341e-02 9.50509114e-01 1.57134119e+02] [-4.65501681e-02 -9.98783474e-01 1.62682191e-02 1.35149749e+02] [ 9.49839138e-01 -3.92153299e-02 3.10270479e-01 1.33172068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.87710568099993 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:157.14, Y:135.16, Z:133.10 [[-2.93100732e-01 1.21952676e-03 9.56080788e-01 1.57138310e+02] [-4.00096993e-02 -9.99138839e-01 -1.09911168e-02 1.35157439e+02] [ 9.55244045e-01 -4.14740092e-02 2.92897118e-01 1.33095136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.9071056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.19, Y:135.15, Z:132.98 [[-3.10440773e-01 2.53398637e-02 9.50254922e-01 1.57189919e+02] [-5.16738068e-02 -9.98616439e-01 9.74806625e-03 1.35145438e+02] [ 9.49187202e-01 -4.60770920e-02 3.11320667e-01 1.32979716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.19, Y:135.14, Z:132.97 [[-3.13142371e-01 2.11488688e-02 9.49470684e-01 1.57191043e+02] [-5.43408280e-02 -9.98513104e-01 4.31925592e-03 1.35142741e+02] [ 9.48150267e-01 -5.02424811e-02 3.13826008e-01 1.32973878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.9671056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.20, Y:135.13, Z:132.96 [[-3.11989129e-01 2.19198986e-02 9.49832776e-01 1.57196854e+02] [-5.63338177e-02 -9.98401681e-01 4.53693013e-03 1.35133547e+02] [ 9.48414089e-01 -5.20922336e-02 3.12725302e-01 1.32958961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99710568099994 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:157.20, Y:135.12, Z:132.95 [[-3.19140215e-01 3.17336673e-02 9.47176065e-01 1.57200855e+02] [-5.31930742e-02 -9.98463490e-01 1.55291710e-02 1.35123742e+02] [ 9.46213517e-01 -4.54272237e-02 3.20337865e-01 1.32946886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0271056809999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:157.19, Y:135.12, Z:132.98 [[-3.17724649e-01 2.33056095e-02 9.47896564e-01 1.57188799e+02] [-5.38960317e-02 -9.98525494e-01 6.48504043e-03 1.35119914e+02] [ 9.46650023e-01 -4.90274061e-02 3.18512242e-01 1.32981523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.05710568099994 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:157.20, Y:135.11, Z:132.95 [[-3.14461048e-01 2.35696791e-02 9.48977724e-01 1.57196806e+02] [-5.10695812e-02 -9.98664002e-01 7.88089743e-03 1.35112609e+02] [ 9.47895642e-01 -4.59856596e-02 3.15244622e-01 1.32947482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0871056809999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:157.20, Y:135.11, Z:132.94 [[-3.12457861e-01 2.37678748e-02 9.49634231e-01 1.57198407e+02] [-5.20233825e-02 -9.98614805e-01 7.87654508e-03 1.35109256e+02] [ 9.48506011e-01 -4.69420965e-02 3.13261531e-01 1.32943937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.11710568099994 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:157.20, Y:135.10, Z:132.98 [[-2.79608961e-01 5.50818394e-03 9.60098166e-01 1.57198997e+02] [-4.83685074e-02 -9.98794605e-01 -8.35614936e-03 1.35101021e+02] [ 9.58894841e-01 -4.87749695e-02 2.79538344e-01 1.32978670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.1471056809999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:157.20, Y:135.09, Z:132.97 [[-2.80517383e-01 1.58414220e-02 9.59718212e-01 1.57202924e+02] [-4.43308908e-02 -9.99010658e-01 3.53245764e-03 1.35090897e+02] [ 9.58824681e-01 -4.15542475e-02 2.80942120e-01 1.32970330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.17710568099994 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:157.21, Y:135.08, Z:132.91 [[-3.18340978e-01 4.38541904e-02 9.46961368e-01 1.57211701e+02] [-4.38752612e-02 -9.98540503e-01 3.14932508e-02 1.35083898e+02] [ 9.46960392e-01 -3.15225851e-02 3.19800475e-01 1.32911359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.2071056809999 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:157.20, Y:135.08, Z:132.97 [[-2.83477476e-01 6.62927975e-03 9.58955981e-01 1.57200285e+02] [-3.31039843e-02 -9.99447773e-01 -2.87668576e-03 1.35078621e+02] [ 9.58407349e-01 -3.25607393e-02 2.83540387e-01 1.32972586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.23710568099995 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:157.19, Y:135.07, Z:132.99 [[-2.82877166e-01 1.65590525e-02 9.59013194e-01 1.57194720e+02] [-2.97489643e-02 -9.99521400e-01 8.48353771e-03 1.35072910e+02] [ 9.58694690e-01 -2.61298502e-02 2.83234396e-01 1.32992546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.2671056809999 meters Centerline goodness : 0.997875 Centerline is valid? [True, True] Translation: X:157.19, Y:135.07, Z:133.01 [[-2.81822694e-01 1.68526986e-02 9.59318485e-01 1.57186796e+02] [-2.21176315e-02 -9.99694148e-01 1.10644107e-02 1.35065961e+02] [ 9.59211541e-01 -1.80996507e-02 2.82109240e-01 1.33007638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.29710568099995 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:157.20, Y:135.06, Z:132.95 [[-3.06916204e-01 3.74710655e-02 9.50998614e-01 1.57195234e+02] [-1.97228845e-02 -9.99260483e-01 3.30074952e-02 1.35059808e+02] [ 9.51532160e-01 -8.62590066e-03 3.07428272e-01 1.32948983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.3271056809999 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:157.11, Y:135.06, Z:133.25 [[-2.78733103e-01 6.87261621e-03 9.60344014e-01 1.57110802e+02] [-1.02197500e-02 -9.99938999e-01 4.18976356e-03 1.35056737e+02] [ 9.60314227e-01 -8.64664994e-03 2.78786336e-01 1.33254179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.3571056809999 meters Centerline goodness : 0.997314 Centerline is valid? [True, True] Translation: X:157.11, Y:135.05, Z:133.26 [[-2.86181602e-01 3.01479999e-02 9.57700991e-01 1.57113704e+02] [-9.79479081e-03 -9.99544709e-01 2.85383278e-02 1.35049904e+02] [ 9.58125332e-01 -1.21333648e-03 2.86346600e-01 1.33258736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.3871056809999 meters Centerline goodness : 0.997534 Centerline is valid? [True, True] Translation: X:157.19, Y:135.05, Z:133.01 [[-2.80287199e-01 2.68199980e-02 9.59541439e-01 1.57185372e+02] [ 4.76507631e-03 -9.99558413e-01 2.93304107e-02 1.35049053e+02] [ 9.59904360e-01 1.27932269e-02 2.80035629e-01 1.33009469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.4171056809999 meters Centerline goodness : 0.997273 Centerline is valid? [True, True] Translation: X:157.16, Y:135.05, Z:133.09 [[-2.83790776e-01 2.69748556e-02 9.58506731e-01 1.57163758e+02] [ 5.79045054e-03 -9.99537797e-01 2.98439889e-02 1.35049140e+02] [ 9.58868743e-01 1.40196346e-02 2.83503410e-01 1.33085528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.4471056809999 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:157.18, Y:135.05, Z:133.03 [[-2.79867199e-01 2.49438336e-02 9.59714622e-01 1.57179557e+02] [ 1.09785906e-02 -9.99513888e-01 2.91797737e-02 1.35051809e+02] [ 9.59975949e-01 1.87027755e-02 2.79457304e-01 1.33030770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.4771056809999 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:157.10, Y:135.05, Z:133.30 [[-2.79152248e-01 2.31464257e-02 9.59967846e-01 1.57100538e+02] [ 5.76824816e-03 -9.99650983e-01 2.57806204e-02 1.35051370e+02] [ 9.60229530e-01 1.27340509e-02 2.78921305e-01 1.33297149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.5071056809999 meters Centerline goodness : 0.997532 Centerline is valid? [True, True] Translation: X:157.16, Y:135.05, Z:133.13 [[-2.88311266e-01 4.49710652e-02 9.56480119e-01 1.57157675e+02] [ 8.79436759e-03 -9.98730025e-01 4.96084210e-02 1.35053436e+02] [ 9.57496357e-01 2.27143044e-02 2.87549626e-01 1.33130954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.5371056809999 meters Centerline goodness : 0.997390 Centerline is valid? [True, True] Translation: X:157.10, Y:135.06, Z:133.31 [[-2.81578604e-01 2.66105935e-02 9.59169102e-01 1.57100399e+02] [ 1.22217139e-02 -9.99434823e-01 3.13155697e-02 1.35058655e+02] [ 9.59460327e-01 2.05404848e-02 2.81094235e-01 1.33308033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.56710568099993 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:157.09, Y:135.06, Z:133.31 [[-3.12988862e-01 3.52911513e-02 9.49100894e-01 1.57089633e+02] [ 5.10197118e-03 -9.99232506e-01 3.88377315e-02 1.35060132e+02] [ 9.49743093e-01 1.69980628e-02 3.12568590e-01 1.33314717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.5971056809999 meters Centerline goodness : 0.997574 Centerline is valid? [True, True] Translation: X:157.09, Y:135.06, Z:133.31 [[-3.08849123e-01 3.89028797e-02 9.50315098e-01 1.57091685e+02] [ 6.59340643e-03 -9.99051557e-01 4.30408298e-02 1.35062640e+02] [ 9.51088190e-01 1.95589362e-02 3.08299695e-01 1.33306061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.62710568099993 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:157.10, Y:135.07, Z:133.30 [[-2.79132425e-01 3.73112420e-02 9.59527467e-01 1.57101580e+02] [ 9.41553728e-03 -9.99090451e-01 4.15886868e-02 1.35069826e+02] [ 9.60206455e-01 2.06432177e-02 2.78527235e-01 1.33296536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.6571056809999 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:157.10, Y:135.07, Z:133.29 [[-3.11689311e-01 5.48220243e-02 9.48601243e-01 1.57098566e+02] [ 8.21752501e-03 -9.98141325e-01 6.03851650e-02 1.35072185e+02] [ 9.50148539e-01 2.66165649e-02 3.10659481e-01 1.33287295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.68710568099993 meters Centerline goodness : 0.997276 Centerline is valid? [True, True] Translation: X:157.14, Y:135.09, Z:133.19 [[-2.86567454e-01 4.73570728e-02 9.56888918e-01 1.57135902e+02] [ 1.50734540e-02 -9.98431094e-01 5.39271950e-02 1.35087749e+02] [ 9.57941483e-01 2.98774001e-02 2.85404022e-01 1.33188438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7171056809999 meters Centerline goodness : 0.997552 Centerline is valid? [True, True] Translation: X:157.18, Y:135.10, Z:133.03 [[-2.82234629e-01 4.42650087e-02 9.58323653e-01 1.57182108e+02] [ 1.62849772e-02 -9.98569951e-01 5.09200540e-02 1.35096536e+02] [ 9.59207180e-01 2.99776814e-02 2.81110165e-01 1.33033533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.74710568099994 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:157.17, Y:135.11, Z:133.08 [[-2.86694658e-01 4.99556474e-02 9.56718666e-01 1.57170861e+02] [ 1.06074362e-02 -9.98412806e-01 5.53114047e-02 1.35107637e+02] [ 9.57963285e-01 2.60058165e-02 2.85709716e-01 1.33081619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7771056809999 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:157.17, Y:135.12, Z:133.08 [[-3.10677397e-01 6.53758764e-02 9.48264494e-01 1.57165696e+02] [ 7.17905113e-03 -9.97442048e-01 7.11183614e-02 1.35123916e+02] [ 9.50488304e-01 2.89025067e-02 3.09413362e-01 1.33084683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.80710568099994 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:157.16, Y:135.13, Z:133.11 [[-3.03672990e-01 5.59159038e-02 9.51134127e-01 1.57159977e+02] [ 4.39487116e-03 -9.98183586e-01 6.00850495e-02 1.35133301e+02] [ 9.52766183e-01 2.24263186e-02 3.02875651e-01 1.33109016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.8371056809999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:157.16, Y:135.14, Z:133.09 [[-3.08307931e-01 6.47531647e-02 9.49080211e-01 1.57163844e+02] [-3.53171854e-03 -9.97751650e-01 6.69266089e-02 1.35144045e+02] [ 9.51280057e-01 1.72821202e-02 3.07843437e-01 1.33085920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.86710568099994 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:157.16, Y:135.15, Z:133.10 [[-3.11278453e-01 7.10380086e-02 9.47659921e-01 1.57163858e+02] [-3.10551159e-03 -9.97272887e-01 7.37370015e-02 1.35150359e+02] [ 9.50313675e-01 2.00097709e-02 3.10650171e-01 1.33098038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.8971056809999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:157.18, Y:135.16, Z:133.04 [[-3.28056220e-01 7.93680098e-02 9.41318137e-01 1.57178777e+02] [-6.26406278e-03 -9.96625123e-01 8.18481921e-02 1.35162639e+02] [ 9.44637432e-01 2.09543326e-02 3.27446236e-01 1.33041278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.92710568099994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.17, Y:135.17, Z:133.02 [[-2.92476041e-01 4.03078420e-02 9.55422966e-01 1.57172096e+02] [-9.68696525e-03 -9.99184872e-01 3.91886966e-02 1.35169876e+02] [ 9.56223786e-01 2.20660579e-03 2.92628097e-01 1.33021813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.18, Y:135.18, Z:133.03 [[-3.26532784e-01 8.20846729e-02 9.41614809e-01 1.57181763e+02] [-8.34764177e-03 -9.96433430e-01 8.39686598e-02 1.35177530e+02] [ 9.45149014e-01 1.95582571e-02 3.26053395e-01 1.33027830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.98710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.18, Y:135.19, Z:133.03 [[-3.17757614e-01 4.25587888e-02 9.47216368e-01 1.57177220e+02] [-2.28170478e-02 -9.99046080e-01 3.72332042e-02 1.35190647e+02] [ 9.47897400e-01 -9.78154700e-03 3.18425565e-01 1.33028655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.0171056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.19, Y:135.19, Z:133.01 [[-3.11498538e-01 6.98191301e-02 9.47678189e-01 1.57186951e+02] [-2.58570698e-02 -9.97550577e-01 6.49942932e-02 1.35188326e+02] [ 9.49894769e-01 -4.25855379e-03 3.12540865e-01 1.33005390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.04710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.20, Y:135.19, Z:132.97 [[-3.09302766e-01 7.87736630e-02 9.47695367e-01 1.57196449e+02] [-3.75905774e-02 -9.96797119e-01 7.05864913e-02 1.35190800e+02] [ 9.50220368e-01 -1.37918191e-02 3.11273253e-01 1.32972839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.0771056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.20, Y:135.19, Z:132.98 [[-3.03693242e-01 8.69138323e-02 9.48797344e-01 1.57195873e+02] [-4.39433699e-02 -9.96048558e-01 7.71767473e-02 1.35191132e+02] [ 9.51755954e-01 -1.82552961e-02 3.06312502e-01 1.32980310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.1071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.20, Y:135.19, Z:132.98 [[-3.05933613e-01 9.69743190e-02 9.47101159e-01 1.57196875e+02] [-5.01514872e-02 -9.95059267e-01 8.56847954e-02 1.35193940e+02] [ 9.50731010e-01 -2.12846726e-02 3.09285483e-01 1.32975822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.1371056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.20, Y:135.20, Z:132.97 [[-3.04547660e-01 9.44282275e-02 9.47804849e-01 1.57199637e+02] [-5.48931388e-02 -9.95159887e-01 8.15079258e-02 1.35195330e+02] [ 9.50914016e-01 -2.72049350e-02 3.08257077e-01 1.32968805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.1671056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.20, Y:135.19, Z:132.96 [[-3.06652405e-01 1.04738676e-01 9.46041285e-01 1.57204269e+02] [-6.20047065e-02 -9.94014157e-01 8.99515021e-02 1.35193450e+02] [ 9.49799831e-01 -3.10751677e-02 3.11311123e-01 1.32961778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.1971056809999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:157.18, Y:135.19, Z:132.93 [[-3.05785731e-01 9.43223379e-02 9.47416689e-01 1.57181174e+02] [-6.95279811e-02 -9.94636089e-01 7.65827090e-02 1.35186633e+02] [ 9.49558290e-01 -4.24540700e-02 3.10703565e-01 1.32931577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.2271056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.21, Y:135.19, Z:132.95 [[-3.01016431e-01 1.11512572e-01 9.47076583e-01 1.57208488e+02] [-6.79768647e-02 -9.93122153e-01 9.53285660e-02 1.35187289e+02] [ 9.51193069e-01 -3.56838320e-02 3.06526361e-01 1.32948552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.2571056809999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:157.21, Y:135.18, Z:132.95 [[-2.97423263e-01 1.19488953e-01 9.47239037e-01 1.57208841e+02] [-7.20539006e-02 -9.92117268e-01 1.02525914e-01 1.35182861e+02] [ 9.52022919e-01 -3.77586757e-02 3.03688400e-01 1.32947962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.2871056809999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:157.21, Y:135.18, Z:132.95 [[-2.93252892e-01 1.20422142e-01 9.48420397e-01 1.57210680e+02] [-8.02171800e-02 -9.91636408e-01 1.01106072e-01 1.35180280e+02] [ 9.52663606e-01 -4.64299618e-02 3.00460169e-01 1.32949612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.21, Y:135.17, Z:132.96 [[-2.95063458e-01 1.39964552e-01 9.45170609e-01 1.57213359e+02] [-8.26091498e-02 -9.89245500e-01 1.20702401e-01 1.35172307e+02] [ 9.51899829e-01 -4.24648725e-02 3.03452551e-01 1.32957667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.3471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.22, Y:135.17, Z:132.94 [[-2.97747182e-01 1.31349734e-01 9.45565367e-01 1.57217624e+02] [-8.64615456e-02 -9.90128847e-01 1.10314403e-01 1.35171472e+02] [ 9.50721314e-01 -4.89092403e-02 3.06164775e-01 1.32942579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.37710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.22, Y:135.16, Z:132.95 [[-2.96645384e-01 1.32042222e-01 9.45815187e-01 1.57218904e+02] [-8.89136882e-02 -9.89911975e-01 1.10311552e-01 1.35163553e+02] [ 9.50839562e-01 -5.13725037e-02 3.05393179e-01 1.32945254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.4071056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.23, Y:135.16, Z:132.92 [[-2.99639536e-01 1.40482958e-01 9.43652843e-01 1.57228505e+02] [-9.16408752e-02 -9.88764063e-01 1.18099862e-01 1.35157562e+02] [ 9.49641037e-01 -5.10897845e-02 3.09146786e-01 1.32923851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.21, Y:135.15, Z:132.97 [[-2.99005019e-01 1.39812361e-01 9.43953655e-01 1.57214017e+02] [-8.06532432e-02 -9.89371538e-01 1.20991794e-01 1.35146331e+02] [ 9.50837028e-01 -3.99557702e-02 3.07103376e-01 1.32971729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.4671056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.21, Y:135.15, Z:132.97 [[-2.99411659e-01 1.31429857e-01 9.45028492e-01 1.57213637e+02] [-8.14095155e-02 -9.90374245e-01 1.11943490e-01 1.35147761e+02] [ 9.50644597e-01 -4.34171256e-02 3.07229237e-01 1.32968922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.13, Y:135.15, Z:133.22 [[-2.66205369e-01 1.08416880e-01 9.57799813e-01 1.57134620e+02] [-5.45625334e-02 -9.93756175e-01 9.73221159e-02 1.35150359e+02] [ 9.62370839e-01 -2.63523145e-02 2.70458729e-01 1.33219800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5271056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.17, Y:135.13, Z:133.13 [[-2.74714659e-01 1.14057346e-01 9.54737020e-01 1.57168900e+02] [-6.81648988e-02 -9.92751482e-01 9.89850613e-02 1.35129708e+02] [ 9.59106565e-01 -3.78869050e-02 2.80498092e-01 1.33128241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.55710568099994 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:157.14, Y:135.11, Z:133.25 [[-2.73525917e-01 1.26900670e-01 9.53456760e-01 1.57135094e+02] [-6.77415933e-02 -9.91338891e-01 1.12509022e-01 1.35112783e+02] [ 9.59476237e-01 -3.38145466e-02 2.79753333e-01 1.33252543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5871056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.15, Y:135.11, Z:133.20 [[-2.76536998e-01 1.34158130e-01 9.51592815e-01 1.57151596e+02] [-7.07098408e-02 -9.90364132e-01 1.19075629e-01 1.35108789e+02] [ 9.58398355e-01 -3.43581594e-02 2.83358624e-01 1.33202051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.61710568099994 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:157.23, Y:135.11, Z:132.93 [[-3.00696329e-01 1.63251236e-01 9.39643949e-01 1.57227084e+02] [-7.43939973e-02 -9.86253933e-01 1.47542239e-01 1.35107143e+02] [ 9.50813994e-01 -2.55384598e-02 3.08707849e-01 1.32934123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.6471056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.23, Y:135.11, Z:132.92 [[-3.02516795e-01 1.61247820e-01 9.39405519e-01 1.57230665e+02] [-7.66397237e-02 -9.86509948e-01 1.44652945e-01 1.35105025e+02] [ 9.50057862e-01 -2.82358340e-02 3.10793816e-01 1.32918947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.67710568099994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:157.18, Y:135.10, Z:133.09 [[-2.75327872e-01 1.41203848e-01 9.50923781e-01 1.57184539e+02] [-8.55966246e-02 -9.88826250e-01 1.22048620e-01 1.35095775e+02] [ 9.57532131e-01 -4.77924792e-02 2.84337999e-01 1.33094299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.7071056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:157.25, Y:135.09, Z:132.87 [[-3.15533471e-01 2.02873635e-01 9.26974065e-01 1.57249783e+02] [-9.27966271e-02 -9.78793141e-01 1.82627418e-01 1.35089738e+02] [ 9.44366145e-01 -2.83950035e-02 3.27667986e-01 1.32868677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.73710568099995 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:157.24, Y:135.09, Z:132.90 [[-2.78070821e-01 1.35673710e-01 9.50930735e-01 1.57240852e+02] [-1.05278734e-01 -9.88315486e-01 1.10221997e-01 1.35086991e+02] [ 9.54773799e-01 -6.94632622e-02 2.89105255e-01 1.32899906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.7671056809999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:157.20, Y:135.07, Z:133.06 [[-2.98053035e-01 1.97489265e-01 9.33896343e-01 1.57198745e+02] [-1.11452208e-01 -9.78871851e-01 1.71430175e-01 1.35067593e+02] [ 9.48020461e-01 -5.29895256e-02 3.13766341e-01 1.33057225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.79710568099995 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:157.27, Y:135.07, Z:132.79 [[-3.20151478e-01 2.04820675e-01 9.24960282e-01 1.57272303e+02] [-1.12738625e-01 -9.77648087e-01 1.77466111e-01 1.35072318e+02] [ 9.40634378e-01 -4.74627123e-02 3.36086681e-01 1.32789072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.8271056809999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:157.27, Y:135.07, Z:132.78 [[-3.23570601e-01 1.84923834e-01 9.27957565e-01 1.57271707e+02] [-1.15118168e-01 -9.81124556e-01 1.55378290e-01 1.35070371e+02] [ 9.39175103e-01 -5.65489281e-02 3.38751155e-01 1.32777776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.8571056809999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:157.27, Y:135.06, Z:132.77 [[-3.21401277e-01 1.69431088e-01 9.31662131e-01 1.57269597e+02] [-1.15516824e-01 -9.83529971e-01 1.39013161e-01 1.35060663e+02] [ 9.39870780e-01 -6.29436425e-02 3.35679930e-01 1.32768632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.8871056809999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:157.27, Y:135.05, Z:132.77 [[-3.21275929e-01 1.82020006e-01 9.29327980e-01 1.57273018e+02] [-1.15820846e-01 -9.81539030e-01 1.52205995e-01 1.35053288e+02] [ 9.39876220e-01 -5.87354306e-02 3.36426575e-01 1.32772627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.9171056809999 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:157.27, Y:135.04, Z:132.78 [[-3.22876410e-01 1.78449449e-01 9.29465770e-01 1.57271661e+02] [-1.14529333e-01 -9.82213872e-01 1.48791605e-01 1.35043576e+02] [ 9.39485953e-01 -5.84097951e-02 3.37571385e-01 1.32776755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.9471056809999 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:157.28, Y:135.03, Z:132.77 [[-3.19907295e-01 1.79052245e-01 9.30376062e-01 1.57277441e+02] [-1.16515481e-01 -9.81961332e-01 1.48916373e-01 1.35033372e+02] [ 9.40257127e-01 -6.07637807e-02 3.34998952e-01 1.32768329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.9771056809999 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:157.28, Y:135.03, Z:132.78 [[-3.16031021e-01 1.87185849e-01 9.30099915e-01 1.57276667e+02] [-1.17077707e-01 -9.80545017e-01 1.57557228e-01 1.35026673e+02] [ 9.41497320e-01 -5.91009939e-02 3.31797933e-01 1.32776146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.0071056809999 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:157.28, Y:135.01, Z:132.78 [[-3.11620335e-01 1.99905983e-01 9.28940453e-01 1.57279798e+02] [-1.10747193e-01 -9.78597594e-01 1.73441081e-01 1.35013392e+02] [ 9.43730802e-01 -4.88297796e-02 3.27089936e-01 1.32776289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.0371056809999 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:157.27, Y:135.02, Z:132.77 [[-3.11016307e-01 1.54594400e-01 9.37746996e-01 1.57268389e+02] [-1.11998772e-01 -9.85768651e-01 1.25365231e-01 1.35015400e+02] [ 9.43782354e-01 -6.60358806e-02 3.23904508e-01 1.32768918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.06710568099993 meters Centerline goodness : 0.997892 Centerline is valid? [True, True] Translation: X:157.27, Y:135.00, Z:132.79 [[-3.08684747e-01 1.84914256e-01 9.33016851e-01 1.57272281e+02] [-1.12166010e-01 -9.81153112e-01 1.57344705e-01 1.35003174e+02] [ 9.44527667e-01 -5.60828670e-02 3.23608094e-01 1.32794622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.0971056809999 meters Centerline goodness : 0.997072 Centerline is valid? [True, True] Translation: X:157.27, Y:134.99, Z:132.78 [[-3.07260041e-01 1.75740804e-01 9.35257417e-01 1.57273163e+02] [-1.04661740e-01 -9.83078408e-01 1.50342159e-01 1.34993862e+02] [ 9.45852625e-01 -5.16915302e-02 3.20454050e-01 1.32784443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.12710568099993 meters Centerline goodness : 0.995985 Centerline is valid? [True, True] Translation: X:157.19, Y:134.97, Z:133.11 [[-2.78661080e-01 1.65504921e-01 9.46021207e-01 1.57185110e+02] [-9.84713251e-02 -9.84771397e-01 1.43278380e-01 1.34967350e+02] [ 9.55327902e-01 -5.32298537e-02 2.90714950e-01 1.33106983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.1571056809999 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:157.28, Y:134.97, Z:132.83 [[-2.81553125e-01 1.98079877e-01 9.38878161e-01 1.57281824e+02] [-8.66070195e-02 -9.79713408e-01 1.80723167e-01 1.34970238e+02] [ 9.55629145e-01 -3.04302668e-02 2.92996479e-01 1.32833691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.18710568099993 meters Centerline goodness : 0.995178 Centerline is valid? [True, True] Translation: X:157.24, Y:134.96, Z:132.94 [[-2.84687178e-01 1.68098773e-01 9.43766928e-01 1.57240961e+02] [-8.66824005e-02 -9.84986204e-01 1.49292797e-01 1.34958332e+02] [ 9.54693339e-01 -3.93062378e-02 2.94984148e-01 1.32941917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2171056809999 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:157.20, Y:134.94, Z:133.11 [[-2.84897679e-01 1.85306432e-01 9.40475858e-01 1.57198593e+02] [-8.33887806e-02 -9.82207786e-01 1.68268168e-01 1.34943268e+02] [ 9.54923884e-01 -3.04859242e-02 2.95281196e-01 1.33107490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.24710568099994 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:157.18, Y:134.94, Z:133.17 [[-2.83173750e-01 1.71619189e-01 9.43588619e-01 1.57175594e+02] [-7.59063558e-02 -9.84783501e-01 1.56331960e-01 1.34936122e+02] [ 9.56060067e-01 -2.73552659e-02 2.91891824e-01 1.33173988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2771056809999 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:157.29, Y:134.95, Z:132.84 [[-2.89700863e-01 1.96477363e-01 9.36733717e-01 1.57285023e+02] [-5.74401584e-02 -9.80508160e-01 1.87894586e-01 1.34946708e+02] [ 9.55392086e-01 6.27090799e-04 2.95339751e-01 1.32841204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.30710568099994 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:157.27, Y:134.95, Z:132.84 [[-2.90208369e-01 1.59943344e-01 9.43502639e-01 1.57270599e+02] [-5.21041782e-02 -9.87112239e-01 1.51309555e-01 1.34950809e+02] [ 9.55543959e-01 -5.24913049e-03 2.94801949e-01 1.32844454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.3371056809999 meters Centerline goodness : 0.993970 Centerline is valid? [True, True] Translation: X:157.27, Y:134.95, Z:132.85 [[-2.90238755e-01 1.60867006e-01 9.43336245e-01 1.57268568e+02] [-4.73610499e-02 -9.86976090e-01 1.53737204e-01 1.34950793e+02] [ 9.55781563e-01 -5.69002414e-05 2.94077542e-01 1.32851373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.36710568099994 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:157.22, Y:134.95, Z:132.99 [[-2.86077937e-01 1.58660109e-01 9.44979568e-01 1.57222772e+02] [-4.43953360e-02 -9.87331923e-01 1.52330981e-01 1.34946744e+02] [ 9.57177344e-01 1.62584722e-03 2.89497649e-01 1.32990482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.3971056809999 meters Centerline goodness : 0.993443 Centerline is valid? [True, True] Translation: X:157.20, Y:134.94, Z:133.11 [[-2.96520051e-01 1.82833661e-01 9.37362103e-01 1.57195628e+02] [-4.31464432e-02 -9.83066085e-01 1.78099568e-01 1.34941895e+02] [ 9.54051489e-01 1.23662523e-02 2.99387428e-01 1.33105600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.42710568099994 meters Centerline goodness : 0.993503 Centerline is valid? [True, True] Translation: X:157.26, Y:134.96, Z:132.87 [[-2.93637073e-01 1.73536422e-01 9.40033180e-01 1.57263113e+02] [-3.55255929e-02 -9.84685450e-01 1.70682442e-01 1.34958009e+02] [ 9.55256616e-01 1.67234567e-02 2.95305137e-01 1.32868851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4571056809999 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:157.25, Y:134.97, Z:132.88 [[-2.92402837e-01 1.61116000e-01 9.42625172e-01 1.57251394e+02] [-2.98610283e-02 -9.86762812e-01 1.59397216e-01 1.34965665e+02] [ 9.55828907e-01 1.84604411e-02 2.93343335e-01 1.32878194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.48710568099995 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:157.25, Y:134.97, Z:132.87 [[-2.91082832e-01 1.63378292e-01 9.42644323e-01 1.57254310e+02] [-2.89350437e-02 -9.86363058e-01 1.62020620e-01 1.34969728e+02] [ 9.56260189e-01 1.98859661e-02 2.91840710e-01 1.32865765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.5171056809999 meters Centerline goodness : 0.993555 Centerline is valid? [True, True] Translation: X:157.25, Y:134.98, Z:132.87 [[-2.90774725e-01 1.66453691e-01 9.42201267e-01 1.57250010e+02] [-3.10896689e-02 -9.85874557e-01 1.64574571e-01 1.34977984e+02] [ 9.56286302e-01 1.85614003e-02 2.91842394e-01 1.32870560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.54710568099995 meters Centerline goodness : 0.993828 Centerline is valid? [True, True] Translation: X:157.25, Y:134.99, Z:132.86 [[-2.87556414e-01 1.70946940e-01 9.42384450e-01 1.57254260e+02] [-3.76082007e-02 -9.85199040e-01 1.67237779e-01 1.34986162e+02] [ 9.57025043e-01 1.26489123e-02 2.89729310e-01 1.32857339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.5771056809999 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:157.25, Y:134.99, Z:132.86 [[-2.85388088e-01 1.74769775e-01 9.42342382e-01 1.57253259e+02] [-4.20880386e-02 -9.84569882e-01 1.69855070e-01 1.34990032e+02] [ 9.57487460e-01 8.81327131e-03 2.88340233e-01 1.32857144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.6071056809999 meters Centerline goodness : 0.995084 Centerline is valid? [True, True] Translation: X:157.25, Y:135.00, Z:132.84 [[-2.82296382e-01 1.79716715e-01 9.42343173e-01 1.57253748e+02] [-5.05487404e-02 -9.83717844e-01 1.72464572e-01 1.35001790e+02] [ 9.57994560e-01 1.05186431e-03 2.86784441e-01 1.32844646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.6371056809999 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:157.25, Y:135.01, Z:132.84 [[-2.81538396e-01 1.83706567e-01 9.41800419e-01 1.57254027e+02] [-5.61231888e-02 -9.82974540e-01 1.74960685e-01 1.35006960e+02] [ 9.57907260e-01 -3.59869230e-03 2.87055273e-01 1.32842432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.6671056809999 meters Centerline goodness : 0.996169 Centerline is valid? [True, True] Translation: X:157.26, Y:135.02, Z:132.83 [[-2.82739336e-01 1.88704055e-01 9.40451619e-01 1.57262163e+02] [-6.56961826e-02 -9.81964786e-01 1.77282743e-01 1.35015728e+02] [ 9.56944345e-01 -1.16592763e-02 2.90037208e-01 1.32825343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.6971056809999 meters Centerline goodness : 0.995814 Centerline is valid? [True, True] Translation: X:157.24, Y:135.01, Z:132.91 [[-2.85657326e-01 1.97214246e-01 9.37820043e-01 1.57239605e+02] [-7.31371322e-02 -9.80228697e-01 1.83855001e-01 1.35013195e+02] [ 9.55536944e-01 -1.60699405e-02 2.94433193e-01 1.32909073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.7271056809999 meters Centerline goodness : 0.996531 Centerline is valid? [True, True] Translation: X:157.27, Y:135.03, Z:132.81 [[-2.84092398e-01 2.06031446e-01 9.36398715e-01 1.57270400e+02] [-7.77024310e-02 -9.78374204e-01 1.91693110e-01 1.35025671e+02] [ 9.55643156e-01 -1.83019011e-02 2.93957818e-01 1.32810343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.7571056809999 meters Centerline goodness : 0.996804 Centerline is valid? [True, True] Translation: X:157.27, Y:135.03, Z:132.81 [[-2.82860272e-01 2.00346295e-01 9.38003960e-01 1.57266531e+02] [-8.15842297e-02 -9.79423424e-01 1.84590817e-01 1.35031257e+02] [ 9.55685136e-01 -2.43129219e-02 2.93385074e-01 1.32813545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.7871056809999 meters Centerline goodness : 0.997031 Centerline is valid? [True, True] Translation: X:157.27, Y:135.04, Z:132.77 [[-3.00368864e-01 2.19019264e-01 9.28336743e-01 1.57273548e+02] [-8.91176939e-02 -9.75466450e-01 2.01303853e-01 1.35037964e+02] [ 9.49650769e-01 -2.22658201e-02 3.12518241e-01 1.32772297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.81710568099993 meters Centerline goodness : 0.996940 Centerline is valid? [True, True] Translation: X:157.22, Y:135.04, Z:132.91 [[-2.94764145e-01 1.87284278e-01 9.37037192e-01 1.57223682e+02] [-9.44620676e-02 -9.81513332e-01 1.66458692e-01 1.35036142e+02] [ 9.50889592e-01 -3.94484165e-02 3.07006198e-01 1.32913780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.8471056809999 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:157.25, Y:135.04, Z:132.87 [[-2.95814060e-01 2.11113865e-01 9.31624913e-01 1.57245170e+02] [-9.84148303e-02 -9.76818435e-01 1.90105935e-01 1.35039771e+02] [ 9.50162388e-01 -3.54496993e-02 3.09733362e-01 1.32865239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.87710568099993 meters Centerline goodness : 0.997572 Centerline is valid? [True, True] Translation: X:157.28, Y:135.05, Z:132.74 [[-3.19453216e-01 2.27604076e-01 9.19861961e-01 1.57279438e+02] [-1.03913565e-01 -9.73285871e-01 2.04735402e-01 1.35049039e+02] [ 9.41887262e-01 -3.01827531e-02 3.34570453e-01 1.32738664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.9071056809999 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:157.26, Y:135.05, Z:132.75 [[-3.19478378e-01 2.06554186e-01 9.24807512e-01 1.57263861e+02] [-1.05964515e-01 -9.77619906e-01 1.81743888e-01 1.35052930e+02] [ 9.41650194e-01 -3.99335366e-02 3.34215836e-01 1.32747465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93710568099993 meters Centerline goodness : 0.997654 Centerline is valid? [True, True] Translation: X:157.27, Y:135.05, Z:132.74 [[-3.21782568e-01 2.18406284e-01 9.21278826e-01 1.57268305e+02] [-1.06797775e-01 -9.75193615e-01 1.93885658e-01 1.35051097e+02] [ 9.40771074e-01 -3.60015034e-02 3.37125611e-01 1.32741692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.9671056809999 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:157.27, Y:135.05, Z:132.73 [[-3.13013590e-01 2.02261531e-01 9.27961619e-01 1.57271105e+02] [-1.05877784e-01 -9.78401193e-01 1.77541543e-01 1.35054797e+02] [ 9.43828580e-01 -4.26776042e-02 3.27667872e-01 1.32732455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99710568099994 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:157.22, Y:135.04, Z:132.90 [[-3.19384257e-01 2.07694330e-01 9.24584643e-01 1.57216935e+02] [-1.07964133e-01 -9.77308111e-01 1.82243248e-01 1.35042138e+02] [ 9.41454960e-01 -4.16163546e-02 3.34560363e-01 1.32900321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0271056809999 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:157.26, Y:135.05, Z:132.75 [[-3.30355606e-01 1.96750309e-01 9.23122142e-01 1.57260141e+02] [-1.04840181e-01 -9.79629209e-01 1.71275068e-01 1.35051408e+02] [ 9.38015837e-01 -4.01986132e-02 3.44253339e-01 1.32747223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.05710568099994 meters Centerline goodness : 0.997957 Centerline is valid? [True, True] Translation: X:157.26, Y:135.05, Z:132.74 [[-3.25555204e-01 1.87858596e-01 9.26673058e-01 1.57259818e+02] [-1.07336207e-01 -9.81071235e-01 1.61177454e-01 1.35051204e+02] [ 9.39410852e-01 -4.69934122e-02 3.39556875e-01 1.32736722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0871056809999 meters Centerline goodness : 0.997880 Centerline is valid? [True, True] Translation: X:157.23, Y:135.04, Z:132.83 [[-3.23709946e-01 1.99934887e-01 9.24790739e-01 1.57231880e+02] [-1.04833194e-01 -9.78979474e-01 1.74954826e-01 1.35040289e+02] [ 9.40330725e-01 -4.03141499e-02 3.37865206e-01 1.32833482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.11710568099994 meters Centerline goodness : 0.997601 Centerline is valid? [True, True] Translation: X:157.27, Y:135.05, Z:132.73 [[-3.16227564e-01 1.86332270e-01 9.30204500e-01 1.57266450e+02] [-1.10578956e-01 -9.81077592e-01 1.58930967e-01 1.35045822e+02] [ 9.42216760e-01 -5.26026901e-02 3.30848205e-01 1.32727087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.1471056809999 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:157.25, Y:135.03, Z:132.86 [[-2.85646153e-01 2.07449198e-01 9.35612690e-01 1.57249085e+02] [-1.17667146e-01 -9.76494679e-01 1.80589546e-01 1.35033343e+02] [ 9.51083970e-01 -5.85061662e-02 3.03341904e-01 1.32858335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.17710568099994 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:157.23, Y:135.02, Z:132.93 [[-2.83589495e-01 2.24697179e-01 9.32248988e-01 1.57227969e+02] [-1.17905729e-01 -9.72954181e-01 1.98641389e-01 1.35020866e+02] [ 9.51669710e-01 -5.35848853e-02 3.02412669e-01 1.32934812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.2071056809999 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:157.29, Y:135.03, Z:132.70 [[-3.12223459e-01 2.39947232e-01 9.19207179e-01 1.57291473e+02] [-1.25003472e-01 -9.69541358e-01 2.10626889e-01 1.35030982e+02] [ 9.41748716e-01 -4.91414334e-02 3.32707793e-01 1.32698413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.23710568099995 meters Centerline goodness : 0.997512 Centerline is valid? [True, True] Translation: X:157.23, Y:135.02, Z:132.91 [[-2.87668899e-01 2.00541464e-01 9.36498652e-01 1.57227171e+02] [-1.26564469e-01 -9.77215940e-01 1.70383218e-01 1.35018115e+02] [ 9.49330311e-01 -6.95135022e-02 3.06496057e-01 1.32912788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.2671056809999 meters Centerline goodness : 0.997367 Centerline is valid? [True, True] Translation: X:157.29, Y:135.02, Z:132.69 [[-3.25257327e-01 2.51668257e-01 9.11521124e-01 1.57293092e+02] [-1.29032991e-01 -9.66730335e-01 2.20868620e-01 1.35020006e+02] [ 9.36780742e-01 -4.57771601e-02 3.46909633e-01 1.32690179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.29710568099995 meters Centerline goodness : 0.996846 Centerline is valid? [True, True] Translation: X:157.25, Y:135.02, Z:132.81 [[-2.87476444e-01 1.74045888e-01 9.41841453e-01 1.57252220e+02] [-1.29546274e-01 -9.81380321e-01 1.41811243e-01 1.35020228e+02] [ 9.48986331e-01 -8.12446595e-02 3.04670721e-01 1.32806700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.3271056809999 meters Centerline goodness : 0.996994 Centerline is valid? [True, True] Translation: X:157.30, Y:135.01, Z:132.70 [[-3.07768084e-01 2.51195903e-01 9.17703343e-01 1.57296246e+02] [-1.30445132e-01 -9.66551962e-01 2.20819774e-01 1.35009818e+02] [ 9.42476989e-01 -5.17486548e-02 3.30241128e-01 1.32699359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.3571056809999 meters Centerline goodness : 0.996994 Centerline is valid? [True, True] Translation: X:157.29, Y:135.02, Z:132.70 [[-3.10112922e-01 2.17708643e-01 9.25436612e-01 1.57286973e+02] [-1.30022193e-01 -9.73992462e-01 1.85561078e-01 1.35015225e+02] [ 9.41766534e-01 -6.27824096e-02 3.30354603e-01 1.32695064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.3871056809999 meters Centerline goodness : 0.996856 Centerline is valid? [True, True] Translation: X:157.30, Y:135.01, Z:132.67 [[-3.10657070e-01 2.15509907e-01 9.25768689e-01 1.57295130e+02] [-1.32347106e-01 -9.74278048e-01 1.82391141e-01 1.35013186e+02] [ 9.41263209e-01 -6.58617093e-02 3.31188477e-01 1.32670275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.4171056809999 meters Centerline goodness : 0.996733 Centerline is valid? [True, True] Translation: X:157.30, Y:135.00, Z:132.70 [[-2.78365328e-01 1.93620998e-01 9.40756958e-01 1.57297768e+02] [-1.35027269e-01 -9.77631827e-01 1.61256463e-01 1.35004925e+02] [ 9.50936581e-01 -8.21396346e-02 2.98282919e-01 1.32702545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.4471056809999 meters Centerline goodness : 0.996948 Centerline is valid? [True, True] Translation: X:157.31, Y:134.99, Z:132.68 [[-3.04529209e-01 2.62213057e-01 9.15699882e-01 1.57311392e+02] [-1.37319244e-01 -9.63404712e-01 2.30205964e-01 1.34992150e+02] [ 9.42552591e-01 -5.56387757e-02 3.29391774e-01 1.32680623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.4771056809999 meters Centerline goodness : 0.996087 Centerline is valid? [True, True] Translation: X:157.30, Y:134.99, Z:132.70 [[-2.77084247e-01 2.06329846e-01 9.38430772e-01 1.57301425e+02] [-1.33070769e-01 -9.75500325e-01 1.75189287e-01 1.34992202e+02] [ 9.51586302e-01 -7.63355132e-02 2.97752244e-01 1.32695654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.5071056809999 meters Centerline goodness : 0.996086 Centerline is valid? [True, True] Translation: X:157.31, Y:134.98, Z:132.68 [[-3.11811798e-01 2.60697391e-01 9.13679524e-01 1.57306178e+02] [-1.33931213e-01 -9.64080494e-01 2.29371384e-01 1.34980760e+02] [ 9.40657128e-01 -5.08495035e-02 3.35527190e-01 1.32681941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.5371056809999 meters Centerline goodness : 0.995272 Centerline is valid? [True, True] Translation: X:157.31, Y:134.98, Z:132.70 [[-2.79808844e-01 2.08461684e-01 9.37150328e-01 1.57307271e+02] [-1.28341336e-01 -9.75502098e-01 1.78673329e-01 1.34976617e+02] [ 9.51438654e-01 -7.02807476e-02 2.99708366e-01 1.32696381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.56710568099993 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:157.31, Y:134.96, Z:132.70 [[-3.00241087e-01 2.47021250e-01 9.21322849e-01 1.57307705e+02] [-1.29276366e-01 -9.67511516e-01 2.17276526e-01 1.34958721e+02] [ 9.45062385e-01 -5.38699290e-02 3.22420719e-01 1.32697939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.5971056809999 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:157.31, Y:134.95, Z:132.70 [[-3.00944857e-01 2.53510523e-01 9.19328346e-01 1.57311976e+02] [-1.25053165e-01 -9.66185122e-01 2.25495048e-01 1.34953678e+02] [ 9.45406737e-01 -4.71033440e-02 3.22470737e-01 1.32700264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.62710568099993 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:157.30, Y:134.95, Z:132.71 [[-2.99635304e-01 2.27206394e-01 9.26604521e-01 1.57297896e+02] [-1.12776452e-01 -9.72854416e-01 2.02078593e-01 1.34949857e+02] [ 9.47364849e-01 -4.39492897e-02 3.17125059e-01 1.32707604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.6571056809999 meters Centerline goodness : 0.994275 Centerline is valid? [True, True] Translation: X:157.31, Y:134.95, Z:132.69 [[-3.04815050e-01 2.40235211e-01 9.21615336e-01 1.57309645e+02] [-1.11002382e-01 -9.70031328e-01 2.16142762e-01 1.34945302e+02] [ 9.45920851e-01 -3.64179310e-02 3.22346829e-01 1.32693794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.68710568099993 meters Centerline goodness : 0.993719 Centerline is valid? [True, True] Translation: X:157.32, Y:134.94, Z:132.70 [[-3.09366823e-01 2.50268941e-01 9.17419002e-01 1.57318175e+02] [-1.01637749e-01 -9.67922710e-01 2.29772485e-01 1.34935093e+02] [ 9.45495604e-01 -2.21604189e-02 3.24879946e-01 1.32702918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7171056809999 meters Centerline goodness : 0.993238 Centerline is valid? [True, True] Translation: X:157.30, Y:134.93, Z:132.73 [[-3.04701321e-01 2.25552114e-01 9.25355796e-01 1.57303155e+02] [-9.40218872e-02 -9.73932891e-01 2.06433061e-01 1.34928534e+02] [ 9.47795859e-01 -2.41032719e-02 3.17965474e-01 1.32732717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.74710568099994 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:157.20, Y:134.90, Z:133.12 [[-2.88441331e-01 2.32365882e-01 9.28874424e-01 1.57201434e+02] [-8.16882066e-02 -9.72541297e-01 2.17923065e-01 1.34902486e+02] [ 9.54006622e-01 -1.30200670e-02 2.99502658e-01 1.33120480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7771056809999 meters Centerline goodness : 0.993644 Centerline is valid? [True, True] Translation: X:157.22, Y:134.91, Z:133.06 [[-2.83754106e-01 2.27360362e-01 9.31552936e-01 1.57217379e+02] [-7.57475312e-02 -9.73762658e-01 2.14589369e-01 1.34906518e+02] [ 9.55900580e-01 -9.67222041e-03 2.93531139e-01 1.33059727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.80710568099994 meters Centerline goodness : 0.994809 Centerline is valid? [True, True] Translation: X:157.30, Y:134.92, Z:132.74 [[-3.07580052e-01 2.34785236e-01 9.22101082e-01 1.57303577e+02] [-8.24358924e-02 -9.72011422e-01 2.19995724e-01 1.34923216e+02] [ 9.47944532e-01 -8.34792950e-03 3.18326054e-01 1.32742346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8371056809999 meters Centerline goodness : 0.994067 Centerline is valid? [True, True] Translation: X:157.22, Y:134.90, Z:133.06 [[-2.87054588e-01 2.26705567e-01 9.30700945e-01 1.57220068e+02] [-7.22689320e-02 -9.73947478e-01 2.14950020e-01 1.34904713e+02] [ 9.55184205e-01 -5.55837404e-03 2.95959861e-01 1.33056894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.86710568099994 meters Centerline goodness : 0.994134 Centerline is valid? [True, True] Translation: X:157.22, Y:134.91, Z:133.05 [[-2.85246907e-01 2.28640325e-01 9.30783436e-01 1.57221021e+02] [-7.64249167e-02 -9.73463569e-01 2.15703297e-01 1.34905038e+02] [ 9.55402237e-01 -9.60634821e-03 2.95151290e-01 1.33054054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8971056809999 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:157.23, Y:134.90, Z:133.02 [[-3.22204369e-01 2.52877225e-01 9.12270494e-01 1.57226076e+02] [-8.45034825e-02 -9.67498332e-01 2.38340386e-01 1.34903782e+02] [ 9.42891036e-01 -2.95720120e-04 3.33101195e-01 1.33015677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.92710568099994 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:157.32, Y:134.93, Z:132.72 [[-3.21241417e-01 2.41027536e-01 9.15810941e-01 1.57316096e+02] [-8.60614668e-02 -9.70496763e-01 2.25232007e-01 1.34927563e+02] [ 9.43078669e-01 -6.46218403e-03 3.32506938e-01 1.32715123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9571056809999 meters Centerline goodness : 0.993783 Centerline is valid? [True, True] Translation: X:157.32, Y:134.93, Z:132.70 [[-3.29025946e-01 2.34144757e-01 9.14832312e-01 1.57316437e+02] [-8.80633211e-02 -9.72158996e-01 2.17144510e-01 1.34931529e+02] [ 9.40205711e-01 -9.11699374e-03 3.40485098e-01 1.32701361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.98710568099995 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:157.31, Y:134.93, Z:132.71 [[-3.26712953e-01 2.34212888e-01 9.15643473e-01 1.57312736e+02] [-8.88854178e-02 -9.72128540e-01 2.16945810e-01 1.34932513e+02] [ 9.40934657e-01 -1.05083463e-02 3.38425096e-01 1.32711987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.0171056809999 meters Centerline goodness : 0.993580 Centerline is valid? [True, True] Translation: X:157.23, Y:134.91, Z:133.01 [[-3.01427893e-01 2.33551849e-01 9.24442945e-01 1.57232649e+02] [-8.93217754e-02 -9.72190138e-01 2.16490083e-01 1.34913365e+02] [ 9.49295974e-01 -1.73167356e-02 3.13906491e-01 1.33010999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.04710568099995 meters Centerline goodness : 0.993190 Centerline is valid? [True, True] Translation: X:157.21, Y:134.91, Z:133.08 [[-2.84157931e-01 2.41420526e-01 9.27884907e-01 1.57212193e+02] [-1.03608245e-01 -9.69843956e-01 2.20608324e-01 1.34910740e+02] [ 9.53162946e-01 -3.34489215e-02 3.00602009e-01 1.33078236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.0771056809999 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:157.33, Y:134.94, Z:132.68 [[-3.09276150e-01 2.75481909e-01 9.10196671e-01 1.57333799e+02] [-1.18805098e-01 -9.60816467e-01 2.50433756e-01 1.34939475e+02] [ 9.43521919e-01 -3.06828167e-02 3.29886273e-01 1.32675199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.1071056809999 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:157.33, Y:134.95, Z:132.66 [[-3.02790532e-01 2.75526687e-01 9.12361189e-01 1.57334652e+02] [-1.34001511e-01 -9.60097711e-01 2.45470934e-01 1.34945124e+02] [ 9.43589683e-01 -4.79315035e-02 3.27629489e-01 1.32664086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.1371056809999 meters Centerline goodness : 0.993942 Centerline is valid? [True, True] Translation: X:157.34, Y:134.95, Z:132.65 [[-2.99942650e-01 2.85030153e-01 9.10380260e-01 1.57343095e+02] [-1.39565288e-01 -9.57162746e-01 2.53694716e-01 1.34946899e+02] [ 9.43692713e-01 -5.09636176e-02 3.26874246e-01 1.32647873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.1671056809999 meters Centerline goodness : 0.994373 Centerline is valid? [True, True] Translation: X:157.34, Y:134.95, Z:132.68 [[-2.91552940e-01 2.87522015e-01 9.12320105e-01 1.57338396e+02] [-1.49017348e-01 -9.55764140e-01 2.53591677e-01 1.34946158e+02] [ 9.44876031e-01 -6.20161230e-02 3.21501613e-01 1.32678092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.1971056809999 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:157.34, Y:134.95, Z:132.66 [[-2.90704153e-01 2.94564909e-01 9.10342029e-01 1.57343748e+02] [-1.46861902e-01 -9.53893989e-01 2.61759124e-01 1.34947120e+02] [ 9.45474842e-01 -5.76000973e-02 3.20561307e-01 1.32662545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.2271056809999 meters Centerline goodness : 0.995311 Centerline is valid? [True, True] Translation: X:157.36, Y:134.95, Z:132.64 [[-2.96040693e-01 3.08309484e-01 9.04049319e-01 1.57358635e+02] [-1.49528224e-01 -9.49764189e-01 2.74935076e-01 1.34949506e+02] [ 9.43398759e-01 -5.37889191e-02 3.27269818e-01 1.32637032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.2571056809999 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:157.22, Y:134.92, Z:133.07 [[-2.70155575e-01 2.67211440e-01 9.24994060e-01 1.57223215e+02] [-1.34151337e-01 -9.61792218e-01 2.38661156e-01 1.34922291e+02] [ 9.53425081e-01 -5.96135482e-02 2.95680302e-01 1.33072832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.2871056809999 meters Centerline goodness : 0.995331 Centerline is valid? [True, True] Translation: X:157.24, Y:134.92, Z:133.04 [[-2.67148049e-01 2.74685486e-01 9.23677327e-01 1.57236516e+02] [-1.33710563e-01 -9.59808269e-01 2.46758124e-01 1.34922291e+02] [ 9.54334011e-01 -5.75844640e-02 2.93139258e-01 1.33044991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.31710568099993 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:157.25, Y:134.92, Z:132.98 [[-2.92198842e-01 2.92651073e-01 9.10480744e-01 1.57252829e+02] [-1.39895166e-01 -9.54868454e-01 2.62022095e-01 1.34917180e+02] [ 9.46070388e-01 -5.08093016e-02 3.19951927e-01 1.32981807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.3471056809999 meters Centerline goodness : 0.994905 Centerline is valid? [True, True] Translation: X:157.35, Y:134.94, Z:132.68 [[-2.97094141e-01 2.92685065e-01 9.08884219e-01 1.57347141e+02] [-1.44311963e-01 -9.54691946e-01 2.60263992e-01 1.34939753e+02] [ 9.43879828e-01 -5.38399586e-02 3.25871340e-01 1.32679067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.37710568099993 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:157.23, Y:134.91, Z:133.07 [[-2.75145553e-01 2.81016274e-01 9.19415455e-01 1.57234773e+02] [-1.34280100e-01 -9.58186240e-01 2.52681585e-01 1.34909267e+02] [ 9.51978876e-01 -5.39349853e-02 3.01375576e-01 1.33067575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.4071056809999 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:157.27, Y:134.91, Z:132.96 [[-2.76211745e-01 2.83875507e-01 9.18216624e-01 1.57268510e+02] [-1.38219269e-01 -9.57185507e-01 2.54344922e-01 1.34913046e+02] [ 9.51105938e-01 -5.66621756e-02 3.03622944e-01 1.32958523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43710568099993 meters Centerline goodness : 0.994489 Centerline is valid? [True, True] Translation: X:157.26, Y:134.91, Z:133.00 [[-2.76732836e-01 2.90247020e-01 9.16065284e-01 1.57262342e+02] [-1.39770164e-01 -9.55314111e-01 2.60459690e-01 1.34906467e+02] [ 9.50727742e-01 -5.59608462e-02 3.04934656e-01 1.32995448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.4671056809999 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:157.37, Y:134.93, Z:132.66 [[-2.93131086e-01 2.99965871e-01 9.07796587e-01 1.57365591e+02] [-1.46300445e-01 -9.52397018e-01 2.67462333e-01 1.34926707e+02] [ 9.44812334e-01 -5.44095204e-02 3.23062312e-01 1.32656330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49710568099994 meters Centerline goodness : 0.994103 Centerline is valid? [True, True] Translation: X:157.26, Y:134.89, Z:133.02 [[-2.79727747e-01 2.91574457e-01 9.14733143e-01 1.57261064e+02] [-1.37900153e-01 -9.55090996e-01 2.62268445e-01 1.34890495e+02] [ 9.50124168e-01 -5.27780788e-02 3.07373615e-01 1.33023090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5271056809999 meters Centerline goodness : 0.994003 Centerline is valid? [True, True] Translation: X:157.37, Y:134.92, Z:132.64 [[-2.93200037e-01 2.95957180e-01 9.09089152e-01 1.57372605e+02] [-1.40937268e-01 -9.53870483e-01 2.65080719e-01 1.34918615e+02] [ 9.45605851e-01 -5.04028646e-02 3.21386258e-01 1.32641159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.55710568099994 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:157.38, Y:134.91, Z:132.66 [[-2.96105124e-01 3.01445566e-01 9.06340072e-01 1.57375305e+02] [-1.38754288e-01 -9.52402607e-01 2.71434195e-01 1.34907391e+02] [ 9.45023282e-01 -4.53855151e-02 3.23838157e-01 1.32657102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5871056809999 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:157.30, Y:134.88, Z:132.94 [[-2.97973431e-01 3.06066855e-01 9.04176374e-01 1.57295149e+02] [-1.29233509e-01 -9.51417765e-01 2.79469026e-01 1.34879795e+02] [ 9.45785671e-01 -3.35755408e-02 3.23051309e-01 1.32937026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.61710568099994 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:157.34, Y:134.89, Z:132.80 [[-2.90059386e-01 2.87244444e-01 9.12883444e-01 1.57339673e+02] [-1.19810122e-01 -9.57287163e-01 2.63147908e-01 1.34888278e+02] [ 9.49479377e-01 -3.30441564e-02 3.12084919e-01 1.32799515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.6471056809999 meters Centerline goodness : 0.995900 Centerline is valid? [True, True] Translation: X:157.28, Y:134.87, Z:133.00 [[-2.78001904e-01 2.82145962e-01 9.18209452e-01 1.57278068e+02] [-1.09284705e-01 -9.58973669e-01 2.61584317e-01 1.34867772e+02] [ 9.54343646e-01 -2.76253113e-02 2.97430744e-01 1.33001552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.67710568099994 meters Centerline goodness : 0.996544 Centerline is valid? [True, True] Translation: X:157.38, Y:134.89, Z:132.66 [[-2.99261780e-01 3.06493376e-01 9.03606218e-01 1.57383615e+02] [-1.13362785e-01 -9.51719805e-01 2.85268806e-01 1.34888157e+02] [ 9.47412933e-01 -1.70652665e-02 3.19558306e-01 1.32664373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.7071056809999 meters Centerline goodness : 0.996666 Centerline is valid? [True, True] Translation: X:157.39, Y:134.88, Z:132.68 [[-3.01774561e-01 3.14516247e-01 9.00006469e-01 1.57386501e+02] [-1.05311692e-01 -9.49237112e-01 2.96409097e-01 1.34883262e+02] [ 9.47545018e-01 -5.33247882e-03 3.19577851e-01 1.32676454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.73710568099995 meters Centerline goodness : 0.996288 Centerline is valid? [True, True] Translation: X:157.34, Y:134.87, Z:132.86 [[-2.86280440e-01 3.00966036e-01 9.09649908e-01 1.57335313e+02] [-9.87926688e-02 -9.53597472e-01 2.84414960e-01 1.34867629e+02] [ 9.53039096e-01 -8.44430222e-03 3.02729542e-01 1.32861299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.7671056809999 meters Centerline goodness : 0.996920 Centerline is valid? [True, True] Translation: X:157.39, Y:134.88, Z:132.69 [[-3.01092049e-01 3.20456195e-01 8.98137743e-01 1.57387471e+02] [-1.04169033e-01 -9.47260522e-01 3.03061570e-01 1.34879080e+02] [ 9.47888385e-01 -2.30871127e-03 3.18594223e-01 1.32693277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.79710568099995 meters Centerline goodness : 0.996828 Centerline is valid? [True, True] Translation: X:157.40, Y:134.88, Z:132.68 [[-3.06764222e-01 3.32262196e-01 8.91906691e-01 1.57396318e+02] [-1.05808611e-01 -9.43184376e-01 3.14972652e-01 1.34880440e+02] [ 9.45885961e-01 2.25093265e-03 3.24491422e-01 1.32681619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.8271056809999 meters Centerline goodness : 0.996118 Centerline is valid? [True, True] Translation: X:157.28, Y:134.86, Z:133.01 [[-2.80811343e-01 2.92024805e-01 9.14257350e-01 1.57283395e+02] [-1.01920504e-01 -9.56273539e-01 2.74140711e-01 1.34858134e+02] [ 9.54336000e-01 -1.61997490e-02 2.98295773e-01 1.33013554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.8571056809999 meters Centerline goodness : 0.996166 Centerline is valid? [True, True] Translation: X:157.29, Y:134.86, Z:133.04 [[-2.81850004e-01 3.10472953e-01 9.07836506e-01 1.57285587e+02] [-1.07716959e-01 -9.50454194e-01 2.91605695e-01 1.34856417e+02] [ 9.53392696e-01 -1.56003212e-02 3.01328721e-01 1.33035337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.8871056809999 meters Centerline goodness : 0.996412 Centerline is valid? [True, True] Translation: X:157.40, Y:134.89, Z:132.66 [[-2.97168283e-01 3.36144196e-01 8.93699105e-01 1.57401513e+02] [-1.21025087e-01 -9.41693246e-01 3.13953433e-01 1.34889131e+02] [ 9.47124036e-01 -1.48630090e-02 3.20523246e-01 1.32661479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.9171056809999 meters Centerline goodness : 0.996427 Centerline is valid? [True, True] Translation: X:157.31, Y:134.86, Z:132.95 [[-2.99627856e-01 3.29726905e-01 8.95267176e-01 1.57306883e+02] [-1.17382191e-01 -9.43991103e-01 3.08386477e-01 1.34862788e+02] [ 9.46807567e-01 -1.26872438e-02 3.21550097e-01 1.32954670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.9471056809999 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:157.40, Y:134.90, Z:132.66 [[-2.85985521e-01 3.13917169e-01 9.05355341e-01 1.57395659e+02] [-1.04217097e-01 -9.49401587e-01 2.96269173e-01 1.34900617e+02] [ 9.52549778e-01 -9.62481146e-03 3.04230643e-01 1.32658140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.9771056809999 meters Centerline goodness : 0.995661 Centerline is valid? [True, True] Translation: X:157.29, Y:134.87, Z:133.01 [[-2.86963438e-01 3.13669104e-01 9.05131857e-01 1.57293045e+02] [-9.91514501e-02 -9.49522438e-01 2.97617423e-01 1.34869249e+02] [ 9.52796398e-01 -4.33981730e-03 3.03578969e-01 1.33005839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.0071056809999 meters Centerline goodness : 0.996102 Centerline is valid? [True, True] Translation: X:157.36, Y:134.89, Z:132.79 [[-3.09826778e-01 3.33776635e-01 8.90281150e-01 1.57355762e+02] [-1.05879817e-01 -9.42644469e-01 3.16561006e-01 1.34885519e+02] [ 9.44879269e-01 3.81627110e-03 3.27396707e-01 1.32793327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.0371056809999 meters Centerline goodness : 0.995556 Centerline is valid? [True, True] Translation: X:157.30, Y:134.88, Z:132.98 [[-2.92555921e-01 3.16984853e-01 9.02181598e-01 1.57299508e+02] [-8.25712656e-02 -9.48309598e-01 3.06416209e-01 1.34875959e+02] [ 9.52676765e-01 1.51495999e-02 3.03607428e-01 1.32983174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.06710568099993 meters Centerline goodness : 0.995995 Centerline is valid? [True, True] Translation: X:157.33, Y:134.89, Z:132.84 [[-3.06061940e-01 3.22135777e-01 8.95854135e-01 1.57332635e+02] [-8.76609721e-02 -9.46550108e-01 3.10416569e-01 1.34890555e+02] [ 9.47967111e-01 1.64752529e-02 3.17941697e-01 1.32835725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.0971056809999 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:157.33, Y:134.90, Z:132.89 [[-2.98256160e-01 3.33459489e-01 8.94342234e-01 1.57325800e+02] [-7.31487575e-02 -9.42218312e-01 3.26915758e-01 1.34897977e+02] [ 9.51678792e-01 3.20846153e-02 3.05414563e-01 1.32889256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.12710568099993 meters Centerline goodness : 0.994688 Centerline is valid? [True, True] Translation: X:157.37, Y:134.92, Z:132.71 [[-3.13525647e-01 3.28532924e-01 8.90936466e-01 1.57365678e+02] [-7.91245211e-02 -9.44018630e-01 3.20262606e-01 1.34923808e+02] [ 9.46277432e-01 2.99156197e-02 3.21969062e-01 1.32706551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.1571056809999 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:157.37, Y:134.94, Z:132.70 [[-2.97480346e-01 3.14820637e-01 9.01328692e-01 1.57366567e+02] [-6.96107967e-02 -9.48708077e-01 3.08394750e-01 1.34935014e+02] [ 9.52186841e-01 2.89991687e-02 3.04136922e-01 1.32702465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.18710568099993 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:157.37, Y:134.94, Z:132.69 [[-3.20240552e-01 3.41869995e-01 8.83499233e-01 1.57367938e+02] [-8.33734669e-02 -9.39166240e-01 3.33190094e-01 1.34937330e+02] [ 9.43660349e-01 3.30405856e-02 3.29262002e-01 1.32692030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2171056809999 meters Centerline goodness : 0.994741 Centerline is valid? [True, True] Translation: X:157.35, Y:134.95, Z:132.70 [[-3.16183015e-01 3.29044223e-01 8.89807957e-01 1.57351610e+02] [-8.25993528e-02 -9.43911486e-01 3.19700568e-01 1.34953216e+02] [ 9.45095576e-01 2.75863283e-02 3.25627619e-01 1.32696058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.24710568099994 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:157.35, Y:134.97, Z:132.71 [[-2.88522693e-01 3.08826102e-01 9.06300775e-01 1.57345038e+02] [-7.71591899e-02 -9.50975753e-01 2.99485519e-01 1.34970594e+02] [ 9.54359007e-01 1.64789350e-02 2.98206857e-01 1.32709978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2771056809999 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:157.35, Y:134.97, Z:132.71 [[-2.88681878e-01 3.25853092e-01 9.00268035e-01 1.57351751e+02] [-7.79594987e-02 -9.45179102e-01 3.17110047e-01 1.34969302e+02] [ 9.54245823e-01 2.13594790e-02 2.98259422e-01 1.32708975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.30710568099994 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:157.35, Y:134.97, Z:132.71 [[-2.87499613e-01 3.28593792e-01 8.99649984e-01 1.57348816e+02] [-7.92239425e-02 -9.44246641e-01 3.19565093e-01 1.34974172e+02] [ 9.54498580e-01 2.06010220e-02 2.97503039e-01 1.32714167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3371056809999 meters Centerline goodness : 0.996122 Centerline is valid? [True, True] Translation: X:157.35, Y:134.99, Z:132.70 [[-2.85385104e-01 3.31359661e-01 8.99308689e-01 1.57350610e+02] [-8.01311769e-02 -9.43295249e-01 3.22138275e-01 1.34988145e+02] [ 9.55057243e-01 1.98708013e-02 2.95754652e-01 1.32699247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.36710568099994 meters Centerline goodness : 0.996156 Centerline is valid? [True, True] Translation: X:157.33, Y:134.99, Z:132.77 [[-2.91578461e-01 3.49027149e-01 8.90596458e-01 1.57333483e+02] [-8.92756196e-02 -9.36919348e-01 3.37952659e-01 1.34985112e+02] [ 9.52371705e-01 1.90311657e-02 3.04345116e-01 1.32774776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3971056809999 meters Centerline goodness : 0.996798 Centerline is valid? [True, True] Translation: X:157.35, Y:135.00, Z:132.71 [[-2.85290645e-01 3.39715505e-01 8.96215724e-01 1.57348886e+02] [-8.58362374e-02 -9.40375135e-01 3.29130287e-01 1.35002330e+02] [ 9.54589644e-01 1.69700061e-02 2.97440129e-01 1.32707974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.42710568099994 meters Centerline goodness : 0.997200 Centerline is valid? [True, True] Translation: X:157.35, Y:135.01, Z:132.70 [[-2.83353816e-01 3.39431704e-01 8.96937419e-01 1.57349716e+02] [-9.28044244e-02 -9.40584604e-01 3.26631202e-01 1.35011736e+02] [ 9.54514512e-01 9.31243638e-03 2.98019000e-01 1.32698160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4571056809999 meters Centerline goodness : 0.997416 Centerline is valid? [True, True] Translation: X:157.35, Y:135.02, Z:132.69 [[-2.80940697e-01 3.42934929e-01 8.96363743e-01 1.57351082e+02] [-9.65724022e-02 -9.39340657e-01 3.29109255e-01 1.35017762e+02] [ 9.54853966e-01 5.89618353e-03 2.97017068e-01 1.32692076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.48710568099995 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:157.35, Y:135.03, Z:132.69 [[-2.78041524e-01 3.47691110e-01 8.95434980e-01 1.57349208e+02] [-1.05100186e-01 -9.37607090e-01 3.31431584e-01 1.35029192e+02] [ 9.54802001e-01 -1.95864007e-03 2.97236105e-01 1.32692695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.5171056809999 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:157.35, Y:135.03, Z:132.68 [[-2.77379641e-01 3.50601589e-01 8.94504925e-01 1.57352039e+02] [-1.07443367e-01 -9.36518043e-01 3.33751221e-01 1.35034951e+02] [ 9.54733710e-01 -3.53282748e-03 2.97440854e-01 1.32684881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.54710568099995 meters Centerline goodness : 0.997870 Centerline is valid? [True, True] Translation: X:157.35, Y:135.04, Z:132.68 [[-2.77518463e-01 3.52805109e-01 8.93595019e-01 1.57352679e+02] [-1.07404930e-01 -9.35692902e-01 3.36069896e-01 1.35042252e+02] [ 9.54697692e-01 -2.71090899e-03 2.97565064e-01 1.32677198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.5771056809999 meters Centerline goodness : 0.998016 Centerline is valid? [True, True] Translation: X:157.35, Y:135.04, Z:132.70 [[-2.77513093e-01 3.54592938e-01 8.92888757e-01 1.57346173e+02] [-1.05796788e-01 -9.35020617e-01 3.38442736e-01 1.35043255e+02] [ 9.54878800e-01 -5.42472085e-04 2.96995258e-01 1.32701127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.6071056809999 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:157.32, Y:135.03, Z:132.80 [[-2.87824147e-01 3.75540959e-01 8.80980277e-01 1.57321910e+02] [-1.14855637e-01 -9.26804191e-01 3.57550239e-01 1.35034264e+02] [ 9.50770973e-01 1.72604133e-03 3.09889622e-01 1.32802134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.6371056809999 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:157.32, Y:135.04, Z:132.81 [[-2.83358731e-01 3.61807030e-01 8.88146104e-01 1.57316886e+02] [-9.80670094e-02 -9.32180330e-01 3.48457593e-01 1.35041618e+02] [ 9.53986736e-01 1.16406688e-02 2.99622768e-01 1.32805626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.6671056809999 meters Centerline goodness : 0.997772 Centerline is valid? [True, True] Translation: X:157.34, Y:135.06, Z:132.72 [[-2.85178980e-01 3.53533878e-01 8.90890984e-01 1.57339349e+02] [-8.74281461e-02 -9.35208622e-01 3.43134308e-01 1.35057526e+02] [ 9.54478532e-01 1.99657450e-02 2.97610653e-01 1.32715930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.6971056809999 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:157.34, Y:135.06, Z:132.71 [[-2.86922737e-01 3.52538010e-01 8.90725712e-01 1.57339536e+02] [-8.41987072e-02 -9.35503478e-01 3.43138193e-01 1.35060596e+02] [ 9.54246258e-01 2.34561960e-02 2.98100463e-01 1.32713216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.7271056809999 meters Centerline goodness : 0.997720 Centerline is valid? [True, True] Translation: X:157.34, Y:135.06, Z:132.72 [[-2.89204939e-01 3.53360361e-01 8.89661148e-01 1.57335562e+02] [-7.94089020e-02 -9.35028563e-01 3.45565932e-01 1.35063556e+02] [ 9.53967887e-01 2.92923594e-02 2.98474837e-01 1.32717234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.7571056809999 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:157.33, Y:135.07, Z:132.72 [[-2.88019569e-01 3.55800007e-01 8.89073160e-01 1.57334611e+02] [-7.90692746e-02 -9.34080835e-01 3.48196845e-01 1.35066211e+02] [ 9.54354640e-01 2.99891353e-02 2.97166408e-01 1.32720045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.7871056809999 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:157.33, Y:135.07, Z:132.71 [[-2.84379909e-01 3.58876334e-01 8.89008349e-01 1.57332354e+02] [-7.98445934e-02 -9.32939008e-01 3.51069293e-01 1.35074004e+02] [ 9.55381028e-01 2.88545433e-02 2.93963445e-01 1.32714015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.81710568099993 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:157.32, Y:135.07, Z:132.77 [[-2.92546619e-01 3.75800620e-01 8.79312442e-01 1.57318138e+02] [-8.70582294e-02 -9.26189381e-01 3.66870679e-01 1.35068584e+02] [ 9.52280075e-01 3.07753926e-02 3.03670108e-01 1.32771928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.8471056809999 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:157.33, Y:135.08, Z:132.71 [[-2.89788722e-01 3.69426123e-01 8.82919496e-01 1.57333291e+02] [-9.12023989e-02 -9.28964437e-01 3.58757854e-01 1.35082330e+02] [ 9.52735335e-01 2.34396038e-02 3.02895966e-01 1.32710685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.87710568099993 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:157.33, Y:135.09, Z:132.72 [[-2.81131424e-01 3.58012659e-01 8.90388712e-01 1.57326658e+02] [-8.95582646e-02 -9.33546367e-01 3.47088603e-01 1.35086237e+02] [ 9.55481261e-01 1.78358453e-02 2.94512212e-01 1.32716786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.9071056809999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:157.34, Y:135.10, Z:132.69 [[-2.79546112e-01 3.69477989e-01 8.86194102e-01 1.57335267e+02] [-9.51935162e-02 -9.29109638e-01 3.57342238e-01 1.35096162e+02] [ 9.55401573e-01 1.55337004e-02 2.94900896e-01 1.32694614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93710568099993 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:157.33, Y:135.10, Z:132.69 [[-2.75140869e-01 3.73978420e-01 8.85684844e-01 1.57332355e+02] [-1.01615154e-01 -9.27393172e-01 3.60022590e-01 1.35102418e+02] [ 9.56018757e-01 9.05792693e-03 2.93165638e-01 1.32692874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.9671056809999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:157.32, Y:135.10, Z:132.75 [[-2.82407490e-01 3.91878879e-01 8.75600910e-01 1.57317495e+02] [-1.09456328e-01 -9.19957286e-01 3.76427821e-01 1.35098168e+02] [ 9.53029549e-01 1.04659753e-02 3.02696451e-01 1.32751507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99710568099994 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:157.33, Y:135.12, Z:132.68 [[-2.70933584e-01 3.69516063e-01 8.88849184e-01 1.57327195e+02] [-1.11265177e-01 -9.29218029e-01 3.52383194e-01 1.35117670e+02] [ 9.56145938e-01 -3.42552004e-03 2.92870641e-01 1.32684296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0271056809999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:157.33, Y:135.12, Z:132.68 [[-2.69525907e-01 3.83065137e-01 8.83525261e-01 1.57328397e+02] [-1.15006937e-01 -9.23716047e-01 3.65406717e-01 1.35119569e+02] [ 9.56101035e-01 -3.12495700e-03 2.93020554e-01 1.32684312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.05710568099994 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.33, Y:135.13, Z:132.68 [[-2.66080109e-01 3.87616230e-01 8.82584293e-01 1.57326314e+02] [-1.22647136e-01 -9.21762512e-01 3.67847184e-01 1.35126479e+02] [ 9.56116654e-01 -1.03696175e-02 2.92802690e-01 1.32681194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0871056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.33, Y:135.13, Z:132.67 [[-2.63988877e-01 3.91339723e-01 8.81568542e-01 1.57328222e+02] [-1.27554608e-01 -9.20128811e-01 3.70260440e-01 1.35131325e+02] [ 9.56054232e-01 -1.47034925e-02 2.92820956e-01 1.32671318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.11710568099994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.33, Y:135.14, Z:132.65 [[-2.57296713e-01 3.96914317e-01 8.81054724e-01 1.57330516e+02] [-1.38536942e-01 -9.17483911e-01 3.72868326e-01 1.35138702e+02] [ 9.56350311e-01 -2.61208328e-02 2.91052891e-01 1.32654784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.1471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.33, Y:135.14, Z:132.65 [[-2.54029723e-01 4.11912845e-01 8.75098113e-01 1.57332623e+02] [-1.52468702e-01 -9.10519930e-01 3.84326360e-01 1.35143472e+02] [ 9.55103238e-01 -3.57947549e-02 2.94102942e-01 1.32645606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.17710568099994 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:157.33, Y:135.15, Z:132.64 [[-2.46495474e-01 3.97598596e-01 8.83829926e-01 1.57330698e+02] [-1.55705979e-01 -9.16369897e-01 3.68811415e-01 1.35147660e+02] [ 9.56554039e-01 -4.67072595e-02 2.87789511e-01 1.32637814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.2071056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.34, Y:135.15, Z:132.62 [[-2.43723046e-01 4.09077493e-01 8.79349010e-01 1.57339231e+02] [-1.65107316e-01 -9.10955973e-01 3.78019562e-01 1.35148652e+02] [ 9.55687528e-01 -5.30548758e-02 2.89562652e-01 1.32620300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.23710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.33, Y:135.14, Z:132.64 [[-2.67776783e-01 4.37782784e-01 8.58278409e-01 1.57334269e+02] [-1.84166306e-01 -8.97641779e-01 4.00402309e-01 1.35139058e+02] [ 9.45715796e-01 -5.08475216e-02 3.20992466e-01 1.32635613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.2671056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.33, Y:135.14, Z:132.64 [[-2.54186390e-01 4.07947556e-01 8.76908245e-01 1.57333474e+02] [-1.77964708e-01 -9.10934874e-01 3.72191105e-01 1.35138172e+02] [ 9.50640753e-01 -6.14528065e-02 3.04147515e-01 1.32635765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.29710568099995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:157.35, Y:135.14, Z:132.59 [[-2.56427309e-01 4.23803426e-01 8.68697699e-01 1.57351633e+02] [-1.78273644e-01 -9.04066879e-01 3.88434791e-01 1.35135425e+02] [ 9.49980812e-01 -5.52606157e-02 3.07380418e-01 1.32594647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.3271056809999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:157.36, Y:135.13, Z:132.61 [[-2.45521843e-01 4.24402316e-01 8.71551317e-01 1.57356677e+02] [-1.68658115e-01 -9.04060325e-01 3.92720472e-01 1.35131798e+02] [ 9.54606445e-01 -5.05727480e-02 2.93545452e-01 1.32607780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.3571056809999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:157.26, Y:135.08, Z:132.92 [[-2.52349331e-01 4.15555539e-01 8.73861207e-01 1.57264510e+02] [-1.69105913e-01 -9.08130093e-01 3.83018177e-01 1.35080678e+02] [ 9.52744985e-01 -5.11207166e-02 2.99438920e-01 1.32917319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.3871056809999 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:157.26, Y:135.07, Z:132.95 [[-2.57134852e-01 4.23212850e-01 8.68776468e-01 1.57258525e+02] [-1.67531740e-01 -9.04914660e-01 3.91232125e-01 1.35065688e+02] [ 9.51743024e-01 -4.49482183e-02 3.03586682e-01 1.32952268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.4171056809999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:157.25, Y:135.06, Z:132.99 [[-2.58917188e-01 4.25703615e-01 8.67028444e-01 1.57250311e+02] [-1.68152058e-01 -9.03797221e-01 3.93542206e-01 1.35056860e+02] [ 9.51150238e-01 -4.38977760e-02 3.05591574e-01 1.32988394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.4471056809999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:157.26, Y:135.05, Z:132.95 [[-2.54093400e-01 4.29436191e-01 8.66614737e-01 1.57262492e+02] [-1.67594403e-01 -9.02017312e-01 3.97840277e-01 1.35053304e+02] [ 9.52548508e-01 -4.41511906e-02 3.01167748e-01 1.32950537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.4771056809999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:157.26, Y:135.04, Z:132.91 [[-2.58942101e-01 4.38593727e-01 8.60572211e-01 1.57260322e+02] [-1.73265420e-01 -8.97600298e-01 4.05330481e-01 1.35040041e+02] [ 9.50225280e-01 -4.41502789e-02 3.08419634e-01 1.32907997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.5071056809999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:157.37, Y:135.09, Z:132.57 [[-2.74434435e-01 4.40118246e-01 8.54974661e-01 1.57373470e+02] [-1.74113294e-01 -8.97158235e-01 4.05945393e-01 1.35092116e+02] [ 9.45711532e-01 -3.74570596e-02 3.22841551e-01 1.32567385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.5371056809999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:157.39, Y:135.09, Z:132.55 [[-2.78579852e-01 4.60891963e-01 8.42598282e-01 1.57389629e+02] [-1.72554152e-01 -8.87071938e-01 4.28168707e-01 1.35087970e+02] [ 9.44784807e-01 -2.61146563e-02 3.26649191e-01 1.32551068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.56710568099993 meters Centerline goodness : 0.998074 Centerline is valid? [True, True] Translation: X:157.39, Y:135.08, Z:132.56 [[-2.82465372e-01 4.47800781e-01 8.48344136e-01 1.57386987e+02] [-1.61475661e-01 -8.93933835e-01 4.18100358e-01 1.35079799e+02] [ 9.45589194e-01 -1.88880565e-02 3.24814280e-01 1.32562198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.5971056809999 meters Centerline goodness : 0.998046 Centerline is valid? [True, True] Translation: X:157.38, Y:135.07, Z:132.58 [[-2.79551565e-01 4.48067791e-01 8.49167932e-01 1.57383269e+02] [-1.56790217e-01 -8.93861363e-01 4.20034156e-01 1.35074572e+02] [ 9.47242182e-01 -1.57200186e-02 3.20132989e-01 1.32578179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.62710568099993 meters Centerline goodness : 0.998271 Centerline is valid? [True, True] Translation: X:157.39, Y:135.07, Z:132.58 [[-2.82427853e-01 4.68020929e-01 8.37371433e-01 1.57393070e+02] [-1.48416242e-01 -8.83716720e-01 4.43866396e-01 1.35069068e+02] [ 9.47737900e-01 1.08071189e-03 3.19048123e-01 1.32575161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.6571056809999 meters Centerline goodness : 0.997356 Centerline is valid? [True, True] Translation: X:157.39, Y:135.06, Z:132.59 [[-2.87023503e-01 4.47333408e-01 8.47059815e-01 1.57385187e+02] [-1.38938070e-01 -8.94356634e-01 4.25232201e-01 1.35064398e+02] [ 9.47794135e-01 4.36278054e-03 3.18853014e-01 1.32589336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.68710568099993 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:157.39, Y:135.06, Z:132.57 [[-2.88860982e-01 4.45162580e-01 8.47578675e-01 1.57390156e+02] [-1.35199367e-01 -8.95414510e-01 4.24209837e-01 1.35064924e+02] [ 9.47776590e-01 7.94557003e-03 3.18836014e-01 1.32573892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7171056809999 meters Centerline goodness : 0.997483 Centerline is valid? [True, True] Translation: X:157.37, Y:135.06, Z:132.64 [[-2.73579593e-01 4.28148992e-01 8.61302877e-01 1.57374238e+02] [-1.14437037e-01 -9.03593827e-01 4.12822432e-01 1.35060092e+02] [ 9.55017471e-01 1.43748434e-02 2.96200934e-01 1.32636365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.74710568099994 meters Centerline goodness : 0.997329 Centerline is valid? [True, True] Translation: X:157.38, Y:135.06, Z:132.63 [[-2.73907310e-01 4.33424372e-01 8.58555822e-01 1.57375509e+02] [-1.12605400e-01 -9.01008756e-01 4.18931074e-01 1.35059583e+02] [ 9.55141251e-01 1.80702622e-02 2.95598810e-01 1.32634708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7771056809999 meters Centerline goodness : 0.997403 Centerline is valid? [True, True] Translation: X:157.29, Y:135.02, Z:132.94 [[-2.79062916e-01 4.41990328e-01 8.52507149e-01 1.57286854e+02] [-1.15999890e-01 -8.96790925e-01 4.26977825e-01 1.35017283e+02] [ 9.53240743e-01 2.02629418e-02 3.01531920e-01 1.32941205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.80710568099994 meters Centerline goodness : 0.997675 Centerline is valid? [True, True] Translation: X:157.37, Y:135.06, Z:132.64 [[-2.75268675e-01 4.38193544e-01 8.55694791e-01 1.57370515e+02] [-1.10793821e-01 -8.98610065e-01 4.24528774e-01 1.35062966e+02] [ 9.54961720e-01 2.20537776e-02 2.95908339e-01 1.32640310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8371056809999 meters Centerline goodness : 0.998053 Centerline is valid? [True, True] Translation: X:157.37, Y:135.07, Z:132.65 [[-2.75088208e-01 4.38033636e-01 8.55834687e-01 1.57366304e+02] [-1.09369337e-01 -8.98657753e-01 4.24797117e-01 1.35066237e+02] [ 9.55177903e-01 2.32546054e-02 2.95117599e-01 1.32654308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.86710568099994 meters Centerline goodness : 0.998007 Centerline is valid? [True, True] Translation: X:157.37, Y:135.07, Z:132.65 [[-2.75689505e-01 4.40580043e-01 8.54332794e-01 1.57367577e+02] [-1.10824851e-01 -8.97417412e-01 4.27036111e-01 1.35067898e+02] [ 9.54836713e-01 2.30480701e-02 2.96235780e-01 1.32652617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8971056809999 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:157.37, Y:135.08, Z:132.64 [[-2.77269086e-01 4.43412963e-01 8.52353681e-01 1.57370630e+02] [-1.13962591e-01 -8.96051499e-01 4.29073699e-01 1.35075102e+02] [ 9.54009634e-01 2.18324389e-02 2.98979870e-01 1.32642504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.92710568099994 meters Centerline goodness : 0.998446 Centerline is valid? [True, True] Translation: X:157.37, Y:135.08, Z:132.64 [[-2.75812277e-01 4.46992893e-01 8.50955311e-01 1.57366631e+02] [-1.18496874e-01 -8.94353463e-01 4.31381935e-01 1.35084582e+02] [ 9.53879489e-01 1.81448892e-02 2.99640926e-01 1.32638561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9571056809999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:157.29, Y:135.05, Z:132.91 [[-2.70491040e-01 4.49173939e-01 8.51514750e-01 1.57288532e+02] [-1.23320218e-01 -8.93365559e-01 4.32076500e-01 1.35050954e+02] [ 9.54791454e-01 1.18638372e-02 2.97039607e-01 1.32908127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.98710568099995 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:157.37, Y:135.10, Z:132.63 [[-2.72227744e-01 4.65592760e-01 8.42089922e-01 1.57365086e+02] [-1.25784398e-01 -8.84850948e-01 4.48572275e-01 1.35097571e+02] [ 9.53976069e-01 1.61920446e-02 2.99445283e-01 1.32631605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.0171056809999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:157.36, Y:135.10, Z:132.62 [[-2.70349129e-01 4.56153446e-01 8.47841602e-01 1.57362805e+02] [-1.28548442e-01 -8.89851902e-01 4.37765795e-01 1.35102572e+02] [ 9.54141838e-01 9.36088402e-03 2.99208501e-01 1.32622637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.04710568099995 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:157.36, Y:135.11, Z:132.62 [[-2.67681943e-01 4.59577960e-01 8.46837928e-01 1.57363952e+02] [-1.32121567e-01 -8.88117483e-01 4.40217250e-01 1.35106174e+02] [ 9.54405715e-01 5.95265436e-03 2.98453174e-01 1.32616441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.0771056809999 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:157.37, Y:135.11, Z:132.60 [[-2.63652525e-01 4.63816055e-01 8.45790762e-01 1.57365462e+02] [-1.38600619e-01 -8.85931368e-01 4.42623407e-01 1.35114840e+02] [ 9.54608409e-01 -5.28344427e-04 2.97863235e-01 1.32604372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.1071056809999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:157.35, Y:135.12, Z:132.66 [[-2.61325120e-01 4.71659492e-01 8.42167742e-01 1.57346563e+02] [-1.49636826e-01 -8.81733749e-01 4.47386206e-01 1.35115519e+02] [ 9.53581670e-01 -9.10605409e-03 3.00996807e-01 1.32656919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.1371056809999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:157.36, Y:135.13, Z:132.60 [[-2.60903906e-01 4.83292943e-01 8.35677619e-01 1.57362823e+02] [-1.45490334e-01 -8.75457674e-01 4.60875714e-01 1.35126842e+02] [ 9.54338365e-01 -1.33874169e-03 2.98724778e-01 1.32600093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.1671056809999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:157.36, Y:135.13, Z:132.60 [[-2.60543270e-01 4.71082374e-01 8.42732817e-01 1.57360677e+02] [-1.46349311e-01 -8.82064108e-01 4.47822273e-01 1.35128807e+02] [ 9.54305550e-01 -6.65628740e-03 2.98758448e-01 1.32597034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.1971056809999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:157.35, Y:135.13, Z:132.63 [[-2.58006419e-01 4.74047637e-01 8.41850061e-01 1.57351737e+02] [-1.46914266e-01 -8.80468280e-01 4.50768018e-01 1.35130782e+02] [ 9.54907790e-01 -7.37874152e-03 2.96810828e-01 1.32627935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.2271056809999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:157.36, Y:135.13, Z:132.61 [[-2.60913860e-01 4.84587968e-01 8.34924223e-01 1.57358679e+02] [-1.41235220e-01 -8.74737292e-01 4.63559362e-01 1.35133698e+02] [ 9.54974644e-01 3.02835624e-03 2.96671972e-01 1.32608511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.2571056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.29, Y:135.11, Z:132.83 [[-2.67301015e-01 4.83352440e-01 8.33618969e-01 1.57294807e+02] [-1.44090051e-01 -8.75419954e-01 4.61386998e-01 1.35105470e+02] [ 9.52779211e-01 3.21301291e-03 3.03646920e-01 1.32828200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.2871056809999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:157.32, Y:135.12, Z:132.76 [[-2.65499346e-01 4.85382995e-01 8.33014673e-01 1.57315724e+02] [-1.36172078e-01 -8.74241074e-01 4.66003980e-01 1.35120535e+02] [ 9.54446050e-01 1.02904132e-02 2.98206045e-01 1.32757111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.31710568099993 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:157.34, Y:135.14, Z:132.68 [[-2.71561973e-01 4.90359183e-01 8.28131612e-01 1.57335864e+02] [-1.33974538e-01 -8.71350036e-01 4.72016882e-01 1.35137924e+02] [ 9.53050323e-01 1.72332856e-02 3.02321180e-01 1.32679776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.3471056809999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:157.28, Y:135.11, Z:132.88 [[-2.77688243e-01 4.90962391e-01 8.25739166e-01 1.57276417e+02] [-1.29329752e-01 -8.70824611e-01 4.74276621e-01 1.35110601e+02] [ 9.51925971e-01 2.49083998e-02 3.05313801e-01 1.32883245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.37710568099993 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.34, Y:135.15, Z:132.65 [[-2.80782989e-01 4.87482183e-01 8.26753914e-01 1.57339001e+02] [-1.16209728e-01 -8.72337349e-01 4.74892460e-01 1.35150519e+02] [ 9.52709931e-01 3.72648774e-02 3.01587660e-01 1.32645075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.4071056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.33, Y:135.16, Z:132.64 [[-2.81805640e-01 4.72175096e-01 8.35246227e-01 1.57332513e+02] [-1.10621985e-01 -8.80711448e-01 4.60554147e-01 1.35158861e+02] [ 9.53073113e-01 3.73901604e-02 3.00422399e-01 1.32640724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.32, Y:135.16, Z:132.67 [[-2.80530081e-01 4.77977909e-01 8.32370105e-01 1.57321201e+02] [-1.17577429e-01 -8.77773471e-01 4.64423602e-01 1.35160491e+02] [ 9.52616618e-01 3.24168540e-02 3.02441277e-01 1.32669914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.4671056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.34, Y:135.16, Z:132.56 [[-3.29503195e-01 5.15125464e-01 7.91248002e-01 1.57338346e+02] [-1.33040117e-01 -8.55019675e-01 5.01240145e-01 1.35164325e+02] [ 9.34734172e-01 5.98925019e-02 3.50264067e-01 1.32560460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.30, Y:135.17, Z:132.71 [[-2.69377745e-01 4.51694323e-01 8.50533873e-01 1.57297595e+02] [-1.24369515e-01 -8.92102059e-01 4.34380179e-01 1.35172144e+02] [ 9.54970080e-01 1.12318673e-02 2.96489445e-01 1.32705311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5271056809999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:157.33, Y:135.17, Z:132.57 [[-3.18622057e-01 5.26064269e-01 7.88502612e-01 1.57328112e+02] [-1.51014905e-01 -8.49404946e-01 5.05673547e-01 1.35174492e+02] [ 9.35774804e-01 4.20430984e-02 3.50082697e-01 1.32568473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.55710568099994 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:157.31, Y:135.18, Z:132.57 [[-2.92437222e-01 4.76514184e-01 8.29104760e-01 1.57305556e+02] [-1.71319986e-01 -8.79085396e-01 4.44812691e-01 1.35180438e+02] [ 9.40813442e-01 -1.19624285e-02 3.38713695e-01 1.32572791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5871056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.30, Y:135.18, Z:132.71 [[-2.75214837e-01 5.21442720e-01 8.07684520e-01 1.57300462e+02] [-1.42633400e-01 -8.52976858e-01 5.02081859e-01 1.35176662e+02] [ 9.50743134e-01 2.29775880e-02 3.09127035e-01 1.32708925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.61710568099994 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:157.32, Y:135.20, Z:132.56 [[-3.12819430e-01 5.15282764e-01 7.97889515e-01 1.57315897e+02] [-1.75729559e-01 -8.56944989e-01 4.84524930e-01 1.35197870e+02] [ 9.33414766e-01 1.13560400e-02 3.58619456e-01 1.32559557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.6471056809999 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:157.30, Y:135.19, Z:132.58 [[-2.84487695e-01 4.95052136e-01 8.20969022e-01 1.57300477e+02] [-1.87214342e-01 -8.68554712e-01 4.58871990e-01 1.35191084e+02] [ 9.40222070e-01 -2.31537403e-02 3.39773988e-01 1.32577242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.67710568099994 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:157.31, Y:135.20, Z:132.58 [[-3.02184064e-01 5.50318087e-01 7.78353901e-01 1.57310399e+02] [-1.89947766e-01 -8.34914325e-01 5.16563565e-01 1.35196878e+02] [ 9.34133094e-01 8.25069318e-03 3.56829495e-01 1.32580559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.7071056809999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:157.30, Y:135.20, Z:132.59 [[-3.06198777e-01 5.26767514e-01 7.92942807e-01 1.57304061e+02] [-1.90091768e-01 -8.50009349e-01 4.91273067e-01 1.35202362e+02] [ 9.32795492e-01 -3.04687668e-04 3.60405991e-01 1.32586518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.73710568099995 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:157.28, Y:135.22, Z:132.56 [[-3.09519239e-01 4.74330025e-01 8.24141291e-01 1.57280032e+02] [-1.47814128e-01 -8.80167288e-01 4.51061558e-01 1.35215181e+02] [ 9.39334245e-01 1.77925037e-02 3.42541388e-01 1.32555073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.7671056809999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:157.29, Y:135.22, Z:132.57 [[-2.94434055e-01 4.49653172e-01 8.43279676e-01 1.57291316e+02] [-1.94641763e-01 -8.92114547e-01 4.07733024e-01 1.35224035e+02] [ 9.35640514e-01 -4.40869554e-02 3.50190190e-01 1.32574816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.79710568099995 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:157.27, Y:135.21, Z:132.63 [[-2.71240251e-01 4.87755215e-01 8.29773208e-01 1.57265774e+02] [-1.70983149e-01 -8.72797343e-01 4.57153762e-01 1.35210105e+02] [ 9.47202982e-01 -1.78787348e-02 3.20135693e-01 1.32632372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.8271056809999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:157.29, Y:135.20, Z:132.61 [[-2.95041851e-01 5.32253495e-01 7.93508994e-01 1.57293061e+02] [-2.09712051e-01 -8.46300957e-01 4.89689234e-01 1.35202868e+02] [ 9.32186227e-01 -2.19295808e-02 3.61314173e-01 1.32614817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.8571056809999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:157.29, Y:135.21, Z:132.68 [[-2.41839868e-01 4.79993827e-01 8.43278960e-01 1.57290550e+02] [-1.85833571e-01 -8.75900894e-01 4.45267906e-01 1.35212563e+02] [ 9.52354641e-01 -4.90260087e-02 3.01026723e-01 1.32677489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.8871056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.28, Y:135.19, Z:132.72 [[-2.48646536e-01 5.23721875e-01 8.14794635e-01 1.57284515e+02] [-1.86460248e-01 -8.51360577e-01 4.90324121e-01 1.35194053e+02] [ 9.50477499e-01 -3.00094161e-02 3.09341169e-01 1.32723543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.9171056809999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:157.31, Y:135.21, Z:132.56 [[-2.92113699e-01 5.26911643e-01 7.98143914e-01 1.57309690e+02] [-2.06111212e-01 -8.49616938e-01 4.85457750e-01 1.35206782e+02] [ 9.33909929e-01 -2.26975506e-02 3.56787144e-01 1.32557648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.9471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.31, Y:135.20, Z:132.56 [[-2.98648877e-01 5.11374420e-01 8.05794671e-01 1.57309125e+02] [-2.08070785e-01 -8.58904808e-01 4.67962690e-01 1.35204757e+02] [ 9.31405066e-01 -2.79057981e-02 3.62913033e-01 1.32558464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.9771056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.30, Y:135.19, Z:132.57 [[-2.56487062e-01 4.82843070e-01 8.37303384e-01 1.57301584e+02] [-1.92969600e-01 -8.74423012e-01 4.45137203e-01 1.35194093e+02] [ 9.47088761e-01 -4.74021658e-02 3.17452223e-01 1.32567170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.0071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.32, Y:135.19, Z:132.56 [[-3.05720888e-01 5.40046954e-01 7.84145411e-01 1.57318743e+02] [-2.03440979e-01 -8.41609219e-01 5.00305597e-01 1.35189430e+02] [ 9.30132521e-01 -6.57343848e-03 3.67165199e-01 1.32559533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.0371056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.30, Y:135.19, Z:132.61 [[-3.04023504e-01 5.05807858e-01 8.07296798e-01 1.57301634e+02] [-1.97264444e-01 -8.62467631e-01 4.66086177e-01 1.35185036e+02] [ 9.32017408e-01 -1.75498008e-02 3.61988337e-01 1.32608198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.06710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.29, Y:135.17, Z:132.72 [[-2.70996197e-01 4.90345326e-01 8.28325131e-01 1.57285998e+02] [-1.76461515e-01 -8.71249384e-01 4.58023848e-01 1.35171925e+02] [ 9.46267613e-01 -2.20447865e-02 3.22632349e-01 1.32721035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.0971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.32, Y:135.18, Z:132.56 [[-2.99169122e-01 5.19767029e-01 8.00212517e-01 1.57322476e+02] [-1.87947870e-01 -8.54290896e-01 4.84626313e-01 1.35183201e+02] [ 9.35507047e-01 -5.41300929e-03 3.53266563e-01 1.32555617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.12710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.32, Y:135.18, Z:132.56 [[-3.03098255e-01 5.10586429e-01 8.04632181e-01 1.57321506e+02] [-1.95554736e-01 -8.59707074e-01 4.71870843e-01 1.35184410e+02] [ 9.32678826e-01 -1.43264049e-02 3.60423308e-01 1.32558144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.1571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.29, Y:135.17, Z:132.67 [[-2.92264633e-01 5.12953050e-01 8.07131063e-01 1.57294557e+02] [-1.96319036e-01 -8.58187584e-01 4.74313089e-01 1.35166294e+02] [ 9.35970203e-01 -1.98302508e-02 3.51520328e-01 1.32672500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.18710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.31, Y:135.19, Z:132.55 [[-2.75430129e-01 4.91731546e-01 8.26037730e-01 1.57307942e+02] [-1.77578270e-01 -8.70511003e-01 4.58995154e-01 1.35187858e+02] [ 9.44777330e-01 -2.02652563e-02 3.27085794e-01 1.32546053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2171056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.33, Y:135.18, Z:132.54 [[-2.93604258e-01 5.26817278e-01 7.97659135e-01 1.57327387e+02] [-2.01563415e-01 -8.49792645e-01 4.87057132e-01 1.35181029e+02] [ 9.34434979e-01 -1.77768517e-02 3.55689829e-01 1.32544170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.24710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.33, Y:135.18, Z:132.55 [[-2.84621447e-01 5.02932966e-01 8.16118290e-01 1.57326489e+02] [-2.02545480e-01 -8.63659501e-01 4.61592456e-01 1.35183750e+02] [ 9.36998378e-01 -3.39219583e-02 3.47682816e-01 1.32547055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.33, Y:135.18, Z:132.55 [[-2.77871394e-01 5.09673667e-01 8.14260549e-01 1.57328663e+02] [-2.05335314e-01 -8.59564769e-01 4.67959204e-01 1.35179393e+02] [ 9.38416164e-01 -3.71639688e-02 3.43502463e-01 1.32545413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.30710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.33, Y:135.18, Z:132.54 [[-2.77701282e-01 5.18332135e-01 8.08834838e-01 1.57332271e+02] [-2.08497285e-01 -8.54401462e-01 4.75948553e-01 1.35176244e+02] [ 9.37769098e-01 -3.64683445e-02 3.45339224e-01 1.32539789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.34, Y:135.17, Z:132.52 [[-2.76613640e-01 5.19911262e-01 8.08193772e-01 1.57341991e+02] [-2.09545997e-01 -8.53404088e-01 4.77275536e-01 1.35172861e+02] [ 9.37856796e-01 -3.73328464e-02 3.45008535e-01 1.32519178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.36710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.34, Y:135.17, Z:132.54 [[-2.64921692e-01 5.09341861e-01 8.18771864e-01 1.57337467e+02] [-2.02836746e-01 -8.59548112e-01 4.69078137e-01 1.35168829e+02] [ 9.42694941e-01 -4.18080465e-02 3.31026186e-01 1.32543014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.34, Y:135.16, Z:132.56 [[-2.61750558e-01 5.18010865e-01 8.14341077e-01 1.57339568e+02] [-1.99742893e-01 -8.54565756e-01 4.79395604e-01 1.35160693e+02] [ 9.44240129e-01 -3.71767755e-02 3.27152052e-01 1.32555523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.42710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.35, Y:135.16, Z:132.54 [[-2.60144444e-01 5.25550611e-01 8.10013224e-01 1.57350291e+02] [-1.95437554e-01 -8.50192441e-01 4.88852714e-01 1.35160087e+02] [ 9.45583963e-01 -3.11346857e-02 3.23885166e-01 1.32538848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4571056809999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:157.35, Y:135.15, Z:132.54 [[-2.64449224e-01 5.18912107e-01 8.12894109e-01 1.57351137e+02] [-1.95268577e-01 -8.54253501e-01 4.81789517e-01 1.35152136e+02] [ 9.44424052e-01 -3.13238122e-02 3.27233904e-01 1.32537185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.48710568099995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:157.36, Y:135.15, Z:132.54 [[-2.63737994e-01 5.26822975e-01 8.08022168e-01 1.57359214e+02] [-1.91812757e-01 -8.49595159e-01 4.91320600e-01 1.35147692e+02] [ 9.45330702e-01 -2.54090507e-02 3.25121890e-01 1.32536477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.5171056809999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:157.29, Y:135.09, Z:132.83 [[-2.52269352e-01 5.22977954e-01 8.14158605e-01 1.57286154e+02] [-1.86911903e-01 -8.51861356e-01 4.89281280e-01 1.35091678e+02] [ 9.49433576e-01 -2.87452628e-02 3.12649317e-01 1.32834881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.54710568099995 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:157.28, Y:135.08, Z:132.87 [[-2.56488141e-01 5.33435866e-01 8.06014895e-01 1.57282648e+02] [-1.87691328e-01 -8.45525726e-01 4.99858192e-01 1.35083972e+02] [ 9.48148617e-01 -2.30743080e-02 3.16988607e-01 1.32865772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.5771056809999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:157.39, Y:135.14, Z:132.51 [[-2.52373881e-01 5.24978690e-01 8.12837499e-01 1.57385817e+02] [-1.87515043e-01 -8.50639406e-01 4.91172789e-01 1.35143544e+02] [ 9.49286855e-01 -2.84600757e-02 3.13120570e-01 1.32505509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.6071056809999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:157.30, Y:135.08, Z:132.84 [[-2.55066581e-01 5.34523541e-01 8.05745384e-01 1.57299011e+02] [-1.85287439e-01 -8.44885303e-01 5.01834026e-01 1.35083883e+02] [ 9.49004533e-01 -2.12934091e-02 3.14542503e-01 1.32841751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.6371056809999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:157.30, Y:135.08, Z:132.84 [[-2.55695085e-01 5.33100427e-01 8.06488660e-01 1.57300696e+02] [-1.85158510e-01 -8.45781630e-01 5.00369623e-01 1.35078067e+02] [ 9.48860553e-01 -2.13861851e-02 3.14970287e-01 1.32841645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.6671056809999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:157.31, Y:135.08, Z:132.81 [[-2.56491325e-01 5.41409199e-01 8.00679886e-01 1.57314165e+02] [-1.82854718e-01 -8.40613753e-01 5.09835925e-01 1.35078673e+02] [ 9.49092384e-01 -1.56396030e-02 3.14609362e-01 1.32808140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.6971056809999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:157.33, Y:135.08, Z:132.79 [[-2.60279758e-01 5.40669599e-01 7.99956769e-01 1.57325567e+02] [-1.69779638e-01 -8.41232138e-01 5.13325789e-01 1.35075608e+02] [ 9.50488991e-01 -2.20805822e-03 3.10750386e-01 1.32786874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.7271056809999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:157.40, Y:135.12, Z:132.51 [[-2.63148553e-01 5.40003167e-01 7.99468210e-01 1.57400443e+02] [-1.67831881e-01 -8.41662517e-01 5.13260818e-01 1.35119602e+02] [ 9.50044893e-01 8.87588102e-04 3.12112020e-01 1.32514615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.7571056809999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:157.38, Y:135.10, Z:132.62 [[-2.70692076e-01 5.44802635e-01 7.93672407e-01 1.57375899e+02] [-1.59783077e-01 -8.38443628e-01 5.21039011e-01 1.35096158e+02] [ 9.49312998e-01 1.42257124e-02 3.14010288e-01 1.32618206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.7871056809999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:157.33, Y:135.06, Z:132.80 [[-2.71769001e-01 5.38729711e-01 7.97440849e-01 1.57325658e+02] [-1.52541658e-01 -8.42267334e-01 5.17026867e-01 1.35063699e+02] [ 9.50196113e-01 1.88689259e-02 3.11080875e-01 1.32799637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.81710568099993 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:157.33, Y:135.06, Z:132.79 [[-2.56588059e-01 5.32626283e-01 8.06518326e-01 1.57326297e+02] [-1.47416026e-01 -8.46258643e-01 5.11971507e-01 1.35063379e+02] [ 9.55212585e-01 1.24720484e-02 2.95657513e-01 1.32786741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.8471056809999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:157.36, Y:135.08, Z:132.67 [[-2.58186774e-01 5.53465604e-01 7.91843050e-01 1.57361418e+02] [-1.51391204e-01 -8.32685099e-01 5.32650194e-01 1.35082343e+02] [ 9.54159470e-01 1.76451620e-02 2.98778103e-01 1.32665062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.87710568099993 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:157.34, Y:135.07, Z:132.76 [[-2.68437649e-01 5.64444392e-01 7.80604738e-01 1.57338558e+02] [-1.59034018e-01 -8.25194954e-01 5.41997665e-01 1.35065179e+02] [ 9.50078633e-01 2.13498709e-02 3.11279253e-01 1.32761708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.9071056809999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:157.33, Y:135.07, Z:132.78 [[-2.55870314e-01 5.48653563e-01 7.95933195e-01 1.57331300e+02] [-1.53903771e-01 -8.35959502e-01 5.26768773e-01 1.35066167e+02] [ 9.54381481e-01 1.22873715e-02 2.98337072e-01 1.32775017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93710568099993 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:157.33, Y:135.07, Z:132.77 [[-2.66762303e-01 5.59639195e-01 7.84628476e-01 1.57329224e+02] [-1.63475803e-01 -8.28608381e-01 5.35428625e-01 1.35067299e+02] [ 9.49796576e-01 1.45644031e-02 3.12528947e-01 1.32774007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.9671056809999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:157.38, Y:135.11, Z:132.56 [[-2.52647228e-01 5.47991991e-01 7.97417178e-01 1.57382653e+02] [-1.61548079e-01 -8.36476350e-01 5.23650202e-01 1.35110550e+02] [ 9.53976727e-01 3.47755819e-03 2.99860485e-01 1.32557003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99710568099994 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:157.33, Y:135.08, Z:132.74 [[-2.51753695e-01 5.63350368e-01 7.86928485e-01 1.57330716e+02] [-1.72131641e-01 -8.26218006e-01 5.36408897e-01 1.35080526e+02] [ 9.52360633e-01 -4.12369209e-04 3.04973859e-01 1.32737320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0271056809999 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:157.38, Y:135.12, Z:132.56 [[-2.43514058e-01 5.72305210e-01 7.83050222e-01 1.57381613e+02] [-1.73329905e-01 -8.20035552e-01 5.45434173e-01 1.35117584e+02] [ 9.54283840e-01 -2.90513141e-03 2.98887793e-01 1.32556831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.05710568099994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.38, Y:135.12, Z:132.55 [[-2.48249923e-01 5.79657455e-01 7.76124481e-01 1.57381831e+02] [-1.83410663e-01 -8.14839361e-01 5.49906668e-01 1.35124554e+02] [ 9.51174276e-01 -5.83521750e-03 3.08599167e-01 1.32545267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0871056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.38, Y:135.13, Z:132.54 [[-2.47793349e-01 5.76372863e-01 7.78712257e-01 1.57381515e+02] [-1.84164639e-01 -8.17147065e-01 5.46217961e-01 1.35125485e+02] [ 9.51147645e-01 -8.06208360e-03 3.08631108e-01 1.32542596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.11710568099994 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:157.39, Y:135.13, Z:132.52 [[-2.50082615e-01 5.83490454e-01 7.72656182e-01 1.57385909e+02] [-1.92855933e-01 -8.12041897e-01 5.50812624e-01 1.35133977e+02] [ 9.48823100e-01 -1.12626675e-02 3.15607157e-01 1.32520294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.1471056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.34, Y:135.11, Z:132.68 [[-2.44001505e-01 5.78354241e-01 7.78440517e-01 1.57339737e+02] [-1.94987329e-01 -8.15567951e-01 5.44820024e-01 1.35108665e+02] [ 9.49970108e-01 -1.88491315e-02 3.11771556e-01 1.32677383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.17710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.38, Y:135.15, Z:132.52 [[-2.41529473e-01 5.93877150e-01 7.67446054e-01 1.57383823e+02] [-2.03080357e-01 -8.04282501e-01 5.58469361e-01 1.35145188e+02] [ 9.48905624e-01 -2.09664082e-02 3.14862712e-01 1.32522008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.2071056809999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:157.29, Y:135.13, Z:132.73 [[-2.23875645e-01 5.43629533e-01 8.08916946e-01 1.57290133e+02] [-1.46134406e-01 -8.39324705e-01 5.23620831e-01 1.35127148e+02] [ 9.63599726e-01 -9.84645794e-04 2.67347339e-01 1.32733025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.23710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.33, Y:135.12, Z:132.69 [[-2.35227370e-01 5.89613584e-01 7.72673220e-01 1.57334436e+02] [-2.14729825e-01 -8.06861993e-01 5.50331561e-01 1.35121557e+02] [ 9.47923619e-01 -3.64629398e-02 3.16403646e-01 1.32685513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.2671056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.34, Y:135.13, Z:132.67 [[-2.34378338e-01 6.01737101e-01 7.63530782e-01 1.57343129e+02] [-2.27430626e-01 -7.97552269e-01 5.58735795e-01 1.35128059e+02] [ 9.45167766e-01 -4.26947175e-02 3.23782421e-01 1.32667416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.29710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:135.18, Z:132.39 [[-2.58394407e-01 6.20532707e-01 7.40386042e-01 1.57411184e+02] [-2.59585895e-01 -7.82826116e-01 5.65507237e-01 1.35175341e+02] [ 9.30509266e-01 -4.60698664e-02 3.63359428e-01 1.32386216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.3271056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.40, Y:135.17, Z:132.40 [[-2.53894103e-01 6.13479374e-01 7.47783955e-01 1.57404527e+02] [-2.57345521e-01 -7.88096498e-01 5.59175458e-01 1.35173862e+02] [ 9.32368525e-01 -5.04675003e-02 3.57969222e-01 1.32400369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.3571056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.33, Y:135.12, Z:132.71 [[-2.27021702e-01 6.00040020e-01 7.67080909e-01 1.57329867e+02] [-2.33157831e-01 -7.98228062e-01 5.55400205e-01 1.35120966e+02] [ 9.45567857e-01 -5.27630214e-02 3.21119123e-01 1.32712883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.3871056809999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:157.39, Y:135.16, Z:132.48 [[-2.26433682e-01 6.10163239e-01 7.59228957e-01 1.57393541e+02] [-2.36199374e-01 -7.90606055e-01 5.64935325e-01 1.35161516e+02] [ 9.44953779e-01 -5.14090183e-02 3.23140015e-01 1.32481850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.4171056809999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:157.39, Y:135.16, Z:132.41 [[-2.44447316e-01 6.13802793e-01 7.50660803e-01 1.57394327e+02] [-2.18905169e-01 -7.89093756e-01 5.73943875e-01 1.35159712e+02] [ 9.44630106e-01 -2.40244901e-02 3.27256455e-01 1.32408371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.4471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.31, Y:135.11, Z:132.75 [[-2.24470121e-01 5.81270592e-01 7.82136602e-01 1.57313976e+02] [-1.85871176e-01 -8.13422160e-01 5.51177191e-01 1.35112588e+02] [ 9.56590336e-01 -2.16538390e-02 2.90630419e-01 1.32748353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.4771056809999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:157.33, Y:135.09, Z:132.74 [[-2.60899644e-01 6.18882510e-01 7.40888530e-01 1.57334729e+02] [-2.27298051e-01 -7.85273941e-01 5.75917037e-01 1.35092284e+02] [ 9.38225438e-01 -1.81459685e-02 3.45548480e-01 1.32742964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.5071056809999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:157.41, Y:135.14, Z:132.50 [[-2.50208568e-01 6.15628465e-01 7.47259838e-01 1.57405540e+02] [-2.17439526e-01 -7.87823951e-01 5.76240813e-01 1.35143676e+02] [ 9.43459445e-01 -1.83034361e-02 3.30982264e-01 1.32504944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.5371056809999 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:157.41, Y:135.13, Z:132.53 [[-2.51915930e-01 6.25308872e-01 7.38598117e-01 1.57405731e+02] [-2.05701239e-01 -7.80370914e-01 5.90515230e-01 1.35130939e+02] [ 9.45634900e-01 -3.17035453e-03 3.25214675e-01 1.32526780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.56710568099993 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:157.35, Y:135.08, Z:132.74 [[-2.64638350e-01 6.26493910e-01 7.33124767e-01 1.57348349e+02] [-2.06429080e-01 -7.79408945e-01 5.91530837e-01 1.35081096e+02] [ 9.41994469e-01 5.20347328e-03 3.35588058e-01 1.32736337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.5971056809999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:157.35, Y:135.08, Z:132.74 [[-2.69922012e-01 6.14963972e-01 7.40919308e-01 1.57345939e+02] [-2.02875370e-01 -7.88529277e-01 5.80571411e-01 1.35078818e+02] [ 9.41267067e-01 6.39472471e-03 3.37602452e-01 1.32740938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.62710568099993 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:157.35, Y:135.08, Z:132.72 [[-2.71431495e-01 6.15378623e-01 7.40023036e-01 1.57348848e+02] [-2.07506518e-01 -7.88223004e-01 5.79349239e-01 1.35080853e+02] [ 9.39822318e-01 3.69402628e-03 3.41643624e-01 1.32722408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.6571056809999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:157.34, Y:135.08, Z:132.74 [[-2.66053066e-01 6.19280924e-01 7.38719773e-01 1.57344426e+02] [-2.08103687e-01 -7.85168156e-01 5.83269940e-01 1.35077162e+02] [ 9.41227189e-01 1.45044704e-03 3.37771039e-01 1.32743058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.68710568099993 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:157.34, Y:135.07, Z:132.76 [[-2.64042147e-01 6.21845723e-01 7.37285318e-01 1.57340115e+02] [-2.08429713e-01 -7.83139099e-01 5.85875589e-01 1.35073068e+02] [ 9.41721190e-01 1.02368117e-03 3.36392855e-01 1.32763840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7171056809999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:157.34, Y:135.07, Z:132.77 [[-2.57051492e-01 6.21326705e-01 7.40187582e-01 1.57339513e+02] [-2.10391997e-01 -7.83532689e-01 5.84646673e-01 1.35073147e+02] [ 9.43217757e-01 -5.44524374e-03 3.32130413e-01 1.32767061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.74710568099994 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:157.35, Y:135.08, Z:132.76 [[-2.35440639e-01 6.20931192e-01 7.47671158e-01 1.57347800e+02] [-2.03885329e-01 -7.83734420e-01 5.86678048e-01 1.35080648e+02] [ 9.50262321e-01 -1.43113253e-02 3.11121693e-01 1.32756714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7771056809999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:157.35, Y:135.08, Z:132.74 [[-2.50671081e-01 6.38713225e-01 7.27467817e-01 1.57352503e+02] [-2.17279251e-01 -7.69408382e-01 6.00666687e-01 1.35081547e+02] [ 9.43373593e-01 -7.49389470e-03 3.31647562e-01 1.32736878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.80710568099994 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:157.33, Y:135.06, Z:132.76 [[-2.49818743e-01 6.28288358e-01 7.36779706e-01 1.57333108e+02] [-2.11345194e-01 -7.77940540e-01 5.91727745e-01 1.35062459e+02] [ 9.44946456e-01 -7.89016851e-03 3.27129852e-01 1.32759617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8371056809999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:157.35, Y:135.09, Z:132.73 [[-2.46361925e-01 6.30987099e-01 7.35636516e-01 1.57352692e+02] [-2.22868106e-01 -7.75573969e-01 5.90605474e-01 1.35087993e+02] [ 9.43204967e-01 -1.84472156e-02 3.31698796e-01 1.32727326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.86710568099994 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:157.43, Y:135.15, Z:132.43 [[-2.47412196e-01 6.53462030e-01 7.15384219e-01 1.57429232e+02] [-2.30392556e-01 -7.56839083e-01 6.11648487e-01 1.35149758e+02] [ 9.41119798e-01 -1.34899033e-02 3.37804008e-01 1.32433837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8971056809999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:157.41, Y:135.14, Z:132.51 [[-2.26071912e-01 6.49715706e-01 7.25783020e-01 1.57413388e+02] [-2.23458326e-01 -7.59793500e-01 6.10557298e-01 1.35141303e+02] [ 9.48133887e-01 -2.41524024e-02 3.16952353e-01 1.32505718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.92710568099994 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:157.43, Y:135.15, Z:132.42 [[-2.50824979e-01 6.85506325e-01 6.83496824e-01 1.57434776e+02] [-2.45342102e-01 -7.28031779e-01 6.40138252e-01 1.35150057e+02] [ 9.36426229e-01 -7.12788353e-03 3.50792118e-01 1.32415427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9571056809999 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:157.43, Y:135.16, Z:132.43 [[-2.26384571e-01 6.44372226e-01 7.30434433e-01 1.57432387e+02] [-2.25234682e-01 -7.64210103e-01 6.04361032e-01 1.35162810e+02] [ 9.47638836e-01 -2.77011541e-02 3.18140350e-01 1.32426181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.98710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.35, Y:135.09, Z:132.74 [[-2.31017447e-01 6.56026936e-01 7.18512073e-01 1.57349794e+02] [-2.38675601e-01 -7.54134948e-01 6.11812421e-01 1.35092759e+02] [ 9.43220492e-01 -3.01519570e-02 3.30795953e-01 1.32735023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.0171056809999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:157.42, Y:135.14, Z:132.40 [[-2.22754432e-01 6.57129938e-01 7.20111593e-01 1.57415794e+02] [-2.42563598e-01 -7.52800432e-01 6.11926802e-01 1.35140828e+02] [ 9.44215740e-01 -3.83634517e-02 3.27085435e-01 1.32399390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.04710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.35, Y:135.09, Z:132.72 [[-1.81549560e-01 6.37942156e-01 7.48377955e-01 1.57353108e+02] [-2.21868332e-01 -7.67974693e-01 6.00823863e-01 1.35089401e+02] [ 9.58026200e-01 -5.69620607e-02 2.80964630e-01 1.32722862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.0771056809999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:157.43, Y:135.16, Z:132.45 [[-2.20698424e-01 6.90611715e-01 6.88729021e-01 1.57431981e+02] [-2.40209143e-01 -7.22877115e-01 6.47879807e-01 1.35157675e+02] [ 9.45299832e-01 -2.24529558e-02 3.25429089e-01 1.32449041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.1071056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:157.42, Y:135.16, Z:132.46 [[-2.23933023e-01 6.77481489e-01 7.00623175e-01 1.57424698e+02] [-2.37697568e-01 -7.35136149e-01 6.34881650e-01 1.35157214e+02] [ 9.45173988e-01 -2.43654576e-02 3.25656963e-01 1.32462219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.1371056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.43, Y:135.16, Z:132.46 [[-2.26850109e-01 6.75311496e-01 7.01778748e-01 1.57427592e+02] [-2.37687807e-01 -7.37164026e-01 6.32529608e-01 1.35158229e+02] [ 9.44480563e-01 -2.33148411e-02 3.27739048e-01 1.32456298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.1671056809999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:157.42, Y:135.15, Z:132.48 [[-2.13529061e-01 6.73130155e-01 7.08026224e-01 1.57423777e+02] [-2.32229838e-01 -7.38940549e-01 6.32484125e-01 1.35154280e+02] [ 9.48933424e-01 -2.93710736e-02 3.14106188e-01 1.32479876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.1971056809999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:157.37, Y:135.10, Z:132.72 [[-2.38152366e-01 6.82458128e-01 6.91038605e-01 1.57369353e+02] [-2.25356025e-01 -7.30921020e-01 6.44180972e-01 1.35099410e+02] [ 9.44721182e-01 -2.31649023e-03 3.27866622e-01 1.32715475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.2271056809999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:157.42, Y:135.15, Z:132.48 [[-2.48242222e-01 6.62298653e-01 7.06920288e-01 1.57424390e+02] [-2.22095790e-01 -7.49236966e-01 6.23953066e-01 1.35153842e+02] [ 9.42894087e-01 -2.11252409e-03 3.33085991e-01 1.32480385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.2571056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.37, Y:135.11, Z:132.70 [[-2.51791437e-01 6.54869718e-01 7.12563489e-01 1.57369978e+02] [-2.09298126e-01 -7.55708302e-01 6.20563660e-01 1.35108959e+02] [ 9.44878493e-01 7.11441266e-03 3.27343884e-01 1.32699054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.2871056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:157.42, Y:135.15, Z:132.51 [[-2.63917493e-01 6.57568837e-01 7.05656277e-01 1.57415570e+02] [-2.07395666e-01 -7.53169555e-01 6.24277710e-01 1.35150776e+02] [ 9.41984392e-01 1.84077547e-02 3.35151548e-01 1.32514575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.31710568099993 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:157.36, Y:135.10, Z:132.73 [[-2.64765703e-01 6.54818641e-01 7.07892415e-01 1.57360109e+02] [-1.98912114e-01 -7.55388841e-01 6.24357006e-01 1.35102652e+02] [ 9.43574636e-01 2.44999445e-02 3.30252417e-01 1.32729199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.3471056809999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:157.40, Y:135.16, Z:132.46 [[-2.78976992e-01 6.45462716e-01 7.11020197e-01 1.57395734e+02] [-1.78653017e-01 -7.62375363e-01 6.21986258e-01 1.35159211e+02] [ 9.43533220e-01 4.64939522e-02 3.27999047e-01 1.32460616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.37710568099993 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:157.42, Y:135.17, Z:132.48 [[-2.71324983e-01 6.49702537e-01 7.10119263e-01 1.57417958e+02] [-1.98121794e-01 -7.59696080e-01 6.19362270e-01 1.35167251e+02] [ 9.41876058e-01 2.73583550e-02 3.34844758e-01 1.32475094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.4071056809999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:157.41, Y:135.17, Z:132.49 [[-2.67129203e-01 6.55135265e-01 7.06710530e-01 1.57408090e+02] [-1.99071555e-01 -7.55057475e-01 6.24706912e-01 1.35171160e+02] [ 9.42874597e-01 2.61914955e-02 3.32116697e-01 1.32488143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43710568099993 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.40, Y:135.17, Z:132.43 [[-2.95276479e-01 6.73853153e-01 6.77298848e-01 1.57403736e+02] [-2.29973770e-01 -7.38193652e-01 6.34178364e-01 1.35172289e+02] [ 9.27320800e-01 3.14969844e-02 3.72939772e-01 1.32433844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.4671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.40, Y:135.18, Z:132.43 [[-2.93343399e-01 6.58988248e-01 6.92592333e-01 1.57398333e+02] [-2.34261332e-01 -7.51925265e-01 6.16222382e-01 1.35180271e+02] [ 9.26860981e-01 1.85171653e-02 3.74947778e-01 1.32425459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.40, Y:135.19, Z:132.40 [[-2.92690510e-01 6.60141912e-01 6.91769414e-01 1.57395340e+02] [-2.41152784e-01 -7.51026970e-01 6.14657486e-01 1.35192312e+02] [ 9.25298655e-01 1.30822926e-02 3.79013527e-01 1.32403344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.39, Y:135.19, Z:132.43 [[-2.87344813e-01 6.57848863e-01 6.96180891e-01 1.57386109e+02] [-2.42772585e-01 -7.53120313e-01 6.11450134e-01 1.35191620e+02] [ 9.26549746e-01 6.68338991e-03 3.76112884e-01 1.32426116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.55710568099994 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:157.38, Y:135.19, Z:132.37 [[-2.46668938e-01 6.68128758e-01 7.01967519e-01 1.57384277e+02] [-2.94405208e-01 -7.41779428e-01 6.02568547e-01 1.35186134e+02] [ 9.23298440e-01 -5.80279501e-02 3.79674530e-01 1.32371988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.40, Y:135.18, Z:132.45 [[-2.82240202e-01 7.45271594e-01 6.04078406e-01 1.57396482e+02] [-2.57837760e-01 -6.65439603e-01 7.00506834e-01 1.35179915e+02] [ 9.24045539e-01 4.19569670e-02 3.79972966e-01 1.32450636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.61710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.38, Y:135.20, Z:132.44 [[-2.69858534e-01 6.58414818e-01 7.02613905e-01 1.57378092e+02] [-2.38657126e-01 -7.52652357e-01 6.13642571e-01 1.35201613e+02] [ 9.32855374e-01 -2.08713082e-03 3.60245050e-01 1.32440078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.6471056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.39, Y:135.21, Z:132.37 [[-2.84074561e-01 6.72429845e-01 6.83476222e-01 1.57387313e+02] [-2.48043583e-01 -7.40117282e-01 6.25060629e-01 1.35213720e+02] [ 9.26161986e-01 8.03193280e-03 3.77040400e-01 1.32374546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.67710568099994 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:157.35, Y:135.20, Z:132.41 [[-3.09488620e-01 6.41436623e-01 7.01979952e-01 1.57351680e+02] [-2.09155562e-01 -7.66064709e-01 6.07781879e-01 1.35204273e+02] [ 9.27615624e-01 4.12785635e-02 3.71248347e-01 1.32410794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.7071056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.35, Y:135.22, Z:132.44 [[-2.77691722e-01 6.07707637e-01 7.44028720e-01 1.57349291e+02] [-2.46299657e-01 -7.93639418e-01 5.56302934e-01 1.35216898e+02] [ 9.28560061e-01 -2.87732987e-02 3.70065279e-01 1.32436727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.73710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.36, Y:135.22, Z:132.42 [[-2.74663490e-01 6.65028231e-01 6.94476363e-01 1.57364509e+02] [-2.53365509e-01 -7.46784827e-01 6.14913279e-01 1.35216038e+02] [ 9.27559101e-01 -7.06213055e-03 3.73609743e-01 1.32415384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.7671056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.37, Y:135.22, Z:132.41 [[-2.65654615e-01 6.60981176e-01 7.01805892e-01 1.57366027e+02] [-2.48160735e-01 -7.50316107e-01 6.12733212e-01 1.35223578e+02] [ 9.31581384e-01 -1.13852606e-02 3.63354511e-01 1.32406648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.79710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.36, Y:135.22, Z:132.42 [[-2.62604577e-01 6.71019645e-01 6.93376862e-01 1.57362962e+02] [-2.54075604e-01 -7.41324865e-01 6.21194843e-01 1.35224063e+02] [ 9.30851451e-01 -1.30415363e-02 3.65165024e-01 1.32419217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.8271056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.35, Y:135.22, Z:132.47 [[-2.55484913e-01 6.71006039e-01 6.96044793e-01 1.57349768e+02] [-2.53794726e-01 -7.41236020e-01 6.21415642e-01 1.35215656e+02] [ 9.32907121e-01 -1.78901766e-02 3.59672414e-01 1.32468075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.8571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.35, Y:135.22, Z:132.46 [[-2.61353205e-01 6.82429175e-01 6.82630884e-01 1.57353363e+02] [-2.66065800e-01 -7.30746463e-01 6.28664137e-01 1.35221556e+02] [ 9.27848852e-01 -1.73213455e-02 3.72553995e-01 1.32455365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.8871056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.34, Y:135.22, Z:132.49 [[-2.57214940e-01 6.76327129e-01 6.90233358e-01 1.57344333e+02] [-2.66175107e-01 -7.36220528e-01 6.22197836e-01 1.35216968e+02] [ 9.28973244e-01 -2.36843595e-02 3.69388365e-01 1.32488422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.9171056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.35, Y:135.22, Z:132.49 [[-2.51985761e-01 6.79018682e-01 6.89519257e-01 1.57346838e+02] [-2.64449218e-01 -7.33707796e-01 6.25890950e-01 1.35217123e+02] [ 9.30897302e-01 -2.46272206e-02 3.64449877e-01 1.32485043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.9471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.34, Y:135.21, Z:132.51 [[-2.53036242e-01 6.85184912e-01 6.83003877e-01 1.57342761e+02] [-2.63215501e-01 -7.28104680e-01 6.32914825e-01 1.35209072e+02] [ 9.30962008e-01 -1.96268187e-02 3.64588162e-01 1.32510143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.9771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.34, Y:135.21, Z:132.51 [[-2.53171414e-01 6.80682201e-01 6.87441617e-01 1.57342236e+02] [-2.63405476e-01 -7.32246178e-01 6.28039083e-01 1.35210345e+02] [ 9.30871522e-01 -2.20743435e-02 3.64679219e-01 1.32508517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.0071056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.35, Y:135.22, Z:132.46 [[-2.52254233e-01 6.77600381e-01 6.90815117e-01 1.57351979e+02] [-2.61777266e-01 -7.35068194e-01 6.25417791e-01 1.35218580e+02] [ 9.31579554e-01 -2.30754071e-02 3.62804438e-01 1.32461061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.0371056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.33, Y:135.19, Z:132.53 [[-2.17294078e-01 6.71186134e-01 7.08725939e-01 1.57334174e+02] [-2.48298195e-01 -7.40198243e-01 6.24863640e-01 1.35188567e+02] [ 9.43997505e-01 -4.01962031e-02 3.27495000e-01 1.32526814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.06710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.36, Y:135.21, Z:132.49 [[-2.58195591e-01 7.04366739e-01 6.61212927e-01 1.57356815e+02] [-2.59892057e-01 -7.09830684e-01 6.54672834e-01 1.35206102e+02] [ 9.30478993e-01 -2.81034854e-03 3.66334473e-01 1.32485358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.0971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.35, Y:135.21, Z:132.49 [[-2.55570356e-01 6.78374164e-01 6.88834005e-01 1.57351080e+02] [-2.62348326e-01 -7.34423708e-01 6.25935438e-01 1.35208435e+02] [ 9.30514454e-01 -2.07439054e-02 3.65667255e-01 1.32490513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.12710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.36, Y:135.21, Z:132.46 [[-2.54495161e-01 6.83694752e-01 6.83954457e-01 1.57360632e+02] [-2.64094781e-01 -7.29492463e-01 6.30947456e-01 1.35212342e+02] [ 9.30315086e-01 -2.00557280e-02 3.66212518e-01 1.32463999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.1571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.35, Y:135.20, Z:132.53 [[-2.41841692e-01 6.81720492e-01 6.90485167e-01 1.57350514e+02] [-2.53845366e-01 -7.31276732e-01 6.33085201e-01 1.35202638e+02] [ 9.36522891e-01 -2.21700638e-02 3.49904790e-01 1.32528624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.18710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.34, Y:135.19, Z:132.61 [[-2.26801198e-01 6.83934639e-01 6.93393558e-01 1.57339222e+02] [-2.44265626e-01 -7.29135813e-01 6.39292789e-01 1.35187125e+02] [ 9.42812559e-01 -2.43798409e-02 3.32430599e-01 1.32612689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.35, Y:135.18, Z:132.55 [[-2.03321044e-01 6.90197375e-01 6.94469680e-01 1.57353058e+02] [-2.47480591e-01 -7.22480871e-01 6.45580939e-01 1.35176086e+02] [ 9.47319329e-01 -4.06075760e-02 3.17706019e-01 1.32550144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.24710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.39, Y:135.22, Z:132.40 [[-2.51617428e-01 7.11166038e-01 6.56453758e-01 1.57390115e+02] [-2.66186089e-01 -7.02969137e-01 6.59529650e-01 1.35217973e+02] [ 9.30501820e-01 -8.78970468e-03 3.66181792e-01 1.32400624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.36, Y:135.20, Z:132.53 [[-2.38747689e-01 6.89972171e-01 6.83328577e-01 1.57362097e+02] [-2.49283600e-01 -7.23643479e-01 6.43582010e-01 1.35196517e+02] [ 9.38539945e-01 -1.66888902e-02 3.44766954e-01 1.32529351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.30710568099994 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:157.35, Y:135.20, Z:132.41 [[-2.47392664e-01 6.74184837e-01 6.95896311e-01 1.57354621e+02] [-2.33518671e-01 -7.38538014e-01 6.32479749e-01 1.35201135e+02] [ 9.40354135e-01 -6.03393217e-03 3.40143634e-01 1.32407600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3371056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.40, Y:135.21, Z:132.40 [[-2.59224529e-01 7.18106301e-01 6.45852912e-01 1.57400210e+02] [-2.55359515e-01 -6.95874262e-01 6.71230608e-01 1.35207843e+02] [ 9.31447348e-01 9.07475198e-03 3.63762955e-01 1.32395280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.36710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.40, Y:135.21, Z:132.39 [[-2.66461759e-01 6.99242673e-01 6.63368537e-01 1.57400964e+02] [-2.60519205e-01 -7.14884380e-01 6.48899119e-01 1.35211989e+02] [ 9.27969760e-01 8.65569558e-05 3.72655494e-01 1.32385341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3971056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.40, Y:135.21, Z:132.38 [[-2.64328697e-01 6.81858865e-01 6.82054857e-01 1.57400431e+02] [-2.50709229e-01 -7.31475923e-01 6.34103979e-01 1.35212141e+02] [ 9.31276126e-01 -3.38556892e-03 3.64298388e-01 1.32376845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.42710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:135.21, Z:132.38 [[-2.67061292e-01 6.97016010e-01 6.65467466e-01 1.57406453e+02] [-2.55515627e-01 -7.17048636e-01 6.48500592e-01 1.35209862e+02] [ 9.29187834e-01 3.15206979e-03 3.69594418e-01 1.32375463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4571056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.41, Y:135.21, Z:132.37 [[-2.68220437e-01 6.95629153e-01 6.66451707e-01 1.57410106e+02] [-2.52460386e-01 -7.18379119e-01 6.48224648e-01 1.35210816e+02] [ 9.29688954e-01 5.61444302e-03 3.68302766e-01 1.32366224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.48710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.41, Y:135.21, Z:132.37 [[-2.68672964e-01 6.96916875e-01 6.64922332e-01 1.57410376e+02] [-2.52676306e-01 -7.17122447e-01 6.49530662e-01 1.35209733e+02] [ 9.29499609e-01 6.50120991e-03 3.68765795e-01 1.32368111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5171056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:157.42, Y:135.21, Z:132.35 [[-2.71765837e-01 7.00958988e-01 6.59393529e-01 1.57416129e+02] [-2.56386752e-01 -7.13153853e-01 6.52439588e-01 1.35211997e+02] [ 9.27582429e-01 8.25102608e-03 3.73527452e-01 1.32353637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.54710568099995 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:157.41, Y:135.21, Z:132.35 [[-2.71176193e-01 6.99172717e-01 6.61529277e-01 1.57414204e+02] [-2.55004417e-01 -7.14909612e-01 6.51058364e-01 1.35210863e+02] [ 9.28135885e-01 7.85864098e-03 3.72158597e-01 1.32354795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5771056809999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:157.36, Y:135.18, Z:132.42 [[-2.70212997e-01 6.76800558e-01 6.84781674e-01 1.57359497e+02] [-2.20238694e-01 -7.35831152e-01 6.40349462e-01 1.35183364e+02] [ 9.37272561e-01 2.22153250e-02 3.47888812e-01 1.32421854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.6071056809999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:157.41, Y:135.20, Z:132.36 [[-2.82888907e-01 7.22800026e-01 6.30502966e-01 1.57409761e+02] [-2.61560885e-01 -6.90573984e-01 6.74309629e-01 1.35201272e+02] [ 9.22799962e-01 2.58398005e-02 3.84411934e-01 1.32363425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.6371056809999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:157.40, Y:135.20, Z:132.38 [[-2.83968523e-01 7.08610128e-01 6.45936192e-01 1.57399303e+02] [-2.57489393e-01 -7.05280370e-01 6.60514052e-01 1.35198253e+02] [ 9.23613063e-01 2.12434816e-02 3.82737016e-01 1.32383317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.6671056809999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:157.40, Y:135.20, Z:132.38 [[-2.87489366e-01 7.08063933e-01 6.44977001e-01 1.57396135e+02] [-2.55215776e-01 -7.05691008e-01 6.60957721e-01 1.35201420e+02] [ 9.23154793e-01 2.54100103e-02 3.83587746e-01 1.32379941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.6971056809999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:157.39, Y:135.20, Z:132.39 [[-2.87532792e-01 7.04092578e-01 6.49290794e-01 1.57389225e+02] [-2.53498609e-01 -7.09688548e-01 6.57328396e-01 1.35201784e+02] [ 9.23614286e-01 2.44091554e-02 3.82545219e-01 1.32387340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.7271056809999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:157.38, Y:135.21, Z:132.38 [[-2.89756609e-01 7.07970523e-01 6.44064318e-01 1.57384416e+02] [-2.59021042e-01 -7.05826585e-01 6.59330669e-01 1.35207187e+02] [ 9.21384397e-01 2.42192079e-02 3.87897181e-01 1.32375197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.7571056809999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:157.38, Y:135.22, Z:132.35 [[-2.91505511e-01 7.07582539e-01 6.43701396e-01 1.57384227e+02] [-2.63848742e-01 -7.06298905e-01 6.56906157e-01 1.35216806e+02] [ 9.19460917e-01 2.16519610e-02 3.92584786e-01 1.32352583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.7871056809999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:157.39, Y:135.22, Z:132.34 [[-2.86778889e-01 7.08858530e-01 6.44420246e-01 1.57386752e+02] [-2.62778028e-01 -7.05079828e-01 6.58642652e-01 1.35222826e+02] [ 9.21252179e-01 1.95453266e-02 3.88474457e-01 1.32342086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.81710568099993 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:157.39, Y:135.23, Z:132.33 [[-2.87199194e-01 7.14615096e-01 6.37841585e-01 1.57387236e+02] [-2.66015976e-01 -6.99205424e-01 6.63586675e-01 1.35225442e+02] [ 9.20191351e-01 2.09055065e-02 3.90910267e-01 1.32332665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.8471056809999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:157.38, Y:135.23, Z:132.33 [[-2.87083986e-01 7.16480514e-01 6.35797498e-01 1.57382585e+02] [-2.69416783e-01 -6.97337836e-01 6.64179599e-01 1.35229397e+02] [ 9.19237392e-01 1.93808103e-02 3.93226400e-01 1.32331076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.87710568099993 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:157.38, Y:135.23, Z:132.33 [[-2.84199286e-01 7.17185016e-01 6.36299001e-01 1.57379463e+02] [-2.68630567e-01 -6.96647034e-01 6.65222164e-01 1.35231170e+02] [ 9.20363181e-01 1.81263028e-02 3.90644408e-01 1.32333507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.9071056809999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:157.38, Y:135.24, Z:132.33 [[-2.81250880e-01 7.19022761e-01 6.35534588e-01 1.57376522e+02] [-2.73850690e-01 -6.94865337e-01 6.64957114e-01 1.35238401e+02] [ 9.19730255e-01 1.29781881e-02 3.92336367e-01 1.32326650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93710568099993 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:157.37, Y:135.25, Z:132.32 [[-2.75858763e-01 7.17808530e-01 6.39259617e-01 1.57374034e+02] [-2.80522529e-01 -6.96234344e-01 6.60730542e-01 1.35246242e+02] [ 9.19352519e-01 2.94158533e-03 3.93423809e-01 1.32319531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.9671056809999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:157.37, Y:135.25, Z:132.32 [[-2.74842845e-01 7.25136426e-01 6.31378313e-01 1.57374909e+02] [-2.88624577e-01 -6.88604969e-01 6.65221053e-01 1.35247989e+02] [ 9.17146261e-01 5.99948175e-04 3.98550343e-01 1.32315206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99710568099994 meters Centerline goodness : 0.997450 Centerline is valid? [True, True] Translation: X:157.35, Y:135.25, Z:132.31 [[-2.85510102e-01 7.09498120e-01 6.44279752e-01 1.57354840e+02] [-2.59217219e-01 -7.04374436e-01 6.60804879e-01 1.35249248e+02] [ 9.22654006e-01 2.16580626e-02 3.85020147e-01 1.32307163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0271056809999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:157.37, Y:135.26, Z:132.30 [[-2.60293751e-01 7.01145984e-01 6.63808310e-01 1.57369988e+02] [-2.90607241e-01 -7.12518682e-01 6.38642748e-01 1.35263396e+02] [ 9.20757620e-01 -2.66727850e-02 3.89222260e-01 1.32299471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.05710568099994 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:157.37, Y:135.26, Z:132.30 [[-2.52377261e-01 7.31854295e-01 6.33004747e-01 1.57374493e+02] [-2.98085453e-01 -6.81169759e-01 6.68694865e-01 1.35259990e+02] [ 9.20570899e-01 -1.99261280e-02 3.90066877e-01 1.32302647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0871056809999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:157.37, Y:135.26, Z:132.32 [[-2.43100507e-01 7.34914553e-01 6.33089838e-01 1.57374133e+02] [-2.95454084e-01 -6.77757061e-01 6.73314377e-01 1.35259290e+02] [ 9.23909643e-01 -2.33659112e-02 3.81896591e-01 1.32318398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.11710568099994 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:157.38, Y:135.26, Z:132.31 [[-2.36953301e-01 7.42612608e-01 6.26402145e-01 1.57376883e+02] [-3.03810351e-01 -6.69067244e-01 6.78268600e-01 1.35259062e+02] [ 9.22795971e-01 -2.95894714e-02 3.84151089e-01 1.32310270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.1471056809999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:157.38, Y:135.26, Z:132.31 [[-2.31734468e-01 7.40812899e-01 6.30472351e-01 1.57377293e+02] [-3.03484661e-01 -6.70823369e-01 6.76677965e-01 1.35259006e+02] [ 9.24227351e-01 -3.45290796e-02 3.80278248e-01 1.32313294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.17710568099994 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:157.39, Y:135.26, Z:132.30 [[-2.26658290e-01 7.46248114e-01 6.25891182e-01 1.57385637e+02] [-3.12655478e-01 -6.64353326e-01 6.78882324e-01 1.35262708e+02] [ 9.22427543e-01 -4.18140002e-02 3.83899750e-01 1.32295625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2071056809999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:157.39, Y:135.26, Z:132.29 [[-2.24054908e-01 7.49879166e-01 6.22479426e-01 1.57390102e+02] [-3.17481806e-01 -6.60037266e-01 6.80849551e-01 1.35264897e+02] [ 9.21414511e-01 -4.50782088e-02 3.85957580e-01 1.32285335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.23710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.39, Y:135.26, Z:132.27 [[-2.26054187e-01 7.53535277e-01 6.17320088e-01 1.57394796e+02] [-3.24644681e-01 -6.55772711e-01 6.81592241e-01 1.35263871e+02] [ 9.18425466e-01 -4.63329031e-02 3.92871386e-01 1.32274858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2671056809999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:157.39, Y:135.26, Z:132.28 [[-2.25379025e-01 7.46438208e-01 6.26126422e-01 1.57393841e+02] [-3.23052508e-01 -6.63559258e-01 6.74778621e-01 1.35261229e+02] [ 9.19152529e-01 -5.01907634e-02 3.90691074e-01 1.32280483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.29710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.40, Y:135.25, Z:132.29 [[-2.25057634e-01 7.50086757e-01 6.21867283e-01 1.57398638e+02] [-3.21587231e-01 -6.59659681e-01 6.79286949e-01 1.35251696e+02] [ 9.19744918e-01 -4.71058637e-02 3.89679770e-01 1.32288790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.3271056809999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:157.40, Y:135.25, Z:132.29 [[-2.26087688e-01 7.47386156e-01 6.24738578e-01 1.57402855e+02] [-3.18034689e-01 -6.62834782e-01 6.77867235e-01 1.35250010e+02] [ 9.20727046e-01 -4.54311039e-02 3.87553507e-01 1.32286538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.3571056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.41, Y:135.24, Z:132.29 [[-2.36233038e-01 7.49133967e-01 6.18863677e-01 1.57409158e+02] [-3.15281959e-01 -6.61525891e-01 6.80426911e-01 1.35238706e+02] [ 9.19125257e-01 -3.43772362e-02 3.92462696e-01 1.32294439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.3871056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.42, Y:135.23, Z:132.31 [[-2.46870571e-01 7.47670170e-01 6.16477281e-01 1.57416126e+02] [-3.06704541e-01 -6.63748618e-01 6.82180399e-01 1.35227035e+02] [ 9.19231878e-01 -2.06661171e-02 3.93173836e-01 1.32306246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.4171056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:157.42, Y:135.23, Z:132.30 [[-2.50738817e-01 7.43833667e-01 6.19549451e-01 1.57421214e+02] [-3.00242800e-01 -6.68188884e-01 6.80718647e-01 1.35225249e+02] [ 9.20317503e-01 -1.53326733e-02 3.90871593e-01 1.32302384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.4471056809999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:157.40, Y:135.19, Z:132.44 [[-2.40931485e-01 7.36639355e-01 6.31913349e-01 1.57404102e+02] [-2.73520919e-01 -6.76238006e-01 6.84023732e-01 1.35191514e+02] [ 9.31202624e-01 -8.03866639e-03 3.64413301e-01 1.32435462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.4771056809999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:157.43, Y:135.21, Z:132.32 [[-2.59659509e-01 7.52201575e-01 6.05615167e-01 1.57431210e+02] [-2.86649074e-01 -6.58896013e-01 6.95477068e-01 1.35209780e+02] [ 9.22176365e-01 6.98820707e-03 3.86706500e-01 1.32319575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.5071056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.43, Y:135.20, Z:132.33 [[-2.60586272e-01 7.44932102e-01 6.14142458e-01 1.57430687e+02] [-2.81630173e-01 -6.67106046e-01 6.89676714e-01 1.35203980e+02] [ 9.23460470e-01 6.75923697e-03 3.83634034e-01 1.32330770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.5371056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.44, Y:135.21, Z:132.31 [[-2.61567302e-01 7.49693050e-01 6.07900384e-01 1.57440335e+02] [-2.84577401e-01 -6.61731931e-01 6.93632868e-01 1.35209116e+02] [ 9.22278835e-01 8.43696696e-03 3.86433136e-01 1.32310538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.56710568099993 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:157.44, Y:135.20, Z:132.32 [[-2.59115333e-01 7.46573636e-01 6.12769981e-01 1.57436147e+02] [-2.80565111e-01 -6.65262114e-01 6.91888386e-01 1.35204424e+02] [ 9.24198281e-01 7.35701154e-03 3.81842130e-01 1.32320915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.5971056809999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:157.44, Y:135.21, Z:132.32 [[-2.58291414e-01 7.53184109e-01 6.04978713e-01 1.57436577e+02] [-2.84423616e-01 -6.57760166e-01 6.97463096e-01 1.35205515e+02] [ 9.23249019e-01 8.07849599e-03 3.84117151e-01 1.32316615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.62710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:135.21, Z:132.31 [[-2.55498488e-01 7.48665859e-01 6.11735199e-01 1.57435895e+02] [-2.81391375e-01 -6.62927719e-01 6.93790843e-01 1.35206244e+02] [ 9.24953738e-01 5.12550230e-03 3.80045145e-01 1.32312745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.6571056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.44, Y:135.21, Z:132.32 [[-2.53026779e-01 7.49120597e-01 6.12205668e-01 1.57437313e+02] [-2.77228551e-01 -6.62402950e-01 6.95964556e-01 1.35205045e+02] [ 9.26888224e-01 6.37677953e-03 3.75283303e-01 1.32317020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.68710568099993 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:157.42, Y:135.18, Z:132.32 [[-2.29757245e-01 7.35512563e-01 6.37364008e-01 1.57421411e+02] [-2.60904454e-01 -6.77460492e-01 6.87732613e-01 1.35177853e+02] [ 9.37624912e-01 -8.27955783e-03 3.47549959e-01 1.32320174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7171056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.44, Y:135.21, Z:132.31 [[-2.55249055e-01 7.65398982e-01 5.90772645e-01 1.57441291e+02] [-2.81629522e-01 -6.43373576e-01 7.11867441e-01 1.35205222e+02] [ 9.24950124e-01 1.53244737e-02 3.79779447e-01 1.32314698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.74710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.39, Y:135.16, Z:132.53 [[-2.33644722e-01 7.47506123e-01 6.21807639e-01 1.57387915e+02] [-2.68066595e-01 -6.64244892e-01 6.97795833e-01 1.35159979e+02] [ 9.34639206e-01 -3.64954330e-03 3.55578734e-01 1.32532914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7771056809999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:157.44, Y:135.22, Z:132.30 [[-2.45286405e-01 7.61269745e-01 6.00252409e-01 1.57438745e+02] [-2.89922398e-01 -6.48433884e-01 7.03902338e-01 1.35215254e+02] [ 9.25083554e-01 -1.36894386e-03 3.79761167e-01 1.32304112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.80710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:135.22, Z:132.30 [[-2.36214734e-01 7.63616796e-01 6.00909301e-01 1.57438129e+02] [-3.00797719e-01 -6.45497291e-01 7.02035598e-01 1.35221144e+02] [ 9.23971499e-01 -1.49209945e-02 3.82170161e-01 1.32299845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:135.23, Z:132.28 [[-2.29173265e-01 7.64745439e-01 6.02199326e-01 1.57442232e+02] [-3.07721581e-01 -6.43856446e-01 7.00540009e-01 1.35227604e+02] [ 9.23464695e-01 -2.47646875e-02 3.82883360e-01 1.32279066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.86710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:135.23, Z:132.27 [[-2.17959849e-01 7.69557379e-01 6.00229077e-01 1.57442044e+02] [-3.16980360e-01 -6.37493040e-01 7.02229361e-01 1.35232943e+02] [ 9.23047645e-01 -3.72030234e-02 3.82882462e-01 1.32265383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:135.23, Z:132.26 [[-2.17319935e-01 7.70887293e-01 5.98752726e-01 1.57442905e+02] [-3.17615058e-01 -6.35878005e-01 7.03405884e-01 1.35233443e+02] [ 9.22980347e-01 -3.73087610e-02 3.83034379e-01 1.32262970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.92710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.42, Y:135.23, Z:132.26 [[-2.38801828e-01 7.55348450e-01 6.10264210e-01 1.57417811e+02] [-2.89349162e-01 -6.55247933e-01 6.97801697e-01 1.35226068e+02] [ 9.26957793e-01 -9.94311698e-03 3.75033845e-01 1.32262863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9571056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.43, Y:135.24, Z:132.26 [[-2.13905935e-01 7.39819052e-01 6.37896560e-01 1.57428784e+02] [-3.23190435e-01 -6.69833856e-01 6.68483768e-01 1.35243205e+02] [ 9.21841740e-01 -6.31694215e-02 3.82383879e-01 1.32256292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.98710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.44, Y:135.24, Z:132.26 [[-2.05921469e-01 7.68659670e-01 6.05606028e-01 1.57437884e+02] [-3.21380387e-01 -6.37663758e-01 7.00071123e-01 1.35237052e+02] [ 9.24289454e-01 -5.04702253e-02 3.78340801e-01 1.32258645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0171056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.44, Y:135.23, Z:132.27 [[-2.04695087e-01 7.73182130e-01 6.00241047e-01 1.57440307e+02] [-3.18764540e-01 -6.32452855e-01 7.05969231e-01 1.35230930e+02] [ 9.25466957e-01 -4.68271286e-02 3.75923038e-01 1.32268748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.04710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.45, Y:135.23, Z:132.25 [[-2.08018343e-01 7.75735711e-01 5.95787274e-01 1.57445855e+02] [-3.21278003e-01 -6.29504742e-01 7.07463233e-01 1.35233760e+02] [ 9.23855408e-01 -4.42480162e-02 3.80175353e-01 1.32250535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.45, Y:135.23, Z:132.26 [[-2.05792303e-01 7.71819841e-01 6.01617538e-01 1.57446896e+02] [-3.16559951e-01 -6.34226380e-01 7.05369900e-01 1.35232902e+02] [ 9.25980197e-01 -4.52883222e-02 3.74846158e-01 1.32256940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.1071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.45, Y:135.24, Z:132.24 [[-2.06973916e-01 7.69057539e-01 6.04741515e-01 1.57452886e+02] [-3.17123711e-01 -6.37489712e-01 7.02167657e-01 1.35237840e+02] [ 9.25523825e-01 -4.64474835e-02 3.75830123e-01 1.32238703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.1371056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.46, Y:135.23, Z:132.24 [[-2.11483948e-01 7.71404261e-01 6.00174979e-01 1.57459273e+02] [-3.20689251e-01 -6.34835769e-01 7.02952310e-01 1.35234239e+02] [ 9.23272952e-01 -4.38065344e-02 3.81638630e-01 1.32244881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.1671056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:157.46, Y:135.23, Z:132.26 [[-2.15495841e-01 7.72274803e-01 5.97622934e-01 1.57459341e+02] [-3.14408457e-01 -6.34284886e-01 7.06278986e-01 1.35226529e+02] [ 9.24504659e-01 -3.56975207e-02 3.79495483e-01 1.32264205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.1971056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.44, Y:135.19, Z:132.37 [[-2.25116622e-01 7.65728144e-01 6.02480635e-01 1.57441263e+02] [-3.03244958e-01 -6.42704406e-01 7.03543561e-01 1.35192097e+02] [ 9.25940064e-01 -2.43198652e-02 3.76886643e-01 1.32369796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.2271056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.44, Y:135.17, Z:132.45 [[-2.15375586e-01 7.51818517e-01 6.23203237e-01 1.57437329e+02] [-2.63003862e-01 -6.59257405e-01 7.04420785e-01 1.35174312e+02] [ 9.40447939e-01 -1.21898189e-02 3.39719123e-01 1.32452732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.2571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.42, Y:135.14, Z:132.56 [[-2.27230155e-01 7.63694317e-01 6.04266040e-01 1.57417119e+02] [-2.66040822e-01 -6.45575216e-01 7.15859568e-01 1.35136346e+02] [ 9.36797063e-01 1.90544608e-03 3.49868020e-01 1.32563396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.2871056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.46, Y:135.18, Z:132.39 [[-2.29531148e-01 7.57512403e-01 6.11138619e-01 1.57459736e+02] [-2.46550995e-01 -6.52675762e-01 7.16398601e-01 1.35180142e+02] [ 9.41556190e-01 1.37589585e-02 3.36574853e-01 1.32389277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.47, Y:135.19, Z:132.36 [[-2.29217882e-01 7.60684573e-01 6.07303995e-01 1.57470399e+02] [-2.39749247e-01 -6.48815417e-01 7.22190316e-01 1.35190035e+02] [ 9.43387228e-01 1.99382594e-02 3.31093649e-01 1.32357699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.3471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.42, Y:135.13, Z:132.56 [[-2.30436036e-01 7.59444592e-01 6.08393906e-01 1.57422964e+02] [-2.36633567e-01 -6.50186072e-01 7.21985199e-01 1.35132419e+02] [ 9.43876999e-01 2.24049872e-02 3.29536384e-01 1.32564806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.37710568099993 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.42, Y:135.13, Z:132.56 [[-2.27990781e-01 7.62880889e-01 6.05006573e-01 1.57423473e+02] [-2.42741332e-01 -6.46286165e-01 7.23457558e-01 1.35132877e+02] [ 9.42919323e-01 1.80815522e-02 3.32530011e-01 1.32559788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.4071056809999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:157.47, Y:135.19, Z:132.37 [[-2.29528902e-01 7.70457268e-01 5.94736984e-01 1.57467107e+02] [-2.38019506e-01 -6.36930385e-01 7.33257389e-01 1.35187582e+02] [ 9.43749542e-01 2.67447603e-02 3.29577791e-01 1.32365406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43710568099993 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.46, Y:135.19, Z:132.39 [[-2.25911084e-01 7.69232411e-01 5.97700326e-01 1.57456277e+02] [-2.40413591e-01 -6.38608999e-01 7.31012894e-01 1.35187611e+02] [ 9.44015618e-01 2.14486337e-02 3.29202777e-01 1.32389332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.4671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.45, Y:135.19, Z:132.40 [[-2.27315025e-01 7.74516888e-01 5.90297780e-01 1.57449125e+02] [-2.50091646e-01 -6.32266127e-01 7.33276015e-01 1.35188414e+02] [ 9.41159948e-01 1.90561125e-02 3.37423794e-01 1.32397699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.44, Y:135.19, Z:132.41 [[-2.25224802e-01 7.73829442e-01 5.91998128e-01 1.57442084e+02] [-2.57007561e-01 -6.33275218e-01 7.30006584e-01 1.35187308e+02] [ 9.39798331e-01 1.22675931e-02 3.41509303e-01 1.32409065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5271056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.41, Y:135.20, Z:132.38 [[-2.02514901e-01 7.48895337e-01 6.30986125e-01 1.57409851e+02] [-2.08578155e-01 -6.62538711e-01 7.19400869e-01 1.35198219e+02] [ 9.56808689e-01 1.40794738e-02 2.90377169e-01 1.32383936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.55710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:135.20, Z:132.40 [[-2.11952112e-01 7.91935614e-01 5.72638006e-01 1.57439263e+02] [-2.58762497e-01 -6.10514703e-01 7.48541093e-01 1.35196801e+02] [ 9.42400272e-01 1.04776249e-02 3.34323118e-01 1.32401207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5871056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.44, Y:135.22, Z:132.29 [[-2.38084990e-01 7.92686742e-01 5.61215882e-01 1.57443821e+02] [-2.99731495e-01 -6.09594436e-01 7.33863512e-01 1.35217469e+02] [ 9.23837956e-01 6.50781136e-03 3.82728468e-01 1.32287180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.61710568099994 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:157.43, Y:135.21, Z:132.25 [[-2.07816609e-01 7.61526536e-01 6.13913342e-01 1.57431998e+02] [-2.82653638e-01 -6.47593024e-01 7.07622920e-01 1.35211255e+02] [ 9.36439629e-01 -2.64690437e-02 3.49828832e-01 1.32251474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.6471056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.43, Y:135.22, Z:132.33 [[-2.23627826e-01 7.91036788e-01 5.69430765e-01 1.57428119e+02] [-2.89838978e-01 -6.11768420e-01 7.36024977e-01 1.35216441e+02] [ 9.30582593e-01 -4.47565606e-04 3.66081736e-01 1.32332133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.67710568099994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:157.43, Y:135.23, Z:132.27 [[-2.31627293e-01 7.82922659e-01 5.77391468e-01 1.57431998e+02] [-3.00400735e-01 -6.22090337e-01 7.23023520e-01 1.35231743e+02] [ 9.25261150e-01 -5.97684088e-03 3.79283643e-01 1.32272621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7071056809999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:157.43, Y:135.23, Z:132.23 [[-2.02986612e-01 7.83763491e-01 5.86950786e-01 1.57426265e+02] [-3.32587901e-01 -6.18979520e-01 7.11512222e-01 1.35226376e+02] [ 9.20967819e-01 -5.07852749e-02 3.86314810e-01 1.32233658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.73710568099995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:157.44, Y:135.23, Z:132.27 [[-2.29125556e-01 8.22686233e-01 5.20277658e-01 1.57441581e+02] [-3.06961712e-01 -5.68292060e-01 7.63425597e-01 1.35232260e+02] [ 9.23729391e-01 1.52149936e-02 3.82743409e-01 1.32266898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7671056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.42, Y:135.24, Z:132.27 [[-2.32772119e-01 7.79089800e-01 5.82096405e-01 1.57423973e+02] [-2.98692604e-01 -6.26879995e-01 7.19586131e-01 1.35241454e+02] [ 9.25526806e-01 -6.36830263e-03 3.78628545e-01 1.32269483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.79710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.43, Y:135.24, Z:132.27 [[-2.35316003e-01 7.81653671e-01 5.77619181e-01 1.57425910e+02] [-2.99077394e-01 -6.23706364e-01 7.22179398e-01 1.35243244e+02] [ 9.24758937e-01 -2.81247022e-03 3.80543031e-01 1.32265041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.8271056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.43, Y:135.25, Z:132.26 [[-2.40781850e-01 7.79776812e-01 5.77903299e-01 1.57425726e+02] [-2.94598501e-01 -6.26047288e-01 7.21994817e-01 1.35245323e+02] [ 9.24789611e-01 3.59380250e-03 3.80461904e-01 1.32257732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.8571056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.43, Y:135.25, Z:132.25 [[-2.45945762e-01 7.77261296e-01 5.79116188e-01 1.57428075e+02] [-2.88018667e-01 -6.29085604e-01 7.22008692e-01 1.35247192e+02] [ 9.25503068e-01 1.07787054e-02 3.78586701e-01 1.32253672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.8871056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.43, Y:135.25, Z:132.25 [[-2.47235398e-01 7.78684415e-01 5.76650016e-01 1.57429896e+02] [-2.85239483e-01 -6.27243791e-01 7.24709366e-01 1.35248502e+02] [ 9.26020030e-01 1.46904559e-02 3.77188408e-01 1.32248464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.9171056809999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:157.43, Y:135.25, Z:132.23 [[-2.48473917e-01 7.80645667e-01 5.73457108e-01 1.57432804e+02] [-2.83077410e-01 -6.24700192e-01 7.27747793e-01 1.35252780e+02] [ 9.26351927e-01 1.84935919e-02 3.76204857e-01 1.32234039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.9471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.38, Y:135.20, Z:132.46 [[-2.39579258e-01 7.80986145e-01 5.76768950e-01 1.57384846e+02] [-2.68359416e-01 -6.24195001e-01 7.33732802e-01 1.35196686e+02] [ 9.33051447e-01 2.10057818e-02 3.59129161e-01 1.32455411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.9771056809999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:157.42, Y:135.25, Z:132.25 [[-2.48982482e-01 7.84844390e-01 5.67474234e-01 1.57424848e+02] [-2.81030542e-01 -6.19263382e-01 7.33167578e-01 1.35250726e+02] [ 9.26838475e-01 2.30682917e-02 3.74750978e-01 1.32252746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.0071056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.42, Y:135.26, Z:132.25 [[-2.44912254e-01 7.82768550e-01 5.72093860e-01 1.57422842e+02] [-2.80611778e-01 -6.22038236e-01 7.30975692e-01 1.35256528e+02] [ 9.28049039e-01 1.84886296e-02 3.71998861e-01 1.32247819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.0371056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.43, Y:135.26, Z:132.23 [[-2.48966431e-01 7.90658989e-01 5.59351481e-01 1.57425099e+02] [-2.84774503e-01 -6.11768469e-01 7.37999202e-01 1.35260500e+02] [ 9.25699302e-01 2.44479875e-02 3.77469333e-01 1.32234848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.06710568099993 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.42, Y:135.27, Z:132.24 [[-2.47776028e-01 7.86639089e-01 5.65513911e-01 1.57417880e+02] [-2.86265021e-01 -6.17097937e-01 7.32968263e-01 1.35266761e+02] [ 9.25558954e-01 1.97251136e-02 3.78089331e-01 1.32235514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.0971056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.42, Y:135.27, Z:132.23 [[-2.49781632e-01 7.90874478e-01 5.58683002e-01 1.57416336e+02] [-2.88278122e-01 -6.11546473e-01 7.36821984e-01 1.35271488e+02] [ 9.24394321e-01 2.29885111e-02 3.80744885e-01 1.32227533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.12710568099993 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:157.41, Y:135.28, Z:132.22 [[-2.49999726e-01 7.88137471e-01 5.62440631e-01 1.57414252e+02] [-2.89213539e-01 -6.15151199e-01 7.33447020e-01 1.35275404e+02] [ 9.24043108e-01 2.06961084e-02 3.81727659e-01 1.32221127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.1571056809999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:157.41, Y:135.28, Z:132.22 [[-2.51862650e-01 7.90394247e-01 5.58428277e-01 1.57410904e+02] [-2.91248393e-01 -6.12184864e-01 7.35121804e-01 1.35280671e+02] [ 9.22897383e-01 2.25083868e-02 3.84387556e-01 1.32217159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.18710568099993 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:157.41, Y:135.28, Z:132.21 [[-2.48808903e-01 7.88458950e-01 5.62518101e-01 1.57407761e+02] [-2.90441943e-01 -6.14791890e-01 7.33262852e-01 1.35283319e+02] [ 9.23979225e-01 1.90634752e-02 3.81967245e-01 1.32214144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2171056809999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:157.40, Y:135.29, Z:132.21 [[-2.44918522e-01 7.93255401e-01 5.57459224e-01 1.57404093e+02] [-2.91512046e-01 -6.08615851e-01 7.37975252e-01 1.35285966e+02] [ 9.24681375e-01 1.82377293e-02 3.80304800e-01 1.32208583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.24710568099994 meters Centerline goodness : 0.997008 Centerline is valid? [True, True] Translation: X:157.39, Y:135.26, Z:132.21 [[-2.16162915e-01 7.78572495e-01 5.89150630e-01 1.57387640e+02] [-2.86591532e-01 -6.27433317e-01 7.24011551e-01 1.35259745e+02] [ 9.33348214e-01 -1.23411347e-02 3.58760099e-01 1.32211968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2771056809999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:157.40, Y:135.28, Z:132.22 [[-2.31222921e-01 8.13641778e-01 5.33406992e-01 1.57399442e+02] [-2.97708699e-01 -5.81137223e-01 7.57396237e-01 1.35282473e+02] [ 9.26231878e-01 1.63274686e-02 3.76600481e-01 1.32222927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.30710568099994 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:157.40, Y:135.29, Z:132.23 [[-2.26670601e-01 8.00282880e-01 5.55128589e-01 1.57395144e+02] [-2.99405748e-01 -5.99619242e-01 7.42167746e-01 1.35289971e+02] [ 9.26809925e-01 2.01891858e-03 3.75525348e-01 1.32225551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3371056809999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:157.39, Y:135.29, Z:132.22 [[-2.22175295e-01 8.01715977e-01 5.54878032e-01 1.57393872e+02] [-3.08317017e-01 -5.97668209e-01 7.40090082e-01 1.35294106e+02] [ 9.24975003e-01 -6.64860708e-03 3.79969789e-01 1.32223960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.36710568099994 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:157.39, Y:135.29, Z:132.23 [[-2.20826156e-01 8.02733785e-01 5.53944293e-01 1.57391273e+02] [-3.12521542e-01 -5.96256584e-01 7.39464922e-01 1.35292454e+02] [ 9.23886408e-01 -9.82632821e-03 3.82540650e-01 1.32230200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3971056809999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:157.39, Y:135.29, Z:132.23 [[-2.12810419e-01 8.02504901e-01 5.57402557e-01 1.57388733e+02] [-3.17593635e-01 -5.96305827e-01 7.37260906e-01 1.35292415e+02] [ 9.24037883e-01 -2.01307021e-02 3.81770541e-01 1.32233873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.42710568099994 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:157.39, Y:135.29, Z:132.23 [[-2.05783587e-01 8.04125229e-01 5.57705775e-01 1.57388571e+02] [-3.20502779e-01 -5.93851831e-01 7.37982366e-01 1.35292809e+02] [ 9.24624834e-01 -2.68815923e-02 3.79929330e-01 1.32230648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4571056809999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:157.39, Y:135.30, Z:132.21 [[-1.95702474e-01 8.08391334e-01 5.55161231e-01 1.57391281e+02] [-3.26308679e-01 -5.87528986e-01 7.40494657e-01 1.35295516e+02] [ 9.24782779e-01 -3.62372916e-02 3.78765984e-01 1.32213855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.48710568099995 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:157.39, Y:135.30, Z:132.21 [[-1.90456025e-01 8.11263711e-01 5.52790823e-01 1.57393543e+02] [-3.31417125e-01 -5.83173605e-01 7.41667874e-01 1.35295237e+02] [ 9.24061249e-01 -4.19492301e-02 3.79935614e-01 1.32207879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5171056809999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:157.40, Y:135.30, Z:132.20 [[-1.88093850e-01 8.12265233e-01 5.52128513e-01 1.57395318e+02] [-3.34374760e-01 -5.81540276e-01 7.41622833e-01 1.35295416e+02] [ 9.23479411e-01 -4.51231449e-02 3.80985142e-01 1.32201139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.54710568099995 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:157.40, Y:135.29, Z:132.20 [[-1.86184426e-01 8.14130656e-01 5.50024213e-01 1.57397305e+02] [-3.34910237e-01 -5.78873747e-01 7.43465076e-01 1.35294738e+02] [ 9.23672287e-01 -4.57871214e-02 3.80437967e-01 1.32200865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5771056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:157.40, Y:135.29, Z:132.19 [[-1.86232267e-01 8.15897177e-01 5.47384088e-01 1.57404023e+02] [-3.34765865e-01 -5.76487339e-01 7.45381891e-01 1.35293919e+02] [ 9.23714977e-01 -4.44313484e-02 3.80495068e-01 1.32191964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.6071056809999 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:157.41, Y:135.29, Z:132.19 [[-1.86559041e-01 8.15520193e-01 5.47834408e-01 1.57407567e+02] [-3.34647311e-01 -5.77027412e-01 7.45017143e-01 1.35293258e+02] [ 9.23691995e-01 -4.43416285e-02 3.80561320e-01 1.32185207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.6371056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.41, Y:135.29, Z:132.18 [[-1.90247670e-01 8.18022234e-01 5.42812535e-01 1.57414186e+02] [-3.31996207e-01 -5.73943408e-01 7.48576972e-01 1.35286722e+02] [ 9.23896284e-01 -3.77966782e-02 3.80771675e-01 1.32184438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.6671056809999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:157.42, Y:135.28, Z:132.19 [[-1.92937841e-01 8.16490083e-01 5.44168111e-01 1.57418303e+02] [-3.30368758e-01 -5.76263797e-01 7.47513558e-01 1.35279641e+02] [ 9.23921790e-01 -3.55524911e-02 3.80925907e-01 1.32193909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.6971056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.43, Y:135.28, Z:132.18 [[-1.94733319e-01 8.18983632e-01 5.39763601e-01 1.57425826e+02] [-3.33104132e-01 -5.72811571e-01 7.48951629e-01 1.35281475e+02] [ 9.22561961e-01 -3.39516494e-02 3.84352330e-01 1.32179823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.7271056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:157.44, Y:135.28, Z:132.17 [[-1.94858096e-01 8.21056377e-01 5.36560107e-01 1.57439373e+02] [-3.37540420e-01 -5.69766620e-01 7.49287971e-01 1.35281764e+02] [ 9.20921705e-01 -3.51058969e-02 3.88163353e-01 1.32169461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.7571056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.44, Y:135.28, Z:132.17 [[-1.92040450e-01 8.21409740e-01 5.37034919e-01 1.57443177e+02] [-3.39706962e-01 -5.69029374e-01 7.48868981e-01 1.35279440e+02] [ 9.20716919e-01 -3.86213645e-02 3.88315264e-01 1.32169565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.7871056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.44, Y:135.28, Z:132.17 [[-1.91160721e-01 8.24241431e-01 5.32994974e-01 1.57444443e+02] [-3.40252598e-01 -5.64984666e-01 7.51678453e-01 1.35279639e+02] [ 9.20698511e-01 -3.76615294e-02 3.88453164e-01 1.32167173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.81710568099993 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:157.45, Y:135.27, Z:132.17 [[-1.88508941e-01 8.27832146e-01 5.28354348e-01 1.57448483e+02] [-3.45177079e-01 -5.59524185e-01 7.53515408e-01 1.35273834e+02] [ 9.19411313e-01 -4.03314188e-02 3.91223994e-01 1.32166228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.8471056809999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:157.45, Y:135.28, Z:132.15 [[-1.84096234e-01 8.24868283e-01 5.34509955e-01 1.57452671e+02] [-3.42039382e-01 -5.63578916e-01 7.51922780e-01 1.35276802e+02] [ 9.21475793e-01 -4.43973030e-02 3.85890194e-01 1.32152966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.87710568099993 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:157.46, Y:135.27, Z:132.16 [[-1.83800148e-01 8.31458721e-01 5.24303253e-01 1.57460792e+02] [-3.45384473e-01 -5.54007334e-01 7.57486264e-01 1.35268777e+02] [ 9.20286407e-01 -4.18601155e-02 3.88999562e-01 1.32159322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.9071056809999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:157.46, Y:135.27, Z:132.16 [[-1.82289996e-01 8.27009162e-01 5.31814068e-01 1.57464819e+02] [-3.42179070e-01 -5.60425257e-01 7.54212845e-01 1.35266289e+02] [ 9.21782969e-01 -4.44901872e-02 3.85145144e-01 1.32162272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93710568099993 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:157.48, Y:135.26, Z:132.16 [[-1.81628550e-01 8.27091843e-01 5.31911791e-01 1.57476664e+02] [-3.39318831e-01 -5.60399311e-01 7.55523225e-01 1.35259979e+02] [ 9.22970097e-01 -4.32630990e-02 3.82432352e-01 1.32160976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.9671056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.48, Y:135.26, Z:132.16 [[-1.82421775e-01 8.28458297e-01 5.29508401e-01 1.57481975e+02] [-3.38628216e-01 -5.58535140e-01 7.57211614e-01 1.35256715e+02] [ 9.23067293e-01 -4.11745989e-02 3.82428327e-01 1.32164137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99710568099994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.49, Y:135.25, Z:132.17 [[-1.82605455e-01 8.28407900e-01 5.29523937e-01 1.57492539e+02] [-3.35012913e-01 -5.58775302e-01 7.58641226e-01 1.35252349e+02] [ 9.24349282e-01 -3.88653303e-02 3.79562762e-01 1.32171692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0271056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.50, Y:135.25, Z:132.16 [[-1.82443424e-01 8.31085556e-01 5.25367677e-01 1.57500973e+02] [-3.33806310e-01 -5.54955078e-01 7.61969952e-01 1.35252813e+02] [ 9.24817682e-01 -3.63546386e-02 3.78669508e-01 1.32159959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.05710568099994 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:157.51, Y:135.25, Z:132.16 [[-1.83134519e-01 8.32387502e-01 5.23060986e-01 1.57514865e+02] [-3.27606108e-01 -5.53320385e-01 7.65839924e-01 1.35246036e+02] [ 9.26895887e-01 -3.11062480e-02 3.74027292e-01 1.32156575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0871056809999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:157.52, Y:135.23, Z:132.17 [[-1.88848174e-01 8.35030874e-01 5.16778296e-01 1.57522191e+02] [-3.25002454e-01 -5.49737437e-01 7.69520731e-01 1.35232849e+02] [ 9.26665944e-01 -2.26316299e-02 3.75203994e-01 1.32170182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.11710568099994 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:157.53, Y:135.23, Z:132.17 [[-1.89681179e-01 8.33003015e-01 5.19737460e-01 1.57528243e+02] [-3.22909077e-01 -5.52826202e-01 7.68188075e-01 1.35232124e+02] [ 9.27227469e-01 -2.21171236e-02 3.73844960e-01 1.32167459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.1471056809999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:157.48, Y:135.15, Z:132.45 [[-1.73455349e-01 8.29000684e-01 5.31668231e-01 1.57483488e+02] [-3.05977646e-01 -5.58498154e-01 7.71010695e-01 1.35152749e+02] [ 9.36104119e-01 -2.89426644e-02 3.50530171e-01 1.32449246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.17710568099994 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:157.56, Y:135.23, Z:132.14 [[-1.92206930e-01 8.40069550e-01 5.07286553e-01 1.57557862e+02] [-3.18260493e-01 -5.42345962e-01 7.77541714e-01 1.35233434e+02] [ 9.28313931e-01 -1.20003629e-02 3.71603602e-01 1.32141712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2071056809999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:157.57, Y:135.23, Z:132.14 [[-1.94190779e-01 8.35124947e-01 5.14641879e-01 1.57565289e+02] [-3.13777914e-01 -5.49946736e-01 7.74016802e-01 1.35227323e+02] [ 9.29426362e-01 -1.11763295e-02 3.68838349e-01 1.32138509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.23710568099995 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:157.58, Y:135.23, Z:132.11 [[-1.89082735e-01 8.36751301e-01 5.13901722e-01 1.57576204e+02] [-3.11187500e-01 -5.47428006e-01 7.76842917e-01 1.35233797e+02] [ 9.31348517e-01 -1.30322084e-02 3.63895730e-01 1.32113211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2671056809999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:157.51, Y:135.13, Z:132.47 [[-1.75453066e-01 8.33091881e-01 5.24570434e-01 1.57513369e+02] [-2.87068894e-01 -5.52973473e-01 7.82183986e-01 1.35131503e+02] [ 9.41704663e-01 -1.33512761e-02 3.36175656e-01 1.32472922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2971056809999 meters Centerline goodness : 0.998395 Centerline is valid? [True, True] Translation: X:157.59, Y:135.22, Z:132.12 [[-1.82788513e-01 8.43443053e-01 5.05165494e-01 1.57587898e+02] [-2.99293667e-01 -5.37172355e-01 7.88586813e-01 1.35221624e+02] [ 9.36489007e-01 -7.04822202e-03 3.50626100e-01 1.32124200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.3271056809999 meters Centerline goodness : 0.997900 Centerline is valid? [True, True] Translation: X:157.60, Y:135.22, Z:132.10 [[-1.79637068e-01 8.46797021e-01 5.00664887e-01 1.57601661e+02] [-3.01318969e-01 -5.31845154e-01 7.91421260e-01 1.35222445e+02] [ 9.36449359e-01 -8.69123315e-03 3.50695109e-01 1.32099088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.3571056809999 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:157.60, Y:135.22, Z:132.11 [[-1.79051946e-01 8.48648193e-01 4.97731498e-01 1.57603849e+02] [-2.99513088e-01 -5.28912719e-01 7.94067532e-01 1.35219467e+02] [ 9.37140497e-01 -6.89776066e-03 3.48884093e-01 1.32109984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.3871056809999 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:157.60, Y:135.21, Z:132.12 [[-1.90180356e-01 8.50913226e-01 4.89671435e-01 1.57602941e+02] [-3.10435830e-01 -5.25304570e-01 7.92265551e-01 1.35211320e+02] [ 9.31375879e-01 -1.33821357e-03 3.64056564e-01 1.32118953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.4171056809999 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:157.61, Y:135.22, Z:132.10 [[-1.80139520e-01 8.39733390e-01 5.12247584e-01 1.57608994e+02] [-3.04682366e-01 -5.42789327e-01 7.82654715e-01 1.35221699e+02] [ 9.35263818e-01 -1.50857614e-02 3.53629764e-01 1.32096003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.4471056809999 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:157.61, Y:135.22, Z:132.11 [[-1.76353307e-01 8.48487545e-01 4.98967331e-01 1.57613222e+02] [-3.03430110e-01 -5.29087142e-01 7.92462595e-01 1.35217758e+02] [ 9.36391841e-01 -1.16483135e-02 3.50762936e-01 1.32109604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.4771056809999 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:157.61, Y:135.21, Z:132.12 [[-1.74769427e-01 8.50099846e-01 4.96775502e-01 1.57614068e+02] [-3.04499919e-01 -5.26472284e-01 7.93792627e-01 1.35212888e+02] [ 9.36341523e-01 -1.25374178e-02 3.50866593e-01 1.32118644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.5071056809999 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:157.62, Y:135.22, Z:132.10 [[-1.71341599e-01 8.48859022e-01 5.00080410e-01 1.57618290e+02] [-3.05356256e-01 -5.28347060e-01 7.92216474e-01 1.35216027e+02] [ 9.36696116e-01 -1.69630447e-02 3.49732243e-01 1.32104802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.5371056809999 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:157.63, Y:135.22, Z:132.08 [[-1.63514165e-01 8.50554689e-01 4.99819806e-01 1.57627715e+02] [-3.08865776e-01 -5.25304799e-01 7.92878806e-01 1.35220570e+02] [ 9.36944529e-01 -2.47303166e-02 3.48602010e-01 1.32082001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.56710568099993 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:157.63, Y:135.22, Z:132.08 [[-1.60255714e-01 8.56677777e-01 4.90327740e-01 1.57633123e+02] [-3.12953086e-01 -5.15217044e-01 7.97879542e-01 1.35221373e+02] [ 9.36150881e-01 -2.55848238e-02 3.50666429e-01 1.32083351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.5971056809999 meters Centerline goodness : 0.997781 Centerline is valid? [True, True] Translation: X:157.61, Y:135.20, Z:132.10 [[-1.58176665e-01 8.45737019e-01 5.09616559e-01 1.57610329e+02] [-2.92088636e-01 -5.33092959e-01 7.94037862e-01 1.35202634e+02] [ 9.43220214e-01 -2.32549454e-02 3.31353039e-01 1.32098481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.62710568099993 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:157.64, Y:135.22, Z:132.08 [[-1.42233433e-01 8.57329170e-01 4.94728557e-01 1.57640681e+02] [-3.16174580e-01 -5.12976956e-01 7.98052804e-01 1.35218767e+02] [ 9.37978297e-01 -4.29108041e-02 3.44028163e-01 1.32082771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.6571056809999 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:157.65, Y:135.22, Z:132.05 [[-1.37123675e-01 8.60766665e-01 4.90181442e-01 1.57651341e+02] [-3.23050718e-01 -5.06660222e-01 7.99333255e-01 1.35223025e+02] [ 9.36394859e-01 -4.87459529e-02 3.47546401e-01 1.32052052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.68710568099993 meters Centerline goodness : 0.997302 Centerline is valid? [True, True] Translation: X:157.66, Y:135.22, Z:132.05 [[-1.35767512e-01 8.59964662e-01 4.91963376e-01 1.57658343e+02] [-3.27085346e-01 -5.07625669e-01 7.97076757e-01 1.35217255e+02] [ 9.35191082e-01 -5.26968827e-02 3.50200913e-01 1.32046548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7171056809999 meters Centerline goodness : 0.997656 Centerline is valid? [True, True] Translation: X:157.66, Y:135.21, Z:132.05 [[-1.34462926e-01 8.54950032e-01 5.00979205e-01 1.57660909e+02] [-3.25820876e-01 -5.15605089e-01 7.92459557e-01 1.35212866e+02] [ 9.35820751e-01 -5.66730526e-02 3.47890338e-01 1.32051191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.74710568099994 meters Centerline goodness : 0.997848 Centerline is valid? [True, True] Translation: X:157.67, Y:135.21, Z:132.04 [[-1.42596934e-01 8.58890941e-01 4.91906969e-01 1.57673134e+02] [-3.32512486e-01 -5.09671445e-01 7.93517779e-01 1.35207147e+02] [ 9.32256167e-01 -5.04120067e-02 3.58269548e-01 1.32040812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7771056809999 meters Centerline goodness : 0.997063 Centerline is valid? [True, True] Translation: X:157.67, Y:135.20, Z:132.05 [[-1.41947214e-01 8.47255154e-01 5.11868823e-01 1.57668931e+02] [-3.29553989e-01 -5.28054750e-01 7.82657236e-01 1.35195810e+02] [ 9.33405141e-01 -5.75923981e-02 3.54172216e-01 1.32054194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.80710568099994 meters Centerline goodness : 0.996999 Centerline is valid? [True, True] Translation: X:157.68, Y:135.19, Z:132.05 [[-1.43313957e-01 8.53512998e-01 5.00975721e-01 1.57679336e+02] [-3.28594932e-01 -5.18521771e-01 7.89405184e-01 1.35194734e+02] [ 9.33534402e-01 -5.14853021e-02 3.54771453e-01 1.32052904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.8371056809999 meters Centerline goodness : 0.996410 Centerline is valid? [True, True] Translation: X:157.69, Y:135.19, Z:132.04 [[-1.36769521e-01 8.54251531e-01 5.01546030e-01 1.57693403e+02] [-3.37132227e-01 -5.16220377e-01 7.87310856e-01 1.35191729e+02] [ 9.31469785e-01 -6.14072014e-02 3.58598935e-01 1.32041534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.86710568099994 meters Centerline goodness : 0.996206 Centerline is valid? [True, True] Translation: X:157.71, Y:135.18, Z:132.06 [[-1.58217620e-01 8.64716041e-01 4.76689997e-01 1.57712064e+02] [-3.23200195e-01 -5.01529618e-01 8.02502135e-01 1.35179320e+02] [ 9.33010621e-01 -2.70963219e-02 3.58827215e-01 1.32060044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.8971056809999 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:157.68, Y:135.14, Z:132.06 [[-1.56574642e-01 8.25209900e-01 5.42690522e-01 1.57682044e+02] [-3.03066281e-01 -5.63102325e-01 7.68808559e-01 1.35138038e+02] [ 9.40018729e-01 -4.40952734e-02 3.38260841e-01 1.32058642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.92710568099994 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:157.72, Y:135.16, Z:132.07 [[-1.65036815e-01 8.48828844e-01 5.02247393e-01 1.57721707e+02] [-3.25068750e-01 -5.27590196e-01 7.84843228e-01 1.35159639e+02] [ 9.31178371e-01 -3.37369057e-02 3.62999537e-01 1.32066070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9571056809999 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:157.73, Y:135.14, Z:132.09 [[-1.72189311e-01 8.43380648e-01 5.08979297e-01 1.57728628e+02] [-3.07857982e-01 -5.36888535e-01 7.85477030e-01 1.35140584e+02] [ 9.35721275e-01 -2.14425905e-02 3.52087931e-01 1.32088840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.98710568099995 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:157.73, Y:135.14, Z:132.08 [[-1.71989877e-01 8.34062375e-01 5.24175005e-01 1.57730334e+02] [-3.09150674e-01 -5.50921790e-01 7.75184521e-01 1.35135604e+02] [ 9.35331676e-01 -2.87251656e-02 3.52603916e-01 1.32080110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0171056809999 meters Centerline goodness : 0.993957 Centerline is valid? [True, True] Translation: X:157.69, Y:135.11, Z:132.09 [[-1.74728121e-01 8.09212975e-01 5.60931765e-01 1.57694465e+02] [-2.52527723e-01 -5.87469892e-01 7.68836052e-01 1.35111149e+02] [ 9.51682633e-01 -7.31354290e-03 3.06996220e-01 1.32087101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0471056809999 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:157.75, Y:135.12, Z:132.10 [[-1.95078658e-01 8.44902164e-01 4.98080968e-01 1.57750337e+02] [-2.93694317e-01 -5.34856951e-01 7.92257339e-01 1.35117481e+02] [ 9.35782008e-01 8.26894849e-03 3.52482140e-01 1.32101274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0771056809999 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:157.73, Y:135.09, Z:132.11 [[-2.22727032e-01 8.11348917e-01 5.40467950e-01 1.57725925e+02] [-2.85088587e-01 -5.84366115e-01 7.59763609e-01 1.35093670e+02] [ 9.32264537e-01 1.51386498e-02 3.61460447e-01 1.32109024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.1071056809999 meters Centerline goodness : 0.995649 Centerline is valid? [True, True] Translation: X:157.73, Y:135.09, Z:132.09 [[-1.84319037e-01 7.86588556e-01 5.89325832e-01 1.57732708e+02] [-2.99156205e-01 -6.16048193e-01 7.28690737e-01 1.35094897e+02] [ 9.36232908e-01 -4.19889043e-02 3.48862257e-01 1.32091698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.1371056809999 meters Centerline goodness : 0.996401 Centerline is valid? [True, True] Translation: X:157.78, Y:135.10, Z:132.11 [[-1.86684461e-01 8.38733111e-01 5.11542452e-01 1.57777108e+02] [-2.98411276e-01 -5.44506128e-01 7.83877406e-01 1.35103135e+02] [ 9.36001935e-01 -6.31230440e-03 3.51938251e-01 1.32113397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.1671056809999 meters Centerline goodness : 0.996745 Centerline is valid? [True, True] Translation: X:157.79, Y:135.11, Z:132.09 [[-1.90887872e-01 8.41385730e-01 5.05600508e-01 1.57788242e+02] [-3.00391780e-01 -5.40431885e-01 7.85937756e-01 1.35109683e+02] [ 9.34519448e-01 -1.85225051e-03 3.55907249e-01 1.32091813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.1971056809999 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:157.80, Y:135.11, Z:132.08 [[-1.96181281e-01 8.42353862e-01 5.01949077e-01 1.57800236e+02] [-3.03094851e-01 -5.38920937e-01 7.85937488e-01 1.35108629e+02] [ 9.32548345e-01 2.04804306e-03 3.61039318e-01 1.32083170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.2271056809999 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:157.78, Y:135.09, Z:132.09 [[-1.80147691e-01 8.31450735e-01 5.25582044e-01 1.57780833e+02] [-2.84692139e-01 -5.55527355e-01 7.81242436e-01 1.35093148e+02] [ 9.41539800e-01 -8.89005526e-03 3.36784458e-01 1.32086794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.2571056809999 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:157.80, Y:135.10, Z:132.08 [[-1.79938934e-01 8.56958429e-01 4.82953653e-01 1.57802973e+02] [-2.77497384e-01 -5.15248385e-01 8.10872557e-01 1.35101555e+02] [ 9.43725163e-01 1.18891679e-02 3.30516967e-01 1.32076405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.2871056809999 meters Centerline goodness : 0.997971 Centerline is valid? [True, True] Translation: X:157.83, Y:135.11, Z:132.09 [[-1.97174270e-01 8.68060771e-01 4.55623535e-01 1.57830234e+02] [-3.02093476e-01 -4.95930315e-01 8.14120786e-01 1.35108710e+02] [ 9.32663841e-01 2.28827742e-02 3.60020193e-01 1.32087852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.31710568099993 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:157.82, Y:135.10, Z:132.07 [[-2.02167945e-01 8.39572773e-01 5.04227807e-01 1.57821026e+02] [-3.00876850e-01 -5.43205220e-01 7.83837490e-01 1.35096542e+02] [ 9.31987791e-01 6.75634062e-03 3.62426694e-01 1.32066804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.3471056809999 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:157.82, Y:135.10, Z:132.06 [[-2.01955444e-01 8.35019714e-01 5.11816448e-01 1.57822781e+02] [-3.01788745e-01 -5.50213012e-01 7.78581528e-01 1.35096046e+02] [ 9.31738994e-01 2.77833450e-03 3.63118064e-01 1.32059061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.37710568099993 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:157.83, Y:135.10, Z:132.04 [[-2.00705826e-01 8.35068969e-01 5.12227477e-01 1.57831171e+02] [-3.02934924e-01 -5.50144333e-01 7.78184840e-01 1.35100291e+02] [ 9.31637056e-01 1.01463911e-03 3.63388727e-01 1.32036232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.4071056809999 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:157.84, Y:135.10, Z:132.04 [[-2.01483959e-01 8.44608122e-01 4.96025537e-01 1.57842303e+02] [-3.09072761e-01 -5.35361042e-01 7.86042354e-01 1.35101212e+02] [ 9.29450506e-01 5.06694326e-03 3.68912027e-01 1.32038092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43710568099993 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:157.84, Y:135.10, Z:132.03 [[-1.99242332e-01 8.40575786e-01 5.03720996e-01 1.57840079e+02] [-3.10497753e-01 -5.41693414e-01 7.81127001e-01 1.35099093e+02] [ 9.29458788e-01 -7.70672136e-04 3.68925152e-01 1.32032104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.4671056809999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:157.85, Y:135.10, Z:132.01 [[-2.00821478e-01 8.42082925e-01 5.00566760e-01 1.57847867e+02] [-3.08964535e-01 -5.39341527e-01 7.83359199e-01 1.35103132e+02] [ 9.29629846e-01 2.65797627e-03 3.68485122e-01 1.32012384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49710568099994 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:157.84, Y:135.10, Z:132.00 [[-1.89806077e-01 8.29236796e-01 5.25680501e-01 1.57840872e+02] [-3.13358523e-01 -5.58575791e-01 7.67984063e-01 1.35098676e+02] [ 9.30473046e-01 -1.89584230e-02 3.65869498e-01 1.31999200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5271056809999 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:157.88, Y:135.15, Z:131.86 [[-1.92552863e-01 8.43679989e-01 5.01126202e-01 1.57884724e+02] [-3.15132459e-01 -5.36797867e-01 7.82649081e-01 1.35150357e+02] [ 9.29308845e-01 -7.21981103e-03 3.69232915e-01 1.31855628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.55710568099994 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:157.81, Y:135.02, Z:132.26 [[-1.70423853e-01 8.40487414e-01 5.14331233e-01 1.57806996e+02] [-3.05442169e-01 -5.41317204e-01 7.83377793e-01 1.35020584e+02] [ 9.36835520e-01 -2.35921856e-02 3.48973662e-01 1.32259735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5871056809999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:157.89, Y:135.15, Z:131.85 [[-1.75927013e-01 8.45164474e-01 5.04724379e-01 1.57887747e+02] [-3.16807878e-01 -5.34053364e-01 7.83849331e-01 1.35150583e+02] [ 9.32031359e-01 -2.20003875e-02 3.61709176e-01 1.31846755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.61710568099994 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:157.88, Y:135.14, Z:131.88 [[-1.69911154e-01 8.40755669e-01 5.14062355e-01 1.57884663e+02] [-3.06563788e-01 -5.40859697e-01 7.83255662e-01 1.35141681e+02] [ 9.36562248e-01 -2.45090301e-02 3.49643338e-01 1.31884213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.6471056809999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:157.89, Y:135.15, Z:131.85 [[-1.75347070e-01 8.45922793e-01 5.03654677e-01 1.57893719e+02] [-3.21196226e-01 -5.32743091e-01 7.82954522e-01 1.35149136e+02] [ 9.30637625e-01 -2.44831996e-02 3.65122149e-01 1.31851062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.67710568099994 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:157.84, Y:135.04, Z:132.08 [[-1.38357023e-01 8.17619158e-01 5.58888402e-01 1.57836665e+02] [-2.80335681e-01 -5.73568236e-01 7.69695644e-01 1.35037963e+02] [ 9.49878540e-01 -5.01835633e-02 3.08565017e-01 1.32078816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7071056809999 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:157.85, Y:135.04, Z:132.08 [[-1.38790157e-01 8.30002828e-01 5.40215326e-01 1.57846485e+02] [-2.79615643e-01 -5.56142938e-01 7.82636649e-01 1.35044186e+02] [ 9.50027571e-01 -4.24303922e-02 3.09268940e-01 1.32080802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.73710568099995 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:157.89, Y:135.14, Z:131.86 [[-1.62556857e-01 8.30551365e-01 5.32690997e-01 1.57887719e+02] [-3.03672077e-01 -5.55779673e-01 7.73881273e-01 1.35137802e+02] [ 9.38806976e-01 -3.59636744e-02 3.42561055e-01 1.31863834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7671056809999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:157.91, Y:135.15, Z:131.85 [[-1.64520606e-01 8.51161354e-01 4.98454932e-01 1.57905784e+02] [-3.16341633e-01 -5.24178019e-01 7.90674001e-01 1.35150323e+02] [ 9.34270272e-01 -2.75998817e-02 3.55495858e-01 1.31847143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7971056809999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:157.88, Y:135.13, Z:131.84 [[-1.48699389e-01 8.37712521e-01 5.25477139e-01 1.57884341e+02] [-3.02221629e-01 -5.44458275e-01 7.82449534e-01 1.35131599e+02] [ 9.41568149e-01 -4.24607889e-02 3.34135456e-01 1.31838519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.8271056809999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:157.93, Y:135.16, Z:131.86 [[-1.53425078e-01 8.80171300e-01 4.49176167e-01 1.57932467e+02] [-3.15090169e-01 -4.74405698e-01 8.21983831e-01 1.35163254e+02] [ 9.36578310e-01 -1.54180604e-02 3.50119055e-01 1.31862045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.8571056809999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:157.92, Y:135.15, Z:131.85 [[-1.53702343e-01 8.56765252e-01 4.92269127e-01 1.57916221e+02] [-3.17035462e-01 -5.14609663e-01 7.96658905e-01 1.35147752e+02] [ 9.35876117e-01 -3.36184295e-02 3.50721678e-01 1.31854202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.8871056809999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:157.92, Y:135.15, Z:131.84 [[-1.39711579e-01 8.45293537e-01 5.15712624e-01 1.57923715e+02] [-2.97532326e-01 -5.32589990e-01 7.92352458e-01 1.35152448e+02] [ 9.44433793e-01 -4.27403634e-02 3.25911141e-01 1.31842824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.9171056809999 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:157.93, Y:135.15, Z:131.86 [[-1.49673810e-01 8.69906817e-01 4.69957317e-01 1.57930091e+02] [-2.92108115e-01 -4.92999476e-01 8.19526916e-01 1.35147570e+02] [ 9.44600762e-01 -1.46166300e-02 3.27895951e-01 1.31858286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.9471056809999 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:157.88, Y:135.03, Z:132.27 [[-1.74977590e-01 8.73159829e-01 4.54944784e-01 1.57876892e+02] [-2.98290083e-01 -4.87370104e-01 8.20666442e-01 1.35031293e+02] [ 9.38299456e-01 7.89271908e-03 3.45733764e-01 1.32270410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.9771056809999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:157.94, Y:135.15, Z:131.83 [[-1.79325168e-01 8.46041999e-01 5.02051212e-01 1.57941125e+02] [-3.03527197e-01 -5.33007727e-01 7.89793647e-01 1.35151325e+02] [ 9.35795771e-01 -1.07563185e-02 3.52378456e-01 1.31831630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.0071056809999 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:157.96, Y:135.16, Z:131.82 [[-1.74429032e-01 8.43429544e-01 5.08134940e-01 1.57956666e+02] [-2.85964193e-01 -5.37195508e-01 7.93502027e-01 1.35159362e+02] [ 9.42230860e-01 -6.89860754e-03 3.34893142e-01 1.31818133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.0371056809999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:157.97, Y:135.17, Z:131.83 [[-1.90439679e-01 8.71356871e-01 4.52183516e-01 1.57974353e+02] [-2.99293047e-01 -4.90218864e-01 8.18601941e-01 1.35168369e+02] [ 9.34963315e-01 2.05589089e-02 3.54148176e-01 1.31828792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.06710568099993 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:157.97, Y:135.16, Z:131.83 [[-2.01489633e-01 8.60755148e-01 4.67442512e-01 1.57974146e+02] [-2.98460192e-01 -5.08488979e-01 8.07688351e-01 1.35160101e+02] [ 9.32911272e-01 2.32278472e-02 3.59356405e-01 1.31826206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.0971056809999 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:157.96, Y:135.14, Z:131.82 [[-2.01026418e-01 8.38835487e-01 5.05908494e-01 1.57962452e+02] [-3.01484246e-01 -5.44363481e-01 7.82799879e-01 1.35144653e+02] [ 9.32038427e-01 4.84001432e-03 3.62327125e-01 1.31816232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.12710568099993 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:157.98, Y:135.16, Z:131.81 [[-1.86976250e-01 8.46070243e-01 4.99204393e-01 1.57979108e+02] [-2.91081303e-01 -5.33061638e-01 7.94428704e-01 1.35161152e+02] [ 9.38249198e-01 3.23023520e-03 3.45945095e-01 1.31807754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.1571056809999 meters Centerline goodness : 0.998449 Centerline is valid? [True, True] Translation: X:158.00, Y:135.17, Z:131.83 [[-1.94274135e-01 8.76358078e-01 4.40742646e-01 1.57997067e+02] [-3.10175442e-01 -4.81130329e-01 8.19941950e-01 1.35166115e+02] [ 9.30617406e-01 2.25859675e-02 3.65295933e-01 1.31833368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.18710568099993 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:157.98, Y:135.15, Z:131.81 [[-1.76420045e-01 8.44132171e-01 5.06277439e-01 1.57978460e+02] [-2.94884983e-01 -5.36046584e-01 7.91010055e-01 1.35153766e+02] [ 9.39105327e-01 -9.74358400e-03 3.43491263e-01 1.31807232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2171056809999 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:158.00, Y:135.16, Z:131.84 [[-1.79825374e-01 8.75227585e-01 4.49042881e-01 1.57995441e+02] [-3.13159648e-01 -4.83669660e-01 8.17309424e-01 1.35155873e+02] [ 9.32520171e-01 6.35086236e-03 3.61062040e-01 1.31841145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.24710568099994 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:157.99, Y:135.15, Z:131.81 [[-1.60536009e-01 8.53423467e-01 4.95879598e-01 1.57987328e+02] [-3.02462908e-01 -5.20761029e-01 7.98325836e-01 1.35149332e+02] [ 9.39544772e-01 -2.18251412e-02 3.41729841e-01 1.31814275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2771056809999 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:158.01, Y:135.17, Z:131.78 [[-1.73887132e-01 8.82043856e-01 4.37906270e-01 1.58011822e+02] [-3.30701427e-01 -4.71159986e-01 8.17707058e-01 1.35166622e+02] [ 9.27577399e-01 -2.62749307e-03 3.73621821e-01 1.31780931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.30710568099994 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:157.99, Y:135.13, Z:131.84 [[-1.57213694e-01 8.61520025e-01 4.82770237e-01 1.57988185e+02] [-3.23793031e-01 -5.06793860e-01 7.98948093e-01 1.35130393e+02] [ 9.32974773e-01 -3.07120576e-02 3.58629115e-01 1.31840485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3371056809999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:158.01, Y:135.15, Z:131.78 [[-1.60484399e-01 8.77902826e-01 4.51144528e-01 1.58013805e+02] [-3.34625151e-01 -4.78392559e-01 8.11890736e-01 1.35153318e+02] [ 9.28585357e-01 -2.06685087e-02 3.70542909e-01 1.31783951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.36710568099994 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:158.01, Y:135.13, Z:131.82 [[-1.45355565e-01 8.72821574e-01 4.65890824e-01 1.58009637e+02] [-3.29973073e-01 -4.86697999e-01 8.08852786e-01 1.35133441e+02] [ 9.32732293e-01 -3.61601731e-02 3.58751880e-01 1.31818801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3971056809999 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:158.01, Y:135.13, Z:131.84 [[-1.38687072e-01 8.78538869e-01 4.57094467e-01 1.58014141e+02] [-3.27100090e-01 -4.76287938e-01 8.16183393e-01 1.35130043e+02] [ 9.34757416e-01 -3.63215566e-02 3.53425123e-01 1.31844332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.42710568099994 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:158.02, Y:135.13, Z:131.84 [[-1.32563320e-01 8.82284836e-01 4.51664073e-01 1.58020889e+02] [-3.30447325e-01 -4.68955516e-01 8.19075876e-01 1.35129080e+02] [ 9.34468583e-01 -4.06717673e-02 3.53714964e-01 1.31838686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4571056809999 meters Centerline goodness : 0.998077 Centerline is valid? [True, True] Translation: X:158.03, Y:135.13, Z:131.84 [[-1.24666885e-01 8.84769934e-01 4.49043797e-01 1.58033501e+02] [-3.32388741e-01 -4.63665317e-01 8.21299092e-01 1.35127272e+02] [ 9.34866778e-01 -4.68683030e-02 3.51891275e-01 1.31843209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.48710568099995 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:158.04, Y:135.13, Z:131.83 [[-1.22790664e-01 8.86608871e-01 4.45922821e-01 1.58042688e+02] [-3.36684911e-01 -4.59891226e-01 8.21671060e-01 1.35131025e+02] [ 9.33576844e-01 -4.92419505e-02 3.54978178e-01 1.31834919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5171056809999 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:158.07, Y:135.15, Z:131.77 [[-1.27870073e-01 8.90701537e-01 4.36233902e-01 1.58067775e+02] [-3.50430286e-01 -4.52049326e-01 8.20274357e-01 1.35146990e+02] [ 9.27818872e-01 -4.79810289e-02 3.69932375e-01 1.31771369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5471056809999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:158.07, Y:135.14, Z:131.76 [[-1.41635034e-01 8.74991755e-01 4.62956743e-01 1.58068872e+02] [-3.52678970e-01 -4.81586160e-01 8.02304378e-01 1.35135749e+02] [ 9.24963276e-01 -4.96406999e-02 3.76800663e-01 1.31756099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5771056809999 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:158.08, Y:135.14, Z:131.77 [[-1.45436176e-01 8.76047686e-01 4.59770345e-01 1.58076365e+02] [-3.50699558e-01 -4.80184505e-01 8.04010361e-01 1.35137152e+02] [ 9.25126012e-01 -4.43090642e-02 3.77065735e-01 1.31767629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.6071056809999 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:158.09, Y:135.14, Z:131.77 [[-1.54074261e-01 8.85184153e-01 4.38987627e-01 1.58089535e+02] [-3.51941838e-01 -4.64318786e-01 8.12739200e-01 1.35143499e+02] [ 9.23254063e-01 -2.92759202e-02 3.83072912e-01 1.31772213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.6371056809999 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:158.09, Y:135.15, Z:131.74 [[-1.60883878e-01 8.84764488e-01 4.37387904e-01 1.58092808e+02] [-3.54909791e-01 -4.65379033e-01 8.10839932e-01 1.35150649e+02] [ 9.20953537e-01 -2.47821770e-02 3.88883563e-01 1.31738756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.6671056809999 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:158.08, Y:135.13, Z:131.77 [[-1.55534475e-01 8.78484422e-01 4.51745668e-01 1.58081056e+02] [-3.45715218e-01 -4.76797971e-01 8.08173671e-01 1.35134484e+02] [ 9.25359398e-01 -3.04764842e-02 3.77863956e-01 1.31767440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.6971056809999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:158.09, Y:135.14, Z:131.73 [[-1.59853694e-01 8.82344829e-01 4.42622187e-01 1.58088151e+02] [-3.46464452e-01 -4.70012301e-01 8.11819451e-01 1.35144301e+02] [ 9.24342566e-01 -2.35805153e-02 3.80834320e-01 1.31734861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.7271056809999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:158.09, Y:135.16, Z:131.72 [[-1.50259002e-01 8.87783332e-01 4.35043663e-01 1.58093954e+02] [-3.56716775e-01 -4.59081963e-01 8.13631915e-01 1.35155426e+02] [ 9.22049551e-01 -3.29318528e-02 3.85668404e-01 1.31718362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.7571056809999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:158.09, Y:135.15, Z:131.73 [[-1.48863520e-01 8.81537263e-01 4.48030922e-01 1.58085216e+02] [-3.42460217e-01 -4.71000349e-01 8.12945060e-01 1.35148926e+02] [ 9.27664084e-01 -3.24149038e-02 3.72006212e-01 1.31726017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.7871056809999 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:158.08, Y:135.14, Z:131.74 [[-1.45855926e-01 8.79240781e-01 4.53499392e-01 1.58077654e+02] [-3.44270142e-01 -4.74860149e-01 8.09929570e-01 1.35140410e+02] [ 9.27471896e-01 -3.79932732e-02 3.71957515e-01 1.31740901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.81710568099993 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:158.08, Y:135.15, Z:131.74 [[-1.43317042e-01 8.87557225e-01 4.37838324e-01 1.58080245e+02] [-3.50309391e-01 -4.59258234e-01 8.16311954e-01 1.35147347e+02] [ 9.25604428e-01 -3.63874618e-02 3.76739162e-01 1.31742931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.8471056809999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:158.07, Y:135.14, Z:131.75 [[-1.37689774e-01 8.78238881e-01 4.57971608e-01 1.58069865e+02] [-3.46502256e-01 -4.75869116e-01 8.08384049e-01 1.35137323e+02] [ 9.27888847e-01 -4.73819787e-02 3.69834065e-01 1.31745708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.87710568099993 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:158.08, Y:135.15, Z:131.74 [[-1.37659032e-01 8.87624220e-01 4.39514773e-01 1.58081403e+02] [-3.43559510e-01 -4.58980560e-01 8.19331257e-01 1.35150091e+02] [ 9.28987004e-01 -3.82111321e-02 3.68134561e-01 1.31744316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.9071056809999 meters Centerline goodness : 0.998497 Centerline is valid? [True, True] Translation: X:158.09, Y:135.17, Z:131.72 [[-1.46848114e-01 8.92207879e-01 4.27083987e-01 1.58091101e+02] [-3.47608917e-01 -4.50773242e-01 8.22174875e-01 1.35165148e+02] [ 9.26068935e-01 -2.77233727e-02 3.76334614e-01 1.31721900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93710568099993 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:158.06, Y:135.13, Z:131.79 [[-1.23144958e-01 8.62883900e-01 4.90170066e-01 1.58060812e+02] [-3.23819923e-01 -5.01833185e-01 8.02062411e-01 1.35127008e+02] [ 9.38070347e-01 -5.99568916e-02 3.41217225e-01 1.31787615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.9671056809999 meters Centerline goodness : 0.998344 Centerline is valid? [True, True] Translation: X:158.10, Y:135.18, Z:131.73 [[-1.47188671e-01 9.04139898e-01 4.01081713e-01 1.58103707e+02] [-3.49360327e-01 -4.26883987e-01 8.34096771e-01 1.35178305e+02] [ 9.25355530e-01 -1.73524429e-02 3.78703097e-01 1.31725167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99710568099994 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:158.06, Y:135.10, Z:131.89 [[-1.28575166e-01 8.84512943e-01 4.48447633e-01 1.58058910e+02] [-3.54679067e-01 -4.63305307e-01 8.12127423e-01 1.35095090e+02] [ 9.26105386e-01 -5.46355700e-02 3.73287782e-01 1.31890859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0271056809999 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:158.10, Y:135.18, Z:131.70 [[-1.47390104e-01 8.96746648e-01 4.17278811e-01 1.58099146e+02] [-3.51019733e-01 -4.41849231e-01 8.25563083e-01 1.35178752e+02] [ 9.24695250e-01 -2.47932679e-02 3.79899973e-01 1.31697719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.05710568099994 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:158.04, Y:135.08, Z:131.96 [[-1.13252107e-01 8.69817359e-01 4.80199670e-01 1.58040651e+02] [-3.23015099e-01 -4.89287704e-01 8.10098012e-01 1.35077446e+02] [ 9.39593107e-01 -6.33664372e-02 3.36377003e-01 1.31957530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0871056809999 meters Centerline goodness : 0.998150 Centerline is valid? [True, True] Translation: X:158.11, Y:135.19, Z:131.70 [[-1.50893153e-01 9.10079405e-01 3.85987997e-01 1.58114105e+02] [-3.47526819e-01 -4.14371055e-01 8.41143114e-01 1.35193208e+02] [ 9.25449278e-01 -7.21844463e-03 3.78802756e-01 1.31703917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.11710568099994 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:158.08, Y:135.15, Z:131.69 [[-1.54999050e-01 8.71215799e-01 4.65787855e-01 1.58077462e+02] [-3.48740032e-01 -4.89384403e-01 7.99301755e-01 1.35153232e+02] [ 9.24313629e-01 -3.85478589e-02 3.79681944e-01 1.31688164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.1471056809999 meters Centerline goodness : 0.998246 Centerline is valid? [True, True] Translation: X:158.07, Y:135.15, Z:131.69 [[-1.54141953e-01 8.63067218e-01 4.80994008e-01 1.58069689e+02] [-3.44757696e-01 -5.03196758e-01 7.92423595e-01 1.35146057e+02] [ 9.25949453e-01 -4.36806650e-02 3.75112796e-01 1.31687339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.17710568099994 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:158.08, Y:135.16, Z:131.68 [[-1.53525603e-01 8.72622242e-01 4.63638126e-01 1.58078349e+02] [-3.44809059e-01 -4.87017144e-01 8.02446892e-01 1.35156221e+02] [ 9.26032722e-01 -3.66704828e-02 3.75657655e-01 1.31683932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2071056809999 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:158.08, Y:135.16, Z:131.67 [[-1.57454107e-01 8.74232209e-01 4.59267078e-01 1.58080929e+02] [-3.41228116e-01 -4.84586798e-01 8.05443361e-01 1.35161937e+02] [ 9.26699292e-01 -2.98944747e-02 3.74612791e-01 1.31668445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.23710568099995 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:158.04, Y:135.13, Z:131.67 [[-1.43165613e-01 8.44450148e-01 5.16146835e-01 1.58042041e+02] [-3.24044963e-01 -5.32768409e-01 7.81762550e-01 1.35125797e+02] [ 9.35146229e-01 -5.53332675e-02 3.49913932e-01 1.31672540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2671056809999 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:158.09, Y:135.17, Z:131.69 [[-1.47013675e-01 8.91272343e-01 4.28976211e-01 1.58094031e+02] [-3.38538388e-01 -4.52834741e-01 8.24822682e-01 1.35173360e+02] [ 9.29396976e-01 -2.39647012e-02 3.68302802e-01 1.31693473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2971056809999 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:158.08, Y:135.16, Z:131.68 [[-1.52866786e-01 8.76321472e-01 4.56828658e-01 1.58082106e+02] [-3.34063730e-01 -4.80871820e-01 8.10656350e-01 1.35162758e+02] [ 9.30071594e-01 -2.86874547e-02 3.66256549e-01 1.31678310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.3271056809999 meters Centerline goodness : 0.998024 Centerline is valid? [True, True] Translation: X:158.06, Y:135.15, Z:131.66 [[-1.52017224e-01 8.55379790e-01 4.95193073e-01 1.58062083e+02] [-3.34308419e-01 -5.15985401e-01 7.88667831e-01 1.35146145e+02] [ 9.30122919e-01 -4.56561189e-02 3.64399333e-01 1.31664242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.3571056809999 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:158.07, Y:135.15, Z:131.69 [[-1.50848276e-01 8.64202738e-01 4.79998359e-01 1.58068117e+02] [-3.31057801e-01 -5.01680118e-01 7.99198218e-01 1.35147535e+02] [ 9.31474922e-01 -3.83495282e-02 3.61778639e-01 1.31690748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.3871056809999 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:158.07, Y:135.15, Z:131.70 [[-1.52835596e-01 8.64503301e-01 4.78827029e-01 1.58069899e+02] [-3.29956264e-01 -5.01354487e-01 7.99857826e-01 1.35150766e+02] [ 9.31541810e-01 -3.57452298e-02 3.61873092e-01 1.31699178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.4171056809999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:158.08, Y:135.16, Z:131.69 [[-1.56938194e-01 8.68397113e-01 4.70379482e-01 1.58076932e+02] [-3.31252897e-01 -4.94976263e-01 8.03287008e-01 1.35159002e+02] [ 9.30398797e-01 -2.97481544e-02 3.65339741e-01 1.31687953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.4471056809999 meters Centerline goodness : 0.998023 Centerline is valid? [True, True] Translation: X:158.07, Y:135.16, Z:131.69 [[-1.63160787e-01 8.63184341e-01 4.77798441e-01 1.58073161e+02] [-3.29423993e-01 -5.04158655e-01 7.98313149e-01 1.35159454e+02] [ 9.29977629e-01 -2.71448686e-02 3.66612556e-01 1.31686870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.4771056809999 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:158.08, Y:135.19, Z:131.59 [[-1.90457355e-01 8.63117165e-01 4.67712258e-01 1.58082358e+02] [-3.39660602e-01 -5.04944510e-01 7.93512267e-01 1.35185728e+02] [ 9.21062795e-01 -7.73317954e-03 3.89337291e-01 1.31588125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.5071056809999 meters Centerline goodness : 0.998155 Centerline is valid? [True, True] Translation: X:158.07, Y:135.17, Z:131.58 [[-2.01852100e-01 8.38732963e-01 5.05749687e-01 1.58065715e+02] [-3.37486764e-01 -5.44317669e-01 7.67998021e-01 1.35171511e+02] [ 9.19433746e-01 -1.56618119e-02 3.92932938e-01 1.31582705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.5371056809999 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:158.03, Y:135.14, Z:131.57 [[-1.98470986e-01 7.93757845e-01 5.74941520e-01 1.58025369e+02] [-3.35347514e-01 -6.06201823e-01 7.21152824e-01 1.35142221e+02] [ 9.20951309e-01 -4.96772976e-02 3.86498193e-01 1.31571638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.56710568099993 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:158.05, Y:135.16, Z:131.60 [[-1.96554532e-01 8.27749240e-01 5.25544966e-01 1.58054612e+02] [-3.28943916e-01 -5.60605702e-01 7.59945489e-01 1.35160392e+02] [ 9.23667806e-01 -2.35040896e-02 3.82472668e-01 1.31604886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.5971056809999 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:158.05, Y:135.16, Z:131.60 [[-1.96443304e-01 8.21846483e-01 5.34769470e-01 1.58049777e+02] [-3.28883032e-01 -5.69029345e-01 7.53685316e-01 1.35156988e+02] [ 9.23713148e-01 -2.78201707e-02 3.82073368e-01 1.31600819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.62710568099993 meters Centerline goodness : 0.997703 Centerline is valid? [True, True] Translation: X:158.05, Y:135.15, Z:131.61 [[-1.94261208e-01 8.22012838e-01 5.35310636e-01 1.58046400e+02] [-3.26051696e-01 -5.68787402e-01 7.55096804e-01 1.35153127e+02] [ 9.25177212e-01 -2.78529239e-02 3.78512008e-01 1.31612373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.6571056809999 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:158.05, Y:135.16, Z:131.62 [[-1.93936227e-01 8.26715707e-01 5.28138126e-01 1.58046233e+02] [-3.18445900e-01 -5.62258105e-01 7.63189382e-01 1.35155089e+02] [ 9.27890591e-01 -2.01733518e-02 3.72306443e-01 1.31624995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.68710568099993 meters Centerline goodness : 0.997913 Centerline is valid? [True, True] Translation: X:158.05, Y:135.15, Z:131.65 [[-1.87121010e-01 8.30757877e-01 5.24239524e-01 1.58046059e+02] [-3.07733762e-01 -5.56377402e-01 7.71844621e-01 1.35154307e+02] [ 9.32891022e-01 -1.68978556e-02 3.59762148e-01 1.31653662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7171056809999 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:158.05, Y:135.15, Z:131.68 [[-1.79010145e-01 8.34964368e-01 5.20374742e-01 1.58049307e+02] [-2.99777282e-01 -5.50057675e-01 7.79467854e-01 1.35152689e+02] [ 9.37064005e-01 -1.64638721e-02 3.48769253e-01 1.31678297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.74710568099994 meters Centerline goodness : 0.998294 Centerline is valid? [True, True] Translation: X:158.05, Y:135.16, Z:131.67 [[-1.88192553e-01 8.44449507e-01 5.01486384e-01 1.58051223e+02] [-3.03343810e-01 -5.35621619e-01 7.88093912e-01 1.35160007e+02] [ 9.34112464e-01 -3.80938437e-03 3.56958531e-01 1.31671345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7771056809999 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:158.04, Y:135.16, Z:131.66 [[-1.90373834e-01 8.36809862e-01 5.13329385e-01 1.58044833e+02] [-3.02369380e-01 -5.47453024e-01 7.80299907e-01 1.35156696e+02] [ 9.33986382e-01 -6.66640239e-03 3.57246410e-01 1.31658365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.80710568099994 meters Centerline goodness : 0.998144 Centerline is valid? [True, True] Translation: X:158.05, Y:135.16, Z:131.65 [[-1.95583255e-01 8.34526203e-01 5.15085631e-01 1.58046085e+02] [-2.99457080e-01 -5.50964990e-01 7.78949958e-01 1.35158845e+02] [ 9.33848300e-01 -1.89647051e-03 3.57664306e-01 1.31654368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8371056809999 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:158.04, Y:135.16, Z:131.66 [[-1.85977089e-01 8.29462575e-01 5.26691902e-01 1.58044107e+02] [-2.92791100e-01 -5.58475117e-01 7.76130733e-01 1.35156027e+02] [ 9.37915718e-01 -9.86816723e-03 3.46722836e-01 1.31663882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.86710568099994 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:158.06, Y:135.17, Z:131.66 [[-1.91125389e-01 8.42176967e-01 5.04191474e-01 1.58055806e+02] [-2.95798000e-01 -5.39198942e-01 7.88522698e-01 1.35167852e+02] [ 9.35935163e-01 1.56787781e-03 3.52168870e-01 1.31663310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8971056809999 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:158.05, Y:135.16, Z:131.66 [[-1.95520809e-01 8.39317095e-01 5.07265639e-01 1.58049889e+02] [-3.01809155e-01 -5.43642175e-01 7.83175855e-01 1.35160159e+02] [ 9.33103878e-01 2.97630488e-05 3.59606940e-01 1.31664221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.92710568099994 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:158.05, Y:135.16, Z:131.65 [[-1.97405467e-01 8.37166066e-01 5.10082405e-01 1.58049050e+02] [-3.04786811e-01 -5.46946604e-01 7.79714315e-01 1.35156584e+02] [ 9.31738204e-01 -1.54652081e-03 3.63127425e-01 1.31653077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9571056809999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:158.05, Y:135.15, Z:131.68 [[-1.69067299e-01 8.29140297e-01 5.32862662e-01 1.58050585e+02] [-2.92873467e-01 -5.58488007e-01 7.76090380e-01 1.35152285e+02] [ 9.41085215e-01 -2.48498304e-02 3.37255252e-01 1.31676119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.98710568099995 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:158.07, Y:135.17, Z:131.67 [[-1.78831520e-01 8.57914423e-01 4.81665995e-01 1.58073180e+02] [-3.03227661e-01 -5.13786357e-01 8.02543809e-01 1.35173743e+02] [ 9.35987325e-01 -2.53432366e-03 3.52024579e-01 1.31674956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0171056809999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:158.07, Y:135.17, Z:131.67 [[-1.89516543e-01 8.60711180e-01 4.72503698e-01 1.58069845e+02] [-3.18379238e-01 -5.09092353e-01 7.99662202e-01 1.35167130e+02] [ 9.28826217e-01 1.11384900e-03 3.70513993e-01 1.31673804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0471056809999 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:158.05, Y:135.15, Z:131.65 [[-1.81403306e-01 8.36246951e-01 5.17478384e-01 1.58054484e+02] [-3.07115542e-01 -5.48064325e-01 7.78013843e-01 1.35151782e+02] [ 9.34223145e-01 -1.77913710e-02 3.56245115e-01 1.31654135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0771056809999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:158.06, Y:135.15, Z:131.67 [[-1.81285969e-01 8.48750481e-01 4.96747439e-01 1.58062680e+02] [-3.11091625e-01 -5.28671500e-01 7.89764804e-01 1.35148726e+02] [ 9.32929471e-01 -1.13606906e-02 3.59879892e-01 1.31674674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.1071056809999 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:158.07, Y:135.15, Z:131.68 [[-1.80030433e-01 8.49181335e-01 4.96467626e-01 1.58066264e+02] [-3.14175339e-01 -5.27917747e-01 7.89047976e-01 1.35146230e+02] [ 9.32138884e-01 -1.39252354e-02 3.61833094e-01 1.31679105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.1371056809999 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:158.06, Y:135.15, Z:131.59 [[-1.94466442e-01 8.35981859e-01 5.13144360e-01 1.58062111e+02] [-2.91149815e-01 -5.48748923e-01 7.83649414e-01 1.35150229e+02] [ 9.36704109e-01 2.99162839e-03 3.50109214e-01 1.31589790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.1671056809999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:158.05, Y:135.12, Z:131.67 [[-1.54783837e-01 8.10998156e-01 5.64202051e-01 1.58049667e+02] [-2.99081370e-01 -5.82752287e-01 7.55612405e-01 1.35118517e+02] [ 9.41590303e-01 -5.17857350e-02 3.32755075e-01 1.31669719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.1971056809999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:158.11, Y:135.17, Z:131.66 [[-1.76885373e-01 8.74399679e-01 4.51814968e-01 1.58107240e+02] [-3.15183974e-01 -4.85202759e-01 8.15620834e-01 1.35168090e+02] [ 9.32400465e-01 1.86655856e-03 3.61422037e-01 1.31664082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.2271056809999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:158.09, Y:135.16, Z:131.62 [[-1.84072647e-01 8.56017174e-01 4.83065066e-01 1.58093694e+02] [-3.26483080e-01 -5.16807228e-01 7.91403239e-01 1.35155396e+02] [ 9.27106283e-01 -1.20368814e-02 3.74605198e-01 1.31620494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.2571056809999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:158.09, Y:135.15, Z:131.61 [[-1.80173951e-01 8.44861044e-01 5.03733227e-01 1.58085133e+02] [-3.32229321e-01 -5.34288301e-01 7.77277100e-01 1.35147070e+02] [ 9.25829912e-01 -2.73098618e-02 3.76952445e-01 1.31609588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.2871056809999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:158.10, Y:135.17, Z:131.56 [[-1.81690307e-01 8.47022025e-01 4.99542111e-01 1.58099093e+02] [-3.35670979e-01 -5.30906483e-01 7.78115223e-01 1.35168182e+02] [ 9.24290877e-01 -2.63057964e-02 3.80781274e-01 1.31564965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.31710568099993 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:158.07, Y:135.13, Z:131.59 [[-1.75060138e-01 8.25133506e-01 5.37130008e-01 1.58068658e+02] [-3.12335574e-01 -5.63917751e-01 7.64488888e-01 1.35130574e+02] [ 9.33702542e-01 -3.39332790e-02 3.56438067e-01 1.31585722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.3471056809999 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:158.11, Y:135.17, Z:131.57 [[-1.89449130e-01 8.56393512e-01 4.80311545e-01 1.58112201e+02] [-3.31348354e-01 -5.16235687e-01 7.89752482e-01 1.35171926e+02] [ 9.24292862e-01 -9.53251936e-03 3.81564983e-01 1.31568893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.37710568099993 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:158.10, Y:135.16, Z:131.57 [[-1.97952580e-01 8.39955929e-01 5.05261134e-01 1.58102491e+02] [-3.25824675e-01 -5.42535746e-01 7.74269491e-01 1.35158158e+02] [ 9.24474476e-01 -1.13579019e-02 3.81074718e-01 1.31571629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.4071056809999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:158.09, Y:135.10, Z:131.78 [[-1.79241307e-01 8.54516351e-01 4.87518574e-01 1.58088451e+02] [-3.28845059e-01 -5.19080219e-01 7.88933872e-01 1.35100050e+02] [ 9.27218141e-01 -1.89085362e-02 3.74044097e-01 1.31781646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43710568099993 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:158.13, Y:135.18, Z:131.62 [[-2.01783257e-01 8.67815810e-01 4.54069638e-01 1.58132079e+02] [-3.23231834e-01 -4.96635639e-01 8.05527295e-01 1.35180907e+02] [ 9.24556488e-01 1.57721594e-02 3.80718453e-01 1.31624476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.4671056809999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:158.12, Y:135.18, Z:131.60 [[-2.06829224e-01 8.54377862e-01 4.76718093e-01 1.58123102e+02] [-3.20171502e-01 -5.19531156e-01 7.92197947e-01 1.35176643e+02] [ 9.24506290e-01 1.12181388e-02 3.81001670e-01 1.31597728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49710568099994 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:158.11, Y:135.16, Z:131.66 [[-1.99023576e-01 8.50631555e-01 4.86637004e-01 1.58107109e+02] [-3.06960253e-01 -5.25693236e-01 7.93361220e-01 1.35159022e+02] [ 9.30679869e-01 8.51936962e-03 3.65735425e-01 1.31663177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5271056809999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:158.12, Y:135.17, Z:131.66 [[-1.99791526e-01 8.63247726e-01 4.63558745e-01 1.58115647e+02] [-3.07229050e-01 -5.04430219e-01 8.06945144e-01 1.35173206e+02] [ 9.30426599e-01 1.88020892e-02 3.65995662e-01 1.31664899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.55710568099994 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:158.12, Y:135.19, Z:131.66 [[-2.00909406e-01 8.70742757e-01 4.48823419e-01 1.58120805e+02] [-3.02544914e-01 -4.90920865e-01 8.16984259e-01 1.35190093e+02] [ 9.31719907e-01 2.83505794e-02 3.62069412e-01 1.31660724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5871056809999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:158.13, Y:135.21, Z:131.67 [[-2.08317717e-01 8.81866959e-01 4.22982737e-01 1.58134531e+02] [-2.99291270e-01 -4.69201638e-01 8.30827635e-01 1.35205597e+02] [ 9.31143633e-01 4.64810760e-02 3.61678096e-01 1.31667793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.61710568099994 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:158.12, Y:135.20, Z:131.65 [[-2.06927838e-01 8.71450084e-01 4.44697224e-01 1.58124934e+02] [-3.00125728e-01 -4.89161699e-01 8.18929411e-01 1.35198020e+02] [ 9.31184953e-01 3.59942145e-02 3.62765763e-01 1.31647981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.6471056809999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:158.13, Y:135.20, Z:131.66 [[-2.09136574e-01 8.78635922e-01 4.29256112e-01 1.58131203e+02] [-2.96683533e-01 -4.75283489e-01 8.28302171e-01 1.35203297e+02] [ 9.31794384e-01 4.58750580e-02 3.60075970e-01 1.31657706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.67710568099994 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:158.13, Y:135.20, Z:131.66 [[-1.99557176e-01 8.78389922e-01 4.34290316e-01 1.58129099e+02] [-2.98583839e-01 -4.76637125e-01 8.26840216e-01 1.35203198e+02] [ 9.33287000e-01 3.53298289e-02 3.57389394e-01 1.31656553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7071056809999 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:158.13, Y:135.21, Z:131.65 [[-1.95631113e-01 8.82715598e-01 4.27248922e-01 1.58134956e+02] [-3.00451849e-01 -4.68665418e-01 8.30711389e-01 1.35208057e+02] [ 9.33518695e-01 3.41452648e-02 3.56899071e-01 1.31652493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.73710568099995 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:158.13, Y:135.20, Z:131.65 [[-1.85390232e-01 8.86403861e-01 4.24168194e-01 1.58131718e+02] [-3.07126941e-01 -4.62293194e-01 8.31840156e-01 1.35203626e+02] [ 9.33436395e-01 2.39415593e-02 3.57943149e-01 1.31647119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7671056809999 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:158.13, Y:135.21, Z:131.65 [[-1.71390746e-01 8.90926215e-01 4.20565919e-01 1.58131354e+02] [-3.13844466e-01 -4.54016571e-01 8.33888844e-01 1.35205381e+02] [ 9.33877328e-01 1.09285451e-02 3.57426501e-01 1.31645725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7971056809999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:158.14, Y:135.22, Z:131.66 [[-1.64555617e-01 9.04081663e-01 3.94408158e-01 1.58143522e+02] [-3.18817980e-01 -4.27146849e-01 8.46109133e-01 1.35222193e+02] [ 9.33421954e-01 1.34875987e-02 3.58526903e-01 1.31658165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.8271056809999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:158.15, Y:135.23, Z:131.62 [[-1.69208780e-01 9.03783924e-01 3.93119584e-01 1.58149125e+02] [-3.30136216e-01 -4.27803725e-01 8.41423824e-01 1.35227200e+02] [ 9.28643348e-01 1.25932871e-02 3.70759951e-01 1.31621904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.8571056809999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:158.14, Y:135.21, Z:131.63 [[-1.63530056e-01 8.93445463e-01 4.18345700e-01 1.58139184e+02] [-3.28633859e-01 -4.49168765e-01 8.30811174e-01 1.35212778e+02] [ 9.30192296e-01 -1.61996417e-03 3.67069024e-01 1.31633002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.8871056809999 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:158.15, Y:135.22, Z:131.64 [[-1.63213363e-01 9.00194503e-01 4.03746522e-01 1.58145953e+02] [-3.28953655e-01 -4.35470150e-01 8.37947040e-01 1.35221852e+02] [ 9.30134878e-01 3.95025992e-03 3.67196820e-01 1.31640786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.9171056809999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:158.15, Y:135.23, Z:131.61 [[-1.61940627e-01 9.00226799e-01 4.04186768e-01 1.58148323e+02] [-3.35766623e-01 -4.35421070e-01 8.35265985e-01 1.35226392e+02] [ 9.27920260e-01 -4.48928435e-04 3.72778474e-01 1.31606591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.9471056809999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:158.13, Y:135.20, Z:131.61 [[-1.45517513e-01 8.90609127e-01 4.30859648e-01 1.58130695e+02] [-3.24305593e-01 -4.54372641e-01 8.29681497e-01 1.35203703e+02] [ 9.34692750e-01 -1.89970061e-02 3.54948697e-01 1.31609377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.9771056809999 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:158.16, Y:135.24, Z:131.60 [[-1.52287358e-01 9.15407565e-01 3.72609112e-01 1.58161977e+02] [-3.32113114e-01 -4.02481084e-01 8.53059117e-01 1.35239211e+02] [ 9.30864888e-01 6.16174665e-03 3.65311638e-01 1.31598288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.0071056809999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:158.15, Y:135.23, Z:131.60 [[-1.49974566e-01 9.04352965e-01 3.99566446e-01 1.58151750e+02] [-3.41965411e-01 -4.26641805e-01 8.37279182e-01 1.35230050e+02] [ 9.27667660e-01 -1.10673218e-02 3.73242853e-01 1.31595061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.0371056809999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:158.14, Y:135.22, Z:131.63 [[-1.39460905e-01 9.00857668e-01 4.11103538e-01 1.58141883e+02] [-3.34343334e-01 -4.33618259e-01 8.36773411e-01 1.35215502e+02] [ 9.32075743e-01 -2.07525504e-02 3.61668551e-01 1.31630483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.06710568099993 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:158.14, Y:135.21, Z:131.64 [[-1.35479186e-01 9.03935866e-01 4.05641887e-01 1.58141859e+02] [-3.24560920e-01 -4.27316641e-01 8.43836891e-01 1.35211196e+02] [ 9.36111959e-01 -1.73331687e-02 3.51274767e-01 1.31641505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.0971056809999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:158.16, Y:135.24, Z:131.61 [[-1.42135744e-01 9.16163508e-01 3.74755729e-01 1.58162810e+02] [-3.42158214e-01 -4.00735963e-01 8.49904962e-01 1.35240538e+02] [ 9.28830010e-01 -7.42387663e-03 3.70431774e-01 1.31606826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.12710568099993 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:158.16, Y:135.23, Z:131.60 [[-1.44368477e-01 9.11119449e-01 3.86029912e-01 1.58162849e+02] [-3.43071729e-01 -4.12006814e-01 8.44128055e-01 1.35234737e+02] [ 9.28148443e-01 -1.05704678e-02 3.72060121e-01 1.31597730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.1571056809999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:158.17, Y:135.24, Z:131.59 [[-1.45061967e-01 9.12066174e-01 3.83526167e-01 1.58165653e+02] [-3.48614708e-01 -4.09883658e-01 8.42889775e-01 1.35242953e+02] [ 9.25972360e-01 -1.14316140e-02 3.77418212e-01 1.31587219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.18710568099993 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:158.17, Y:135.25, Z:131.59 [[-1.46452715e-01 9.12828425e-01 3.81176953e-01 1.58170077e+02] [-3.52548417e-01 -4.08193529e-01 8.42073427e-01 1.35249524e+02] [ 9.24262526e-01 -1.10593923e-02 3.81597266e-01 1.31588403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2171056809999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:158.17, Y:135.25, Z:131.58 [[-1.46622447e-01 9.11856670e-01 3.83430922e-01 1.58169329e+02] [-3.53897235e-01 -4.10319495e-01 8.40472878e-01 1.35250641e+02] [ 9.23719982e-01 -1.24629535e-02 3.82865603e-01 1.31576870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.24710568099994 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:158.17, Y:135.25, Z:131.58 [[-1.48038708e-01 9.13671061e-01 3.78536304e-01 1.58169255e+02] [-3.52589090e-01 -4.06361729e-01 8.42941919e-01 1.35253493e+02] [ 9.23994305e-01 -8.67973862e-03 3.82307713e-01 1.31576661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2771056809999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:158.16, Y:135.23, Z:131.63 [[-1.41211267e-01 9.07674501e-01 3.95204224e-01 1.58155224e+02] [-3.41107739e-01 -4.19369495e-01 8.41293490e-01 1.35233814e+02] [ 9.29357245e-01 -1.60070995e-02 3.68834495e-01 1.31626673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.30710568099994 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:158.17, Y:135.26, Z:131.62 [[-1.45672915e-01 9.19371787e-01 3.65424301e-01 1.58168991e+02] [-3.41729557e-01 -3.93389402e-01 8.53502014e-01 1.35258407e+02] [ 9.28439719e-01 -5.44157826e-04 3.71482695e-01 1.31615135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3371056809999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:158.17, Y:135.25, Z:131.64 [[-1.47209182e-01 9.16751339e-01 3.71344098e-01 1.58165584e+02] [-3.36800430e-01 -3.99458110e-01 8.52642181e-01 1.35251784e+02] [ 9.29997273e-01 4.47906562e-04 3.67566147e-01 1.31640310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.36710568099994 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:158.17, Y:135.26, Z:131.62 [[-1.62821736e-01 9.16857140e-01 3.64502492e-01 1.58173476e+02] [-3.34933677e-01 -3.98857165e-01 8.53658242e-01 1.35264756e+02] [ 9.28067085e-01 1.69099565e-02 3.72028949e-01 1.31624885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3971056809999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:158.17, Y:135.26, Z:131.63 [[-1.75329193e-01 9.13413234e-01 3.67336273e-01 1.58171522e+02] [-3.30006080e-01 -4.06056194e-01 8.52182113e-01 1.35262612e+02] [ 9.27553589e-01 2.81891987e-02 3.72625426e-01 1.31628388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.42710568099994 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:158.17, Y:135.27, Z:131.63 [[-1.73532051e-01 9.14871462e-01 3.64550182e-01 1.58171854e+02] [-3.31091107e-01 -4.02816090e-01 8.53298234e-01 1.35265016e+02] [ 9.27504882e-01 2.73752690e-02 3.72807308e-01 1.31633603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4571056809999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:158.18, Y:135.28, Z:131.61 [[-1.84884176e-01 9.18849628e-01 3.48616126e-01 1.58178336e+02] [-3.34712856e-01 -3.92397285e-01 8.56733141e-01 1.35280512e+02] [ 9.24004949e-01 4.17101014e-02 3.80098832e-01 1.31606101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.48710568099995 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:158.17, Y:135.27, Z:131.61 [[-1.85249856e-01 9.09092179e-01 3.73140592e-01 1.58170135e+02] [-3.29275699e-01 -4.15185866e-01 8.48055547e-01 1.35271112e+02] [ 9.25883365e-01 3.42360386e-02 3.76255084e-01 1.31606464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5171056809999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:158.17, Y:135.27, Z:131.60 [[-1.84773424e-01 9.09363873e-01 3.72714541e-01 1.58170637e+02] [-3.29576953e-01 -4.14618910e-01 8.48215888e-01 1.35272312e+02] [ 9.25871381e-01 3.38896315e-02 3.76315930e-01 1.31603893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5471056809999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:158.17, Y:135.27, Z:131.60 [[-1.84529083e-01 9.08894457e-01 3.73978453e-01 1.58174306e+02] [-3.28066652e-01 -4.15650510e-01 8.48296484e-01 1.35272005e+02] [ 9.26456308e-01 3.38455132e-02 3.74877569e-01 1.31602520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5771056809999 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:158.17, Y:135.27, Z:131.60 [[-1.76124759e-01 9.12917556e-01 3.68186915e-01 1.58171358e+02] [-3.34112147e-01 -4.07270380e-01 8.49999948e-01 1.35269962e+02] [ 9.25931500e-01 2.66903152e-02 3.76747243e-01 1.31597652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.6071056809999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:158.18, Y:135.28, Z:131.60 [[-1.79014147e-01 9.18318929e-01 3.53049969e-01 1.58179172e+02] [-3.32398669e-01 -3.94198402e-01 8.56807298e-01 1.35282130e+02] [ 9.25994093e-01 3.60272881e-02 3.75815080e-01 1.31596339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.6371056809999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:158.17, Y:135.28, Z:131.59 [[-1.68152824e-01 9.16458912e-01 3.63080831e-01 1.58174978e+02] [-3.35716834e-01 -3.99548253e-01 8.53027198e-01 1.35279628e+02] [ 9.26832690e-01 2.15465848e-02 3.74855852e-01 1.31586050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.6671056809999 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:158.17, Y:135.27, Z:131.57 [[-1.63198083e-01 9.12125984e-01 3.76022041e-01 1.58173534e+02] [-3.35413964e-01 -4.09724829e-01 8.48305981e-01 1.35272768e+02] [ 9.27827494e-01 1.23188662e-02 3.72806098e-01 1.31573984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.6971056809999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:158.17, Y:135.27, Z:131.58 [[-1.51180567e-01 9.14085661e-01 3.76286913e-01 1.58172994e+02] [-3.34050466e-01 -4.05510528e-01 8.50865147e-01 1.35269538e+02] [ 9.30351935e-01 2.93545671e-03 3.66656052e-01 1.31581016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.7271056809999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:158.17, Y:135.27, Z:131.58 [[-1.46946013e-01 9.15753777e-01 3.73900909e-01 1.58173072e+02] [-3.36341841e-01 -4.01739547e-01 8.51750845e-01 1.35271559e+02] [ 9.30204835e-01 -5.97129149e-04 3.67040336e-01 1.31577471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.7571056809999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:158.17, Y:135.27, Z:131.58 [[-1.44008403e-01 9.15272543e-01 3.76215035e-01 1.58169749e+02] [-3.35324264e-01 -4.02819872e-01 8.51641819e-01 1.35266443e+02] [ 9.31031266e-01 -3.51045115e-03 3.64922538e-01 1.31583407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.7871056809999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:158.17, Y:135.27, Z:131.58 [[-1.39027366e-01 9.15961308e-01 3.76412373e-01 1.58168393e+02] [-3.36152631e-01 -4.01185468e-01 8.52086632e-01 1.35265933e+02] [ 9.31489560e-01 -8.06864886e-03 3.63678562e-01 1.31577689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.81710568099993 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:158.17, Y:135.27, Z:131.57 [[-1.39182065e-01 9.18391329e-01 3.70385906e-01 1.58172107e+02] [-3.35950563e-01 -3.95635572e-01 8.54757108e-01 1.35272777e+02] [ 9.31539356e-01 -5.46449430e-03 3.63599460e-01 1.31566855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.8471056809999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:158.17, Y:135.27, Z:131.56 [[-1.41532826e-01 9.17356663e-01 3.72055389e-01 1.58170420e+02] [-3.33352847e-01 -3.98054472e-01 8.54651108e-01 1.35272441e+02] [ 9.32118200e-01 -3.06453677e-03 3.62141230e-01 1.31563936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.87710568099993 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:158.17, Y:135.27, Z:131.59 [[-1.35895538e-01 9.14434840e-01 3.81236575e-01 1.58165111e+02] [-3.24857699e-01 -4.04660252e-01 8.54820189e-01 1.35265827e+02] [ 9.35948652e-01 -7.68138728e-03 3.52052721e-01 1.31589832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.9071056809999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:158.17, Y:135.28, Z:131.60 [[-1.35906239e-01 9.20631535e-01 3.66015123e-01 1.58171446e+02] [-3.23978886e-01 -3.90429802e-01 8.61743727e-01 1.35276561e+02] [ 9.36251663e-01 -1.46482339e-03 3.51327025e-01 1.31598649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93710568099993 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:158.17, Y:135.28, Z:131.60 [[-1.36461290e-01 9.19466692e-01 3.68726617e-01 1.58171067e+02] [-3.25264080e-01 -3.93159476e-01 8.60016805e-01 1.35278157e+02] [ 9.35725171e-01 -2.57452081e-03 3.52720537e-01 1.31595241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.9671056809999 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:158.18, Y:135.29, Z:131.58 [[-1.45427489e-01 9.21982176e-01 3.58886768e-01 1.58175878e+02] [-3.31213466e-01 -3.87181615e-01 8.60458039e-01 1.35290507e+02] [ 9.32281334e-01 6.26612181e-03 3.61679763e-01 1.31580524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99710568099994 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:158.17, Y:135.29, Z:131.56 [[-1.49377512e-01 9.16275467e-01 3.71652563e-01 1.58173035e+02] [-3.34141716e-01 -4.00535429e-01 8.53182679e-01 1.35288981e+02] [ 9.30610376e-01 3.26168056e-03 3.65996843e-01 1.31562434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0271056809999 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:158.17, Y:135.28, Z:131.57 [[-1.53758226e-01 9.11283315e-01 3.81996241e-01 1.58166209e+02] [-3.30352613e-01 -4.11756491e-01 8.49307803e-01 1.35284651e+02] [ 9.31249461e-01 4.39460509e-03 3.64355772e-01 1.31567708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.05710568099994 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:158.16, Y:135.29, Z:131.55 [[-1.53253945e-01 9.08475438e-01 3.88825934e-01 1.58161655e+02] [-3.28589193e-01 -4.17933280e-01 8.46971614e-01 1.35285769e+02] [ 9.31956206e-01 2.03774148e-03 3.62565135e-01 1.31554489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0871056809999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:158.16, Y:135.28, Z:131.55 [[-1.52925158e-01 9.07136653e-01 3.92067582e-01 1.58159496e+02] [-3.29591355e-01 -4.20836182e-01 8.45142856e-01 1.35283967e+02] [ 9.31656286e-01 2.15187683e-05 3.63340838e-01 1.31553392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.11710568099994 meters Centerline goodness : 0.998502 Centerline is valid? [True, True] Translation: X:158.16, Y:135.29, Z:131.52 [[-1.51143458e-01 9.04320277e-01 3.99199814e-01 1.58155861e+02] [-3.34978986e-01 -4.26801048e-01 8.40017824e-01 1.35288059e+02] [ 9.30024050e-01 -6.76035028e-03 3.67436476e-01 1.31516789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.1471056809999 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:158.15, Y:135.28, Z:131.53 [[-1.42132187e-01 9.01088708e-01 4.09679853e-01 1.58151047e+02] [-3.34076091e-01 -4.33265582e-01 8.37062782e-01 1.35281287e+02] [ 9.31768000e-01 -1.78906802e-02 3.62613178e-01 1.31525286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.17710568099994 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:158.14, Y:135.28, Z:131.54 [[-1.40968605e-01 9.01754777e-01 4.08614947e-01 1.58143581e+02] [-3.28008098e-01 -4.31966489e-01 8.40128348e-01 1.35279176e+02] [ 9.34097714e-01 -1.55972901e-02 3.56676582e-01 1.31535861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2071056809999 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:158.13, Y:135.27, Z:131.53 [[-1.35453636e-01 8.92340396e-01 4.30558858e-01 1.58130375e+02] [-3.28254745e-01 -4.50438866e-01 8.30273238e-01 1.35266518e+02] [ 9.34826794e-01 -2.88694596e-02 3.53928551e-01 1.31527182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.23710568099995 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:158.14, Y:135.28, Z:131.52 [[-1.40647104e-01 9.02677472e-01 4.06683874e-01 1.58143721e+02] [-3.28644018e-01 -4.30042517e-01 8.40866543e-01 1.35284501e+02] [ 9.33922642e-01 -1.53887786e-02 3.57143786e-01 1.31524220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2671056809999 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:158.14, Y:135.28, Z:131.52 [[-1.44618677e-01 8.95350725e-01 4.21227395e-01 1.58138731e+02] [-3.26495563e-01 -4.45039622e-01 8.33870723e-01 1.35281572e+02] [ 9.34069637e-01 -1.69355949e-02 3.56689080e-01 1.31518164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2971056809999 meters Centerline goodness : 0.998250 Centerline is valid? [True, True] Translation: X:158.14, Y:135.29, Z:131.50 [[-1.49190525e-01 8.93910817e-01 4.22688582e-01 1.58138759e+02] [-3.29066785e-01 -4.47991311e-01 8.31275428e-01 1.35285209e+02] [ 9.32446909e-01 -1.50743555e-02 3.60992418e-01 1.31504322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.3271056809999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:158.14, Y:135.29, Z:131.51 [[-1.55553605e-01 8.91606213e-01 4.25254555e-01 1.58137095e+02] [-3.27760240e-01 -4.52692402e-01 8.29242313e-01 1.35287136e+02] [ 9.31867105e-01 -1.03899042e-02 3.62651002e-01 1.31507727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.3571056809999 meters Centerline goodness : 0.998369 Centerline is valid? [True, True] Translation: X:158.14, Y:135.29, Z:131.52 [[-1.54674306e-01 8.90878684e-01 4.27096042e-01 1.58135759e+02] [-3.26940242e-01 -4.54097203e-01 8.28797809e-01 1.35286909e+02] [ 9.32301420e-01 -1.14411574e-02 3.61501262e-01 1.31516458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.3871056809999 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:158.14, Y:135.29, Z:131.52 [[-1.60064484e-01 8.93870724e-01 4.18777375e-01 1.58135940e+02] [-3.27275773e-01 -4.48307734e-01 8.31811724e-01 1.35290547e+02] [ 9.31273284e-01 -3.91217535e-03 3.64300378e-01 1.31517257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.4171056809999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:158.13, Y:135.28, Z:131.52 [[-1.62647730e-01 8.85881839e-01 4.34464134e-01 1.58127183e+02] [-3.20248140e-01 -4.63886200e-01 8.25984699e-01 1.35281741e+02] [ 9.33266760e-01 -4.79179476e-03 3.59152048e-01 1.31519252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.4471056809999 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:158.13, Y:135.28, Z:131.51 [[-1.66844551e-01 8.86769519e-01 4.31048391e-01 1.58131057e+02] [-3.23620181e-01 -4.62208575e-01 8.25610811e-01 1.35282397e+02] [ 9.31360765e-01 -1.74729315e-03 3.64093495e-01 1.31513713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.4771056809999 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:158.14, Y:135.29, Z:131.52 [[-1.72577203e-01 8.92122792e-01 4.17533271e-01 1.58137413e+02] [-3.22111202e-01 -4.51701543e-01 8.31991641e-01 1.35288476e+02] [ 9.30839128e-01 9.09064593e-03 3.65316134e-01 1.31518425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.5071056809999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:158.14, Y:135.30, Z:131.47 [[-1.74152378e-01 8.83033441e-01 4.35801436e-01 1.58139871e+02] [-3.21130082e-01 -4.69298433e-01 8.22577930e-01 1.35301474e+02] [ 9.30884751e-01 3.30495239e-03 3.65298039e-01 1.31469433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.5371056809999 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:158.14, Y:135.29, Z:131.52 [[-1.72657023e-01 8.87313438e-01 4.27626490e-01 1.58137661e+02] [-3.22771030e-01 -4.61143079e-01 8.26538519e-01 1.35287369e+02] [ 9.30595731e-01 4.68223704e-03 3.66018663e-01 1.31516920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.56710568099993 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:158.15, Y:135.29, Z:131.52 [[-1.73900072e-01 8.92811239e-01 4.15507949e-01 1.58145889e+02] [-3.19758387e-01 -4.50268080e-01 8.33674535e-01 1.35293145e+02] [ 9.31403961e-01 1.21139095e-02 3.63785533e-01 1.31520558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.5971056809999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:158.14, Y:135.28, Z:131.51 [[-1.72377197e-01 8.82783682e-01 4.37011525e-01 1.58138000e+02] [-3.16629237e-01 -4.69765310e-01 8.24054901e-01 1.35279735e+02] [ 9.32755074e-01 3.67764840e-03 3.60491951e-01 1.31512707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.62710568099993 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:158.15, Y:135.28, Z:131.51 [[-1.73375567e-01 8.87427358e-01 4.27099049e-01 1.58145583e+02] [-3.12535154e-01 -4.60827329e-01 8.30638279e-01 1.35278000e+02] [ 9.33950047e-01 1.05289157e-02 3.57248445e-01 1.31510383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.6571056809999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:158.14, Y:135.27, Z:131.51 [[-1.62825917e-01 8.79238284e-01 4.47691591e-01 1.58141060e+02] [-3.01910895e-01 -4.76381720e-01 8.25778583e-01 1.35269348e+02] [ 9.39328235e-01 -7.04814100e-04 3.43018907e-01 1.31514860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.68710568099993 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:158.15, Y:135.27, Z:131.51 [[-1.59017046e-01 8.85527266e-01 4.36526104e-01 1.58153022e+02] [-3.08123041e-01 -4.64580744e-01 8.30195714e-01 1.35272256e+02] [ 9.37962563e-01 -2.48848055e-03 3.46727612e-01 1.31507440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.7171056809999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:158.17, Y:135.28, Z:131.51 [[-1.56510033e-01 8.95352501e-01 4.16951445e-01 1.58170521e+02] [-3.06415308e-01 -4.45340994e-01 8.41297247e-01 1.35276487e+02] [ 9.38943166e-01 3.91115477e-03 3.44050046e-01 1.31514884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.74710568099994 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:158.17, Y:135.25, Z:131.54 [[-1.11618871e-01 8.88077513e-01 4.45936720e-01 1.58169057e+02] [-3.14798565e-01 -4.57229030e-01 8.31771289e-01 1.35252734e+02] [ 9.42572592e-01 -4.75388677e-02 3.30600915e-01 1.31538446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.7771056809999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:158.22, Y:135.34, Z:131.47 [[-1.40729285e-01 9.41678117e-01 3.05675632e-01 1.58219236e+02] [-3.47972588e-01 -3.36095453e-01 8.75188508e-01 1.35340466e+02] [ 9.26882056e-01 1.67979122e-02 3.74976644e-01 1.31473869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.80710568099994 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:158.16, Y:135.24, Z:131.51 [[-1.23726827e-01 8.84785395e-01 4.49273277e-01 1.58160723e+02] [-3.10985807e-01 -4.64517303e-01 8.29163134e-01 1.35236427e+02] [ 9.42326642e-01 -3.71278890e-02 3.32628952e-01 1.31511330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8371056809999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:158.17, Y:135.28, Z:131.52 [[-1.26251482e-01 8.98081769e-01 4.21318999e-01 1.58172290e+02] [-3.39089871e-01 -4.38204198e-01 8.32463297e-01 1.35276960e+02] [ 9.32243865e-01 -3.77652800e-02 3.59854360e-01 1.31517447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.86710568099994 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:158.20, Y:135.31, Z:131.49 [[-1.33949543e-01 9.14956285e-01 3.80673765e-01 1.58197583e+02] [-3.54893630e-01 -4.02947536e-01 8.43613534e-01 1.35307289e+02] [ 9.25261061e-01 -2.20970468e-02 3.78686796e-01 1.31485086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8971056809999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:158.18, Y:135.27, Z:131.52 [[-1.23345487e-01 8.93160231e-01 4.32493575e-01 1.58175648e+02] [-3.50906808e-01 -4.46920632e-01 8.22876881e-01 1.35271826e+02] [ 9.28251207e-01 -5.02667899e-02 3.68541649e-01 1.31516836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.92710568099994 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:158.19, Y:135.29, Z:131.48 [[-1.29994502e-01 9.05185423e-01 4.04648959e-01 1.58188318e+02] [-3.58865665e-01 -4.23396251e-01 8.31835951e-01 1.35294678e+02] [ 9.24292629e-01 -3.70805176e-02 3.79879154e-01 1.31476403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9571056809999 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:158.17, Y:135.27, Z:131.53 [[-1.16866530e-01 8.93218928e-01 4.34168356e-01 1.58170990e+02] [-3.44766579e-01 -4.46464949e-01 8.25714875e-01 1.35266585e+02] [ 9.31385108e-01 -5.31883063e-02 3.60128844e-01 1.31526175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.98710568099995 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:158.19, Y:135.30, Z:131.46 [[-1.35280292e-01 9.09634641e-01 3.92764641e-01 1.58190111e+02] [-3.55623702e-01 -4.14572126e-01 8.37652514e-01 1.35301220e+02] [ 9.24787016e-01 -2.63585386e-02 3.79571077e-01 1.31459961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0171056809999 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:158.17, Y:135.27, Z:131.52 [[-1.23191723e-01 8.90463070e-01 4.38063148e-01 1.58167085e+02] [-3.35625591e-01 -4.52798643e-01 8.26031992e-01 1.35266332e+02] [ 9.33905382e-01 -4.52648981e-02 3.54643239e-01 1.31519938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0471056809999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:158.19, Y:135.28, Z:131.54 [[-9.70960360e-02 9.09288249e-01 4.04681654e-01 1.58190544e+02] [-3.34796306e-01 -4.12747688e-01 8.47083691e-01 1.35282927e+02] [ 9.37274663e-01 -5.32374543e-02 3.44502511e-01 1.31539648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0771056809999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:158.23, Y:135.36, Z:131.47 [[-1.36567511e-01 9.45943903e-01 2.94175878e-01 1.58234442e+02] [-3.51542629e-01 -3.23908316e-01 8.78351401e-01 1.35363490e+02] [ 9.26157166e-01 1.65389033e-02 3.76774959e-01 1.31469676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.1071056809999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:158.20, Y:135.31, Z:131.48 [[-1.40625432e-01 9.14568605e-01 3.79194876e-01 1.58203168e+02] [-3.44808252e-01 -4.04263900e-01 8.47158762e-01 1.35310601e+02] [ 9.28079607e-01 -1.16174553e-02 3.72200587e-01 1.31475907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.1371056809999 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:158.19, Y:135.30, Z:131.49 [[-1.32922407e-01 9.03915960e-01 4.06531144e-01 1.58190123e+02] [-3.35900632e-01 -4.26981306e-01 8.39558056e-01 1.35297246e+02] [ 9.32471125e-01 -2.49579905e-02 3.60381325e-01 1.31487268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.1671056809999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:158.22, Y:135.34, Z:131.45 [[-1.41531430e-01 9.27284135e-01 3.46573206e-01 1.58215490e+02] [-3.48610732e-01 -3.74357454e-01 8.59259597e-01 1.35335916e+02] [ 9.26520055e-01 7.93100403e-04 3.76244546e-01 1.31451417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.1971056809999 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:158.21, Y:135.33, Z:131.43 [[-1.48466370e-01 9.21224767e-01 3.59586798e-01 1.58210339e+02] [-3.49618197e-01 -3.89029890e-01 8.52304442e-01 1.35332791e+02] [ 9.25053973e-01 8.20458580e-04 3.79834797e-01 1.31431117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.2271056809999 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:158.21, Y:135.33, Z:131.43 [[-1.48869295e-01 9.19442588e-01 3.63955026e-01 1.58207203e+02] [-3.48767115e-01 -3.93224166e-01 8.50726898e-01 1.35331656e+02] [ 9.25310452e-01 -2.88430732e-04 3.79210343e-01 1.31432354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.2571056809999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:158.20, Y:135.32, Z:131.50 [[-1.42034375e-01 9.15845189e-01 3.75571333e-01 1.58203349e+02] [-3.38488046e-01 -4.01482878e-01 8.51021352e-01 1.35320709e+02] [ 9.30189271e-01 -6.25212082e-03 3.67027018e-01 1.31496334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.2871056809999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:158.20, Y:135.32, Z:131.50 [[-1.41684228e-01 9.14295000e-01 3.79460450e-01 1.58202749e+02] [-3.40792418e-01 -4.04946620e-01 8.48456695e-01 1.35319620e+02] [ 9.29400940e-01 -9.10431194e-03 3.68959353e-01 1.31496010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.31710568099993 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:158.21, Y:135.33, Z:131.46 [[-1.43023367e-01 9.19445386e-01 3.66284723e-01 1.58208062e+02] [-3.51645968e-01 -3.93150083e-01 8.49575262e-01 1.35331413e+02] [ 9.25142924e-01 -7.29343155e-03 3.79548911e-01 1.31460593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.3471056809999 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:158.22, Y:135.34, Z:131.49 [[-1.48051929e-01 9.30173288e-01 3.35943865e-01 1.58218731e+02] [-3.51498670e-01 -3.66999718e-01 8.61254836e-01 1.35342879e+02] [ 9.24407546e-01 9.42661857e-03 3.81289690e-01 1.31485743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.37710568099993 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:158.20, Y:135.33, Z:131.44 [[-1.52400015e-01 9.14597360e-01 3.74547601e-01 1.58203937e+02] [-3.60742695e-01 -4.04304709e-01 8.40477489e-01 1.35328836e+02] [ 9.20129851e-01 -7.02652935e-03 3.91550360e-01 1.31441417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.4071056809999 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:158.20, Y:135.33, Z:131.44 [[-1.52001114e-01 9.15113613e-01 3.73447101e-01 1.58204634e+02] [-3.61042278e-01 -4.03135118e-01 8.40910548e-01 1.35330433e+02] [ 9.20078331e-01 -7.01085154e-03 3.91671690e-01 1.31439069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43710568099993 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:158.20, Y:135.31, Z:131.50 [[-1.39253465e-01 9.11943161e-01 3.85963914e-01 1.58196059e+02] [-3.45731784e-01 -4.10008062e-01 8.44015949e-01 1.35308191e+02] [ 9.27942890e-01 -1.59078473e-02 3.72382779e-01 1.31497128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.4671056809999 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:158.21, Y:135.33, Z:131.47 [[-1.44531050e-01 9.20251319e-01 3.63659573e-01 1.58205592e+02] [-3.53817300e-01 -3.91283630e-01 8.49535426e-01 1.35326030e+02] [ 9.24080134e-01 -5.88480127e-03 3.82153471e-01 1.31467740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49710568099994 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:158.20, Y:135.32, Z:131.46 [[-1.45015025e-01 9.17190552e-01 3.71122802e-01 1.58203158e+02] [-3.55850231e-01 -3.98336336e-01 8.45398590e-01 1.35324040e+02] [ 9.23223297e-01 -9.46863693e-03 3.84147224e-01 1.31462518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5271056809999 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:158.20, Y:135.32, Z:131.48 [[-1.41941502e-01 9.14572706e-01 3.78694304e-01 1.58199667e+02] [-3.49881312e-01 -4.04226928e-01 8.45093875e-01 1.35317371e+02] [ 9.25978227e-01 -1.25441655e-02 3.77368476e-01 1.31475165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.55710568099994 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:158.20, Y:135.31, Z:131.52 [[-1.32928767e-01 9.18661790e-01 3.72008680e-01 1.58196759e+02] [-3.41789983e-01 -3.94804404e-01 8.52824185e-01 1.35308550e+02] [ 9.30327658e-01 -1.37839729e-02 3.66470260e-01 1.31519404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5871056809999 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:158.22, Y:135.33, Z:131.51 [[-1.45570035e-01 9.31011484e-01 3.34704319e-01 1.58215135e+02] [-3.39801703e-01 -3.64777214e-01 8.66875070e-01 1.35329471e+02] [ 9.29163154e-01 1.24579366e-02 3.69459920e-01 1.31507805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.61710568099994 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:158.21, Y:135.33, Z:131.47 [[-1.52144715e-01 9.23765166e-01 3.51439758e-01 1.58214209e+02] [-3.42911464e-01 -3.82828838e-01 8.57819217e-01 1.35326218e+02] [ 9.26964785e-01 9.99993793e-03 3.75015050e-01 1.31474597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.6471056809999 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:158.21, Y:135.32, Z:131.48 [[-1.51406718e-01 9.22245353e-01 3.55723932e-01 1.58211022e+02] [-3.41964209e-01 -3.86521474e-01 8.56540501e-01 1.35320664e+02] [ 9.27435435e-01 8.04113290e-03 3.73896850e-01 1.31484505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.67710568099994 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:158.22, Y:135.33, Z:131.46 [[-1.54694525e-01 9.24581825e-01 3.48163830e-01 1.58215005e+02] [-3.49190192e-01 -3.80828422e-01 8.56175171e-01 1.35332601e+02] [ 9.24194684e-01 1.08702173e-02 3.81766977e-01 1.31459899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7071056809999 meters Centerline goodness : 0.998642 Centerline is valid? [True, True] Translation: X:158.21, Y:135.33, Z:131.48 [[-1.48882815e-01 9.22567710e-01 3.55953267e-01 1.58208794e+02] [-3.47332115e-01 -3.85818285e-01 8.54695649e-01 1.35328619e+02] [ 9.25847887e-01 3.61549280e-03 3.77879106e-01 1.31477682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.73710568099995 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:158.21, Y:135.33, Z:131.49 [[-1.47123759e-01 9.26497962e-01 3.46346829e-01 1.58212369e+02] [-3.46971359e-01 -3.76248353e-01 8.59097231e-01 1.35333889e+02] [ 9.26264258e-01 6.22118440e-03 3.76823330e-01 1.31485894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7671056809999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:158.22, Y:135.35, Z:131.49 [[-1.43419231e-01 9.32661345e-01 3.31019244e-01 1.58217997e+02] [-3.52747169e-01 -3.60683966e-01 8.63409817e-01 1.35346753e+02] [ 9.24662295e-01 7.06347101e-03 3.80722666e-01 1.31488462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7971056809999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:158.23, Y:135.37, Z:131.46 [[-1.50382889e-01 9.43501040e-01 2.95280840e-01 1.58232297e+02] [-3.64196107e-01 -3.30542544e-01 8.70691003e-01 1.35374509e+02] [ 9.19100746e-01 2.33968962e-02 3.93327349e-01 1.31456748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.8271056809999 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:158.20, Y:135.33, Z:131.47 [[-1.44248044e-01 9.29243903e-01 3.40144484e-01 1.58204343e+02] [-3.42159341e-01 -3.69374836e-01 8.63996074e-01 1.35330879e+02] [ 9.28503897e-01 8.24613140e-03 3.71231079e-01 1.31474507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.8571056809999 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:158.23, Y:135.38, Z:131.50 [[-1.46860213e-01 9.49222419e-01 2.78224510e-01 1.58231682e+02] [-3.54508599e-01 -3.13098238e-01 8.81074995e-01 1.35376187e+02] [ 9.23447741e-01 3.07618800e-02 3.82489184e-01 1.31500570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.8871056809999 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:158.23, Y:135.39, Z:131.40 [[-1.55650933e-01 9.42252920e-01 2.96533678e-01 1.58230846e+02] [-3.72893477e-01 -3.34029099e-01 8.65664494e-01 1.35394590e+02] [ 9.14725774e-01 2.41660120e-02 4.03351909e-01 1.31399359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.9171056809999 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:158.22, Y:135.35, Z:131.47 [[-1.47628671e-01 9.33298882e-01 3.27351450e-01 1.58217322e+02] [-3.55913631e-01 -3.58935956e-01 8.62838610e-01 1.35352750e+02] [ 9.22784516e-01 1.08708737e-02 3.85163032e-01 1.31469852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.9471056809999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:158.22, Y:135.36, Z:131.47 [[-1.38488957e-01 9.36278389e-01 3.22805804e-01 1.58218762e+02] [-3.51759981e-01 -3.51196488e-01 8.67713053e-01 1.35359063e+02] [ 9.25789244e-01 6.61851201e-03 3.77982104e-01 1.31473795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.9771056809999 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:158.23, Y:135.37, Z:131.50 [[-1.37344425e-01 9.46392405e-01 2.92366080e-01 1.58228792e+02] [-3.46763313e-01 -3.22424622e-01 8.80793715e-01 1.35369916e+02] [ 9.27842505e-01 1.95902757e-02 3.72457390e-01 1.31499522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.0071056809999 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:158.23, Y:135.37, Z:131.50 [[-1.34989665e-01 9.46661085e-01 2.92592856e-01 1.58231602e+02] [-3.43882427e-01 -3.21701263e-01 8.82186587e-01 1.35368854e+02] [ 9.29259203e-01 1.84685304e-02 3.68966457e-01 1.31495851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.0371056809999 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:158.24, Y:135.38, Z:131.50 [[-1.36636311e-01 9.51077589e-01 2.77095539e-01 1.58238831e+02] [-3.42146654e-01 -3.07813684e-01 8.87798628e-01 1.35378570e+02] [ 9.29659177e-01 2.64982180e-02 3.67466541e-01 1.31502436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.06710568099993 meters Centerline goodness : 0.998500 Centerline is valid? [True, True] Translation: X:158.23, Y:135.37, Z:131.49 [[-1.31522400e-01 9.45201882e-01 2.98823127e-01 1.58232636e+02] [-3.43685045e-01 -3.26222817e-01 8.80601649e-01 1.35366038e+02] [ 9.29829257e-01 1.31178023e-02 3.67757359e-01 1.31488353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.0971056809999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:158.24, Y:135.38, Z:131.47 [[-1.27167997e-01 9.53376229e-01 2.73682417e-01 1.58239522e+02] [-3.49909509e-01 -3.01303143e-01 8.87006061e-01 1.35384159e+02] [ 9.28111866e-01 1.70347043e-02 3.71911525e-01 1.31468703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.12710568099993 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:158.24, Y:135.39, Z:131.51 [[-1.31271405e-01 9.57083518e-01 2.58377548e-01 1.58243784e+02] [-3.44750261e-01 -2.88438313e-01 8.93280805e-01 1.35389651e+02] [ 9.29470320e-01 2.81864991e-02 3.67818496e-01 1.31506454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.1571056809999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:158.25, Y:135.40, Z:131.47 [[-1.33173477e-01 9.55442031e-01 2.63429974e-01 1.58245179e+02] [-3.56058426e-01 -2.94175062e-01 8.86951763e-01 1.35402655e+02] [ 9.24925522e-01 2.43219887e-02 3.79369502e-01 1.31473194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.18710568099993 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:158.26, Y:135.43, Z:131.39 [[-1.50140761e-01 9.59090001e-01 2.40008587e-01 1.58255915e+02] [-3.79866995e-01 -2.80088011e-01 8.81618836e-01 1.35434398e+02] [ 9.12775338e-01 4.11955826e-02 4.06379264e-01 1.31385267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.2171056809999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:158.24, Y:135.40, Z:131.40 [[-1.46639185e-01 9.44721743e-01 2.93253778e-01 1.58236755e+02] [-3.71978742e-01 -3.27362842e-01 8.68599669e-01 1.35400281e+02] [ 9.16585384e-01 1.82865761e-02 3.99420625e-01 1.31396750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.24710568099994 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:158.24, Y:135.42, Z:131.38 [[-1.54454218e-01 9.52577264e-01 2.62184000e-01 1.58242137e+02] [-3.84747579e-01 -3.02411449e-01 8.72076038e-01 1.35419675e+02] [ 9.10007250e-01 3.38211630e-02 4.13210520e-01 1.31383098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.2771056809999 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:158.22, Y:135.37, Z:131.49 [[-1.32517974e-01 9.41309456e-01 3.10444027e-01 1.58218573e+02] [-3.56058637e-01 -3.37508705e-01 8.71384026e-01 1.35372380e+02] [ 9.25019586e-01 4.93776877e-03 3.79887332e-01 1.31485474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.30710568099994 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:158.23, Y:135.40, Z:131.51 [[-1.35954401e-01 9.58669991e-01 2.49936489e-01 1.58234017e+02] [-3.57742852e-01 -2.82761933e-01 8.89980753e-01 1.35404299e+02] [ 9.23870366e-01 3.15838076e-02 3.81400066e-01 1.31505732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3371056809999 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:158.23, Y:135.39, Z:131.50 [[-1.33240368e-01 9.52255831e-01 2.74692258e-01 1.58226262e+02] [-3.57537682e-01 -3.04683473e-01 8.82799404e-01 1.35393926e+02] [ 9.24345071e-01 1.94116844e-02 3.81063480e-01 1.31497597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.36710568099994 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:158.23, Y:135.40, Z:131.49 [[-1.25927583e-01 9.58420019e-01 2.56072863e-01 1.58231706e+02] [-3.61104136e-01 -2.84704150e-01 8.88001886e-01 1.35401997e+02] [ 9.23983791e-01 1.93549609e-02 3.81941538e-01 1.31494194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3971056809999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:158.24, Y:135.41, Z:131.51 [[-1.36052132e-01 9.62664469e-01 2.34023370e-01 1.58239608e+02] [-3.55070375e-01 -2.67908541e-01 8.95628295e-01 1.35413918e+02] [ 9.24886396e-01 3.87573730e-02 3.78263163e-01 1.31514026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.42710568099994 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:158.24, Y:135.42, Z:131.50 [[-1.42149715e-01 9.61079798e-01 2.36894661e-01 1.58243188e+02] [-3.57721577e-01 -2.73028799e-01 8.93023263e-01 1.35415737e+02] [ 9.22945682e-01 4.22006706e-02 3.82609947e-01 1.31498875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4571056809999 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:158.25, Y:135.41, Z:131.49 [[-1.48909922e-01 9.59245667e-01 2.40153256e-01 1.58248804e+02] [-3.53604743e-01 -2.78457257e-01 8.92986697e-01 1.35413751e+02] [ 9.23466037e-01 4.80552489e-02 3.80658866e-01 1.31493556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.48710568099995 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:158.25, Y:135.41, Z:131.50 [[-1.46856524e-01 9.58914886e-01 2.42724952e-01 1.58247656e+02] [-3.52335206e-01 -2.80001372e-01 8.93005675e-01 1.35413220e+02] [ 9.24279754e-01 4.56231630e-02 3.78979502e-01 1.31495429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5171056809999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:158.25, Y:135.41, Z:131.50 [[-1.43470369e-01 9.59019221e-01 2.44332536e-01 1.58248382e+02] [-3.51420658e-01 -2.80165646e-01 8.93314464e-01 1.35408533e+02] [ 9.25159324e-01 4.23006549e-02 3.77214634e-01 1.31499227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5471056809999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:158.25, Y:135.43, Z:131.47 [[-1.41814710e-01 9.62753207e-01 2.30206105e-01 1.58254079e+02] [-3.58614195e-01 -2.66726606e-01 8.94568486e-01 1.35425162e+02] [ 9.22650772e-01 4.43077938e-02 3.83082723e-01 1.31470811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5771056809999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:158.25, Y:135.42, Z:131.47 [[-1.32697736e-01 9.61901688e-01 2.39032327e-01 1.58250806e+02] [-3.60818057e-01 -2.71498473e-01 8.92243750e-01 1.35422064e+02] [ 9.23147681e-01 3.21515462e-02 3.83098731e-01 1.31468862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.6071056809999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:158.26, Y:135.43, Z:131.46 [[-1.29797427e-01 9.65818548e-01 2.24381731e-01 1.58255623e+02] [-3.64103151e-01 -2.56913045e-01 8.95223203e-01 1.35433996e+02] [ 9.22269767e-01 3.44995736e-02 3.85004229e-01 1.31457935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.6371056809999 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:158.26, Y:135.46, Z:131.38 [[-1.35157440e-01 9.69851103e-01 2.02783888e-01 1.58264687e+02] [-3.84154881e-01 -2.39946276e-01 8.91544060e-01 1.35458546e+02] [ 9.13322229e-01 4.25983922e-02 4.05003560e-01 1.31384171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.6671056809999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:158.25, Y:135.42, Z:131.41 [[-1.20214429e-01 9.59853277e-01 2.53436732e-01 1.58250199e+02] [-3.71683489e-01 -2.80237217e-01 8.85052815e-01 1.35424745e+02] [ 9.20543250e-01 1.21978698e-02 3.90450172e-01 1.31412309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.6971056809999 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:158.25, Y:135.43, Z:131.44 [[-1.14770536e-01 9.64325197e-01 2.38546932e-01 1.58254449e+02] [-3.61588512e-01 -2.64214281e-01 8.94116638e-01 1.35429411e+02] [ 9.25246709e-01 1.63624157e-02 3.79012928e-01 1.31442688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.7271056809999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:158.27, Y:135.46, Z:131.39 [[-1.17599426e-01 9.70257155e-01 2.11592600e-01 1.58267869e+02] [-3.79949724e-01 -2.40819831e-01 8.93109185e-01 1.35456649e+02] [ 9.17501271e-01 2.46345777e-02 3.96969212e-01 1.31385347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.7571056809999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:158.27, Y:135.45, Z:131.36 [[-1.20165017e-01 9.66733593e-01 2.25801967e-01 1.58266320e+02] [-3.84833522e-01 -2.55025880e-01 8.87054091e-01 1.35449742e+02] [ 9.15130334e-01 1.96967037e-02 4.02676683e-01 1.31363132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.7871056809999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:158.26, Y:135.44, Z:131.39 [[-1.09679302e-01 9.65626660e-01 2.35659934e-01 1.58259943e+02] [-3.83889629e-01 -2.59846218e-01 8.86063596e-01 1.35442394e+02] [ 9.16841973e-01 6.71543255e-03 3.99193812e-01 1.31387526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.81710568099993 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:158.26, Y:135.46, Z:131.37 [[-1.09598119e-01 9.68053651e-01 2.25522463e-01 1.58264766e+02] [-3.88493704e-01 -2.50560460e-01 8.86731131e-01 1.35455139e+02] [ 9.14910320e-01 9.57000725e-03 4.03543703e-01 1.31371527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.8471056809999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:158.26, Y:135.45, Z:131.38 [[-1.03126932e-01 9.67366776e-01 2.31444068e-01 1.58261818e+02] [-3.87204210e-01 -2.53373758e-01 8.86495707e-01 1.35452101e+02] [ 9.16208347e-01 1.80546505e-03 4.00698147e-01 1.31382925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.87710568099993 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:158.26, Y:135.45, Z:131.38 [[-9.73948170e-02 9.68893742e-01 2.27506411e-01 1.58261052e+02] [-3.88753832e-01 -2.47468962e-01 8.87484969e-01 1.35452404e+02] [ 9.16179408e-01 -2.00755294e-03 4.00763349e-01 1.31378155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.9071056809999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:158.26, Y:135.46, Z:131.37 [[-9.43503539e-02 9.71159773e-01 2.18967365e-01 1.58262866e+02] [-3.91759514e-01 -2.38421761e-01 8.88639155e-01 1.35460142e+02] [ 9.15217184e-01 -1.93912985e-03 4.02956258e-01 1.31368411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93710568099993 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:158.26, Y:135.45, Z:131.38 [[-8.88786920e-02 9.71697646e-01 2.18870424e-01 1.58260340e+02] [-3.89957675e-01 -2.36145480e-01 8.90038384e-01 1.35454452e+02] [ 9.16533464e-01 -6.24475441e-03 3.99909256e-01 1.31383718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.9671056809999 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:158.26, Y:135.45, Z:131.38 [[-8.73717880e-02 9.69863274e-01 2.27445378e-01 1.58257130e+02] [-3.87629824e-01 -2.43424194e-01 8.89093798e-01 1.35450709e+02] [ 9.17665130e-01 -1.04828971e-02 3.97216338e-01 1.31384259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99710568099994 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:158.26, Y:135.46, Z:131.38 [[-8.47262831e-02 9.73859780e-01 2.10757174e-01 1.58264083e+02] [-3.90818156e-01 -2.27048518e-01 8.92025862e-01 1.35464141e+02] [ 9.16560214e-01 -6.78969443e-03 3.99839061e-01 1.31375268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0271056809999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:158.26, Y:135.46, Z:131.37 [[-8.43481688e-02 9.72490085e-01 2.17136874e-01 1.58259843e+02] [-3.91701396e-01 -2.32730887e-01 8.90172091e-01 1.35460481e+02] [ 9.16217989e-01 -9.96843063e-03 4.00556148e-01 1.31373269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.05710568099994 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:158.26, Y:135.45, Z:131.39 [[-8.32590712e-02 9.72544174e-01 2.17314877e-01 1.58259926e+02] [-3.86969914e-01 -2.32511803e-01 8.92296222e-01 1.35454495e+02] [ 9.18325766e-01 -9.80256481e-03 3.95704052e-01 1.31388322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0871056809999 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:158.26, Y:135.46, Z:131.36 [[-9.66293184e-02 9.70359569e-01 2.21506391e-01 1.58259032e+02] [-3.88744392e-01 -2.41665611e-01 8.89086908e-01 1.35455561e+02] [ 9.16264467e-01 -1.97505321e-04 4.00573824e-01 1.31361926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.11710568099994 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:158.27, Y:135.47, Z:131.36 [[-9.65385396e-02 9.71362799e-01 2.17105096e-01 1.58268394e+02] [-3.91501463e-01 -2.37599736e-01 8.88972986e-01 1.35469296e+02] [ 9.15099402e-01 8.23190973e-04 4.03227489e-01 1.31356889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.1471056809999 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:158.27, Y:135.47, Z:131.36 [[-1.00422541e-01 9.70452362e-01 2.19402659e-01 1.58269709e+02] [-3.87429469e-01 -2.41253579e-01 8.89772509e-01 1.35467864e+02] [ 9.16413509e-01 4.35016086e-03 4.00209140e-01 1.31355989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.17710568099994 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:158.26, Y:135.44, Z:131.42 [[-9.95513096e-02 9.63919347e-01 2.46878571e-01 1.58258094e+02] [-3.65743443e-01 -2.66190176e-01 8.91837723e-01 1.35435932e+02] [ 9.25376286e-01 -1.51060538e-03 3.79046762e-01 1.31420960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2071056809999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:158.26, Y:135.44, Z:131.44 [[-1.05474706e-01 9.68908674e-01 2.23810339e-01 1.58259454e+02] [-3.57664045e-01 -2.46967050e-01 9.00601859e-01 1.35444804e+02] [ 9.27874732e-01 1.49418057e-02 3.72592572e-01 1.31441246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.23710568099995 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:158.27, Y:135.47, Z:131.36 [[-1.18325653e-01 9.71844090e-01 2.03759919e-01 1.58268922e+02] [-3.79077388e-01 -2.33870545e-01 8.95323909e-01 1.35471049e+02] [ 9.17768693e-01 2.86990082e-02 3.96077004e-01 1.31359429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2671056809999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:158.26, Y:135.45, Z:131.38 [[-1.14812188e-01 9.64957224e-01 2.35957025e-01 1.58256617e+02] [-3.71108976e-01 -2.61994256e-01 8.90863142e-01 1.35448716e+02] [ 9.21464209e-01 1.47161760e-02 3.88184421e-01 1.31380472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2971056809999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:158.26, Y:135.46, Z:131.36 [[-1.16800718e-01 9.67249793e-01 2.25356229e-01 1.58259695e+02] [-3.76581642e-01 -2.53097622e-01 8.91138519e-01 1.35460469e+02] [ 9.18990674e-01 1.92206002e-02 3.93810499e-01 1.31362551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.3271056809999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:158.26, Y:135.46, Z:131.36 [[-1.16404006e-01 9.65860655e-01 2.31437471e-01 1.58258244e+02] [-3.76671307e-01 -2.58544445e-01 8.89535551e-01 1.35458116e+02] [ 9.19004262e-01 1.63696474e-02 3.93907604e-01 1.31358393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.3571056809999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:158.25, Y:135.45, Z:131.39 [[-1.08944832e-01 9.64996011e-01 2.38565973e-01 1.58253042e+02] [-3.72297078e-01 -2.62136996e-01 8.90325267e-01 1.35450362e+02] [ 9.21697298e-01 8.17892191e-03 3.87823666e-01 1.31387955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.3871056809999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:158.26, Y:135.48, Z:131.35 [[-1.09279761e-01 9.70352402e-01 2.15578639e-01 1.58260569e+02] [-3.79860926e-01 -2.41183862e-01 8.93048723e-01 1.35477326e+02] [ 9.18566062e-01 1.57022491e-02 3.94955477e-01 1.31345338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.4171056809999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:158.25, Y:135.47, Z:131.35 [[-1.00367217e-01 9.66228047e-01 2.37338963e-01 1.58254745e+02] [-3.81152765e-01 -2.57684967e-01 8.87874444e-01 1.35465876e+02] [ 9.19047872e-01 -1.34891446e-03 3.94143614e-01 1.31347363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.4471056809999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:158.26, Y:135.47, Z:131.34 [[-9.65444743e-02 9.67623555e-01 2.33203388e-01 1.58255715e+02] [-3.84401204e-01 -2.52367493e-01 8.88001330e-01 1.35469858e+02] [ 9.18103959e-01 -3.91204151e-03 3.96320347e-01 1.31338247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.4771056809999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:158.25, Y:135.47, Z:131.34 [[-8.31781641e-02 9.68598177e-01 2.34305279e-01 1.58254299e+02] [-3.85999656e-01 -2.48080853e-01 8.88515704e-01 1.35467956e+02] [ 9.18741345e-01 -1.65366521e-02 3.94513473e-01 1.31339151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.5071056809999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:158.25, Y:135.47, Z:131.34 [[-7.56599319e-02 9.68061921e-01 2.39022365e-01 1.58253427e+02] [-3.87093146e-01 -2.49424970e-01 8.87663270e-01 1.35465503e+02] [ 9.18931157e-01 -2.53633767e-02 3.93601611e-01 1.31335379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.5371056809999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:158.25, Y:135.45, Z:131.33 [[-6.07632647e-02 9.63486764e-01 2.60770170e-01 1.58245586e+02] [-3.78729415e-01 -2.63971210e-01 8.87064389e-01 1.35450380e+02] [ 9.23510615e-01 -4.48604056e-02 3.80940531e-01 1.31329479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.56710568099993 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:158.26, Y:135.47, Z:131.34 [[-5.64918591e-02 9.75180319e-01 2.14084132e-01 1.58257362e+02] [-3.88172887e-01 -2.19009319e-01 8.95185304e-01 1.35474995e+02] [ 9.19853510e-01 -3.25309738e-02 3.90910804e-01 1.31338506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.5971056809999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:158.25, Y:135.47, Z:131.33 [[-5.72331805e-02 9.69736429e-01 2.37351263e-01 1.58253302e+02] [-3.85487370e-01 -2.40769062e-01 8.90746735e-01 1.35465506e+02] [ 9.20936399e-01 -4.05156454e-02 3.87601125e-01 1.31325294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.62710568099993 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:158.25, Y:135.46, Z:131.32 [[-5.60598204e-02 9.67122000e-01 2.48057118e-01 1.58251982e+02] [-3.82804968e-01 -2.50281068e-01 8.89280464e-01 1.35460554e+02] [ 9.22126701e-01 -4.51045939e-02 3.84249818e-01 1.31321280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.6571056809999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:158.26, Y:135.46, Z:131.32 [[-6.10634400e-02 9.68828061e-01 2.40090493e-01 1.58255684e+02] [-3.77699508e-01 -2.45081149e-01 8.92904425e-01 1.35464651e+02] [ 9.23912517e-01 -3.61582451e-02 3.80891380e-01 1.31317854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.68710568099993 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:158.25, Y:135.47, Z:131.31 [[-6.62586334e-02 9.67339590e-01 2.44671026e-01 1.58254071e+02] [-3.76578633e-01 -2.51318983e-01 8.91643035e-01 1.35465668e+02] [ 9.24012081e-01 -3.30588318e-02 3.80931473e-01 1.31305633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.7171056809999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:158.24, Y:135.45, Z:131.28 [[-6.25997617e-02 9.59197219e-01 2.75720809e-01 1.58244963e+02] [-3.66984572e-01 -2.79030756e-01 8.87391775e-01 1.35454466e+02] [ 9.28118308e-01 -4.56347695e-02 3.69477839e-01 1.31281341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.74710568099994 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:158.25, Y:135.45, Z:131.39 [[-5.70603235e-02 9.69742853e-01 2.37366634e-01 1.58250529e+02] [-3.54652948e-01 -2.41935687e-01 9.03154699e-01 1.35451098e+02] [ 9.33255274e-01 -3.26484775e-02 3.57727091e-01 1.31385086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.7771056809999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:158.27, Y:135.49, Z:131.30 [[-7.03629070e-02 9.76233289e-01 2.04982014e-01 1.58265494e+02] [-3.77334832e-01 -2.16270486e-01 9.00469601e-01 1.35492256e+02] [ 9.23399960e-01 -1.39871949e-02 3.83584244e-01 1.31301336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.80710568099994 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:158.24, Y:135.43, Z:131.37 [[-5.25283801e-02 9.58670040e-01 2.79629261e-01 1.58236437e+02] [-3.60968021e-01 -2.79310238e-01 8.89768441e-01 1.35427845e+02] [ 9.31097662e-01 -5.41991260e-02 3.60720942e-01 1.31370993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8371056809999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:158.25, Y:135.48, Z:131.31 [[-5.28158527e-02 9.71214417e-01 2.32277939e-01 1.58254579e+02] [-3.66029967e-01 -2.35242058e-01 9.00379496e-01 1.35478130e+02] [ 9.29103089e-01 -3.74663755e-02 3.67918091e-01 1.31305640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.86710568099994 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:158.25, Y:135.48, Z:131.33 [[-4.94553369e-02 9.71632449e-01 2.31267278e-01 1.58254223e+02] [-3.67801888e-01 -2.32995688e-01 9.00241512e-01 1.35478389e+02] [ 9.28588144e-01 -4.05387945e-02 3.68891130e-01 1.31334019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8971056809999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:158.25, Y:135.47, Z:131.38 [[-4.78750600e-02 9.71679979e-01 2.31400082e-01 1.58251531e+02] [-3.58310196e-01 -2.32953735e-01 9.04072099e-01 1.35470541e+02] [ 9.32374271e-01 -3.96305028e-02 3.59315518e-01 1.31383380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.92710568099994 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:158.25, Y:135.45, Z:131.40 [[-4.28009616e-02 9.68166995e-01 2.46618629e-01 1.58249159e+02] [-3.65031643e-01 -2.44933027e-01 8.98198036e-01 1.35450408e+02] [ 9.30010740e-01 -5.15798636e-02 3.63894958e-01 1.31401020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9571056809999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:158.27, Y:135.51, Z:131.29 [[-7.13531219e-02 9.76789486e-01 2.01967897e-01 1.58266016e+02] [-3.86012211e-01 -2.13748071e-01 8.97388620e-01 1.35507755e+02] [ 9.19730017e-01 -1.39305948e-02 3.92304261e-01 1.31287968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.98710568099995 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:158.23, Y:135.45, Z:131.32 [[-6.49004582e-02 9.52367590e-01 2.97966279e-01 1.58233772e+02] [-3.72100722e-01 -3.00156609e-01 8.78320592e-01 1.35446445e+02] [ 9.25920614e-01 -5.38700589e-02 3.73856970e-01 1.31319553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0171056809999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:158.24, Y:135.46, Z:131.34 [[-6.85909965e-02 9.59947722e-01 2.71653543e-01 1.58239062e+02] [-3.64193977e-01 -2.77596058e-01 8.88989975e-01 1.35456585e+02] [ 9.28793854e-01 -3.79578758e-02 3.68647769e-01 1.31337307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0471056809999 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:158.23, Y:135.45, Z:131.35 [[-6.89007399e-02 9.58040515e-01 2.78228431e-01 1.58234699e+02] [-3.54884380e-01 -2.84186170e-01 8.90671263e-01 1.35447571e+02] [ 9.32367827e-01 -3.73710153e-02 3.59574251e-01 1.31348762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0771056809999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:158.24, Y:135.46, Z:131.35 [[-7.11329167e-02 9.60268793e-01 2.69859136e-01 1.58236575e+02] [-3.52103788e-01 -2.77301287e-01 8.93938990e-01 1.35455759e+02] [ 9.33254001e-01 -3.14299362e-02 3.57839529e-01 1.31349697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.1071056809999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:158.24, Y:135.45, Z:131.37 [[-5.98117868e-02 9.62621781e-01 2.64162559e-01 1.58244405e+02] [-3.60151982e-01 -2.67622108e-01 8.93682806e-01 1.35449231e+02] [ 9.30974275e-01 -4.16859037e-02 3.62697099e-01 1.31372337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.1371056809999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:158.26, Y:135.47, Z:131.38 [[-6.09830902e-02 9.73389554e-01 2.20893276e-01 1.58255745e+02] [-3.58156498e-01 -2.27907014e-01 9.05418310e-01 1.35474843e+02] [ 9.31667851e-01 -2.38991557e-02 3.62524268e-01 1.31379186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.1671056809999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:158.25, Y:135.48, Z:131.37 [[-6.29772694e-02 9.73593587e-01 2.19429695e-01 1.58254362e+02] [-3.58097673e-01 -2.27269319e-01 9.05601851e-01 1.35475322e+02] [ 9.31557792e-01 -2.15449315e-02 3.62954399e-01 1.31374711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.1971056809999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:158.25, Y:135.48, Z:131.37 [[-6.20153014e-02 9.73946202e-01 2.18135044e-01 1.58253643e+02] [-3.56827622e-01 -2.25746181e-01 9.06483707e-01 1.35477964e+02] [ 9.32109517e-01 -2.16207487e-02 3.61530624e-01 1.31372499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.2271056809999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:158.25, Y:135.48, Z:131.37 [[-6.04879475e-02 9.74353277e-01 2.16741552e-01 1.58254463e+02] [-3.56806572e-01 -2.23898537e-01 9.06950117e-01 1.35480989e+02] [ 9.32217935e-01 -2.24752591e-02 3.61198816e-01 1.31371225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.2571056809999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:158.26, Y:135.48, Z:131.37 [[-5.54362741e-02 9.74959935e-01 2.15360037e-01 1.58256405e+02] [-3.57423782e-01 -2.20775789e-01 9.07472474e-01 1.35484296e+02] [ 9.32295586e-01 -2.66679060e-02 3.60712854e-01 1.31373605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.2871056809999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:158.26, Y:135.48, Z:131.37 [[-5.28003060e-02 9.75395395e-01 2.14046611e-01 1.58256868e+02] [-3.56632296e-01 -2.18628809e-01 9.08303280e-01 1.35484328e+02] [ 9.32751592e-01 -2.83772434e-02 3.59401167e-01 1.31372431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.31710568099993 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:158.26, Y:135.48, Z:131.37 [[-4.50646931e-02 9.76047699e-01 2.12838114e-01 1.58255345e+02] [-3.55641447e-01 -2.14771068e-01 9.09611208e-01 1.35481910e+02] [ 9.33535395e-01 -3.47027052e-02 3.56801609e-01 1.31370512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.3471056809999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:158.26, Y:135.48, Z:131.37 [[-4.03700413e-02 9.76530874e-01 2.11560187e-01 1.58255640e+02] [-3.54685764e-01 -2.11949308e-01 9.10645650e-01 1.35482833e+02] [ 9.34113627e-01 -3.82745841e-02 3.54918002e-01 1.31368970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.37710568099993 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:158.26, Y:135.48, Z:131.37 [[-3.55848457e-02 9.77002771e-01 2.10236306e-01 1.58257262e+02] [-3.54212055e-01 -2.09042691e-01 9.11501494e-01 1.35484057e+02] [ 9.34487848e-01 -4.20325941e-02 3.53504911e-01 1.31369180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.4071056809999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:158.26, Y:135.49, Z:131.37 [[-2.98129751e-02 9.77466245e-01 2.08975900e-01 1.58261609e+02] [-3.53074098e-01 -2.05889587e-01 9.12659936e-01 1.35485142e+02] [ 9.35120242e-01 -4.65748695e-02 3.51256194e-01 1.31369282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43710568099993 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:158.26, Y:135.46, Z:131.43 [[-4.03121327e-02 9.79770440e-01 1.96022492e-01 1.58259938e+02] [-3.70198755e-01 -1.96865586e-01 9.07852864e-01 1.35457695e+02] [ 9.28077483e-01 -3.59697974e-02 3.70645869e-01 1.31433346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.4671056809999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:158.26, Y:135.48, Z:131.28 [[-6.20135058e-02 9.65359878e-01 2.53445521e-01 1.58258293e+02] [-3.73829319e-01 -2.57915354e-01 8.90915995e-01 1.35479828e+02] [ 9.25422047e-01 -3.94965423e-02 3.76874061e-01 1.31275167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49710568099994 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:158.25, Y:135.45, Z:131.28 [[-6.06523359e-02 9.52233405e-01 2.99287213e-01 1.58250147e+02] [-3.71160733e-01 -2.99854775e-01 8.78821270e-01 1.35449287e+02] [ 9.26585670e-01 -5.77810985e-02 3.71618541e-01 1.31284088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5271056809999 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:158.25, Y:135.44, Z:131.33 [[-4.57873985e-02 9.48597411e-01 3.13155658e-01 1.58248213e+02] [-3.41460009e-01 -3.09464079e-01 8.87489181e-01 1.35440298e+02] [ 9.38780367e-01 -6.62943128e-02 3.38077635e-01 1.31333415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.55710568099994 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:158.27, Y:135.49, Z:131.27 [[-5.85804803e-02 9.67327716e-01 2.46668640e-01 1.58270397e+02] [-3.75474807e-01 -2.50299222e-01 8.92395075e-01 1.35487588e+02] [ 9.24979457e-01 -4.03409281e-02 3.77869836e-01 1.31269769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5871056809999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:158.26, Y:135.46, Z:131.26 [[-5.79369139e-02 9.54627083e-01 2.92113757e-01 1.58258732e+02] [-3.78970118e-01 -2.91733762e-01 8.78221533e-01 1.35461997e+02] [ 9.23593506e-01 -5.98209396e-02 3.78677292e-01 1.31259918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.61710568099994 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:158.26, Y:135.46, Z:131.25 [[-5.70072161e-02 9.51375141e-01 3.02713592e-01 1.58255684e+02] [-3.79521220e-01 -3.01095247e-01 8.74817293e-01 1.35456067e+02] [ 9.23425049e-01 -6.50153333e-02 3.78231656e-01 1.31253497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.6471056809999 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:158.26, Y:135.47, Z:131.24 [[-5.87204374e-02 9.53915859e-01 2.94272737e-01 1.58259195e+02] [-3.85067196e-01 -2.93612341e-01 8.74937168e-01 1.35466119e+02] [ 9.21018547e-01 -6.19380845e-02 3.84562751e-01 1.31244074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.67710568099994 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:158.26, Y:135.46, Z:131.24 [[-6.11133447e-02 9.53306134e-01 2.95757628e-01 1.58258694e+02] [-3.85013901e-01 -2.95894731e-01 8.74191400e-01 1.35463925e+02] [ 9.20885148e-01 -6.04460378e-02 3.85119230e-01 1.31235641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7071056809999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:158.27, Y:135.48, Z:131.23 [[-6.82455718e-02 9.60359391e-01 2.70282043e-01 1.58269555e+02] [-3.85368525e-01 -2.75262352e-01 8.80750667e-01 1.35482852e+02] [ 9.20235645e-01 -4.40508593e-02 3.88877719e-01 1.31229389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.73710568099995 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:158.27, Y:135.49, Z:131.23 [[-7.02714477e-02 9.61042344e-01 2.67319166e-01 1.58271433e+02] [-3.85379281e-01 -2.73330527e-01 8.81347396e-01 1.35489580e+02] [ 9.20078656e-01 -4.10857105e-02 3.89573139e-01 1.31231746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7671056809999 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:158.27, Y:135.49, Z:131.23 [[-7.54997331e-02 9.60586705e-01 2.67531256e-01 1.58273237e+02] [-3.85955342e-01 -2.75535987e-01 8.80408084e-01 1.35493950e+02] [ 9.19422789e-01 -3.67845422e-02 3.91546463e-01 1.31230561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7971056809999 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:158.28, Y:135.51, Z:131.23 [[-8.35642852e-02 9.64133586e-01 2.51919507e-01 1.58277483e+02] [-3.87660453e-01 -2.64342399e-01 8.83086898e-01 1.35507537e+02] [ 9.18006745e-01 -2.38647047e-02 3.95846046e-01 1.31227333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.8271056809999 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:158.27, Y:135.49, Z:131.22 [[-8.55277033e-02 9.58753372e-01 2.71066382e-01 1.58269919e+02] [-3.86805215e-01 -2.82675319e-01 8.77767845e-01 1.35494033e+02] [ 9.18186657e-01 -2.97764222e-02 3.95027375e-01 1.31222304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.8571056809999 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:158.27, Y:135.50, Z:131.22 [[-9.43898522e-02 9.59466186e-01 2.65546973e-01 1.58267698e+02] [-3.83463789e-01 -2.81196533e-01 8.79706788e-01 1.35496712e+02] [ 9.18719804e-01 -1.87922545e-02 3.94462638e-01 1.31218697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.8871056809999 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:158.26, Y:135.49, Z:131.21 [[-9.86666512e-02 9.55597346e-01 2.77666353e-01 1.58264763e+02] [-3.79640893e-01 -2.94070934e-01 8.77151684e-01 1.35490275e+02] [ 9.19857426e-01 -1.88678829e-02 3.91798825e-01 1.31211994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.9171056809999 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:158.26, Y:135.49, Z:131.21 [[-1.00548382e-01 9.54881662e-01 2.79447730e-01 1.58263901e+02] [-3.73934671e-01 -2.96547842e-01 8.78767455e-01 1.35493304e+02] [ 9.21988549e-01 -1.61365488e-02 3.86880766e-01 1.31206111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.9471056809999 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:158.27, Y:135.51, Z:131.21 [[-1.05350395e-01 9.61346903e-01 2.54388337e-01 1.58271325e+02] [-3.75121835e-01 -2.75331426e-01 8.85141918e-01 1.35509375e+02] [ 9.20969545e-01 -2.17656942e-03 3.89628489e-01 1.31213061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.9771056809999 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:158.27, Y:135.50, Z:131.21 [[-1.08496306e-01 9.56878041e-01 2.69467932e-01 1.58266227e+02] [-3.73283275e-01 -2.90447025e-01 8.81078953e-01 1.35500703e+02] [ 9.21351262e-01 -4.99406021e-03 3.88698999e-01 1.31208312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.0071056809999 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:158.26, Y:135.49, Z:131.21 [[-1.11604970e-01 9.53871639e-01 2.78699170e-01 1.58261189e+02] [-3.65073608e-01 -3.00195569e-01 8.81251316e-01 1.35494433e+02] [ 9.24264893e-01 -3.39368505e-03 3.81736678e-01 1.31213441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.0371056809999 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:158.26, Y:135.50, Z:131.20 [[-1.07933234e-01 9.54965657e-01 2.76389237e-01 1.58262879e+02] [-3.71084150e-01 -2.96619319e-01 8.79950870e-01 1.35497701e+02] [ 9.22305248e-01 -7.58772165e-03 3.86387702e-01 1.31203703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.06710568099993 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:158.26, Y:135.49, Z:131.20 [[-9.99828377e-02 9.52377420e-01 2.88063676e-01 1.58258945e+02] [-3.67720523e-01 -3.04385754e-01 8.78709810e-01 1.35491662e+02] [ 9.24545861e-01 -1.80710251e-02 3.80642075e-01 1.31200118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.0971056809999 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:158.27, Y:135.51, Z:131.24 [[-9.90797942e-02 9.64269950e-01 2.45696270e-01 1.58271063e+02] [-3.67589833e-01 -2.64914142e-01 8.91458475e-01 1.35509973e+02] [ 9.24695036e-01 -1.98992863e-03 3.80703469e-01 1.31236096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.12710568099993 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:158.26, Y:135.50, Z:131.24 [[-9.52785141e-02 9.58604792e-01 2.68326030e-01 1.58264174e+02] [-3.66678646e-01 -2.84396065e-01 8.85813552e-01 1.35495867e+02] [ 9.25455982e-01 -1.39904264e-02 3.78596742e-01 1.31236602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.1571056809999 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:158.27, Y:135.54, Z:131.09 [[-1.24558720e-01 9.60914368e-01 2.47242193e-01 1.58273899e+02] [-3.89844888e-01 -2.76539266e-01 8.78377480e-01 1.35544023e+02] [ 9.12417716e-01 1.30234697e-02 4.09052932e-01 1.31088884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.18710568099993 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:158.24, Y:135.49, Z:131.09 [[-1.14033832e-01 9.29745632e-01 3.50099049e-01 1.58238595e+02] [-3.79280753e-01 -3.66448164e-01 8.49624537e-01 1.35488842e+02] [ 9.18227856e-01 -3.58998895e-02 3.94422112e-01 1.31093215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.2171056809999 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:158.24, Y:135.50, Z:131.09 [[-1.13608142e-01 9.34406764e-01 3.37605080e-01 1.58243201e+02] [-3.79792335e-01 -3.54842006e-01 8.54309624e-01 1.35496545e+02] [ 9.18069155e-01 -3.11632929e-02 3.95193467e-01 1.31093762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.24710568099994 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:158.24, Y:135.50, Z:131.08 [[-1.14552441e-01 9.35897081e-01 3.33128191e-01 1.58243914e+02] [-3.86857082e-01 -3.50890415e-01 8.52770494e-01 1.35496097e+02] [ 9.14996905e-01 -3.11860578e-02 4.02253768e-01 1.31080940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.2771056809999 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:158.24, Y:135.51, Z:131.05 [[-1.27838027e-01 9.33028958e-01 3.36324846e-01 1.58239901e+02] [-3.89345696e-01 -3.59096255e-01 8.48209767e-01 1.35508335e+02] [ 9.12177268e-01 -2.25131683e-02 4.09176965e-01 1.31048726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.30710568099994 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:158.22, Y:135.44, Z:131.21 [[-8.90377212e-02 9.23398926e-01 3.73372076e-01 1.58224949e+02] [-3.65168098e-01 -3.79022091e-01 8.50290841e-01 1.35442404e+02] [ 9.26673915e-01 -6.06356119e-02 3.70943093e-01 1.31211188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3371056809999 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:158.26, Y:135.50, Z:131.24 [[-9.11938964e-02 9.58438256e-01 2.70332727e-01 1.58257701e+02] [-3.66811377e-01 -2.84706436e-01 8.85658884e-01 1.35496672e+02] [ 9.25814823e-01 -1.83944354e-02 3.77529545e-01 1.31240598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.36710568099994 meters Centerline goodness : 0.998269 Centerline is valid? [True, True] Translation: X:158.25, Y:135.53, Z:131.12 [[-1.16906735e-01 9.54063316e-01 2.75855044e-01 1.58254811e+02] [-3.78553142e-01 -2.99598079e-01 8.75750255e-01 1.35528857e+02] [ 9.18166833e-01 -2.04469018e-03 3.96188699e-01 1.31120070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3971056809999 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:158.24, Y:135.50, Z:131.11 [[-1.16286245e-01 9.39037106e-01 3.23553432e-01 1.58237264e+02] [-3.79511337e-01 -3.43054005e-01 8.59235180e-01 1.35500074e+02] [ 9.17850017e-01 -2.28749631e-02 3.96267690e-01 1.31112553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.42710568099994 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:158.23, Y:135.49, Z:131.11 [[-1.07085858e-01 9.30672939e-01 3.49829245e-01 1.58230547e+02] [-3.76082532e-01 -3.63625869e-01 8.52254749e-01 1.35489140e+02] [ 9.20377394e-01 -4.03002368e-02 3.88949024e-01 1.31110485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4571056809999 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:158.23, Y:135.50, Z:131.09 [[-1.09386572e-01 9.35337082e-01 3.36421046e-01 1.58232757e+02] [-3.81437850e-01 -3.52039226e-01 8.54735954e-01 1.35498665e+02] [ 9.17899638e-01 -3.48270840e-02 3.95281330e-01 1.31087346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.48710568099995 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:158.23, Y:135.49, Z:131.12 [[-9.38398834e-02 9.34155303e-01 3.44307924e-01 1.58226453e+02] [-3.79942541e-01 -3.53262143e-01 8.54897376e-01 1.35485610e+02] [ 9.20237872e-01 -5.05937575e-02 3.88075418e-01 1.31115918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5171056809999 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:158.24, Y:135.50, Z:131.15 [[-8.55530904e-02 9.45308823e-01 3.14756886e-01 1.58237625e+02] [-3.75060257e-01 -3.23233004e-01 8.68821172e-01 1.35496625e+02] [ 9.23044133e-01 -4.37224623e-02 3.82201353e-01 1.31149507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5471056809999 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:158.24, Y:135.51, Z:131.13 [[-9.06744571e-02 9.46711039e-01 3.09057197e-01 1.58239984e+02] [-3.72178219e-01 -3.20063020e-01 8.71230760e-01 1.35512193e+02] [ 9.23721558e-01 -3.60259810e-02 3.81366769e-01 1.31125773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5771056809999 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:158.24, Y:135.52, Z:131.13 [[-9.17553776e-02 9.45281633e-01 3.13087183e-01 1.58240768e+02] [-3.70421056e-01 -3.24251275e-01 8.70430556e-01 1.35517452e+02] [ 9.24320936e-01 -3.61074006e-02 3.79904019e-01 1.31130015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.6071056809999 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:158.23, Y:135.30, Z:131.85 [[-3.77975905e-02 9.65717769e-01 2.56827828e-01 1.58229091e+02] [-3.38746955e-01 -2.54176469e-01 9.05894488e-01 1.35297615e+02] [ 9.40117994e-01 -5.27590156e-02 3.36741211e-01 1.31851386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.6371056809999 meters Centerline goodness : 0.997463 Centerline is valid? [True, True] Translation: X:158.26, Y:135.41, Z:131.71 [[-6.53649266e-02 9.86660985e-01 1.49088990e-01 1.58255956e+02] [-3.57043280e-01 -1.62642526e-01 9.19819278e-01 1.35407773e+02] [ 9.31798005e-01 6.89269777e-03 3.62911791e-01 1.31708906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.6671056809999 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:158.28, Y:135.58, Z:131.17 [[-1.28854743e-01 9.71445797e-01 1.99222287e-01 1.58279605e+02] [-3.70613868e-01 -2.33514627e-01 8.98952880e-01 1.35583279e+02] [ 9.19805314e-01 4.19998001e-02 3.90120751e-01 1.31167796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.6971056809999 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:158.26, Y:135.53, Z:131.13 [[-1.41487030e-01 9.41785172e-01 3.04995262e-01 1.58259345e+02] [-3.67762407e-01 -3.36050801e-01 8.67075932e-01 1.35527141e+02] [ 9.19093158e-01 1.05142071e-02 3.93900012e-01 1.31131358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.7271056809999 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:158.26, Y:135.52, Z:131.15 [[-1.37720971e-01 9.40257578e-01 3.11365737e-01 1.58260322e+02] [-3.60377131e-01 -3.40383510e-01 8.68485688e-01 1.35521285e+02] [ 9.22584011e-01 7.39960141e-03 3.85725276e-01 1.31154691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.7571056809999 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:158.26, Y:135.52, Z:131.16 [[-1.51457418e-01 9.41326759e-01 3.01603354e-01 1.58263950e+02] [-3.51882640e-01 -3.36480768e-01 8.73475415e-01 1.35522124e+02] [ 9.23709510e-01 2.61653464e-02 3.82199054e-01 1.31155159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.7871056809999 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:158.26, Y:135.51, Z:131.15 [[-1.45027680e-01 9.37244640e-01 3.17079576e-01 1.58258486e+02] [-3.56278284e-01 -3.48438619e-01 8.66981149e-01 1.35514276e+02] [ 9.23056204e-01 1.27676969e-02 3.84453157e-01 1.31148434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.81710568099993 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:158.26, Y:135.51, Z:131.18 [[-1.29256133e-01 9.42136841e-01 3.09307330e-01 1.58256038e+02] [-3.56034911e-01 -3.35218275e-01 8.72277393e-01 1.35511319e+02] [ 9.25490137e-01 2.62299462e-03 3.78762625e-01 1.31184336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.8471056809999 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:158.27, Y:135.54, Z:131.14 [[-1.37919106e-01 9.50177334e-01 2.79537750e-01 1.58265927e+02] [-3.72724936e-01 -3.11279462e-01 8.74174593e-01 1.35537034e+02] [ 9.17635245e-01 1.63746884e-02 3.97086171e-01 1.31140263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.87710568099993 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:158.25, Y:135.51, Z:131.18 [[-1.19116957e-01 9.41416401e-01 3.15509606e-01 1.58254706e+02] [-3.57780328e-01 -3.37122216e-01 8.70828254e-01 1.35507007e+02] [ 9.26177298e-01 -9.15271878e-03 3.76977241e-01 1.31184047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.9071056809999 meters Centerline goodness : 0.998543 Centerline is valid? [True, True] Translation: X:158.26, Y:135.52, Z:131.19 [[-1.13049803e-01 9.48826860e-01 2.94868331e-01 1.58261155e+02] [-3.60531968e-01 -3.15717227e-01 8.77689770e-01 1.35519170e+02] [ 9.25870640e-01 -7.08680391e-03 3.77774185e-01 1.31192347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93710568099993 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:158.27, Y:135.54, Z:131.15 [[-1.17742648e-01 9.53378521e-01 2.77859792e-01 1.58267831e+02] [-3.76011650e-01 -3.01774156e-01 8.76097939e-01 1.35542909e+02] [ 9.19103861e-01 -1.32442735e-03 3.94013120e-01 1.31147751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.9671056809999 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:158.26, Y:135.52, Z:131.15 [[-1.07709674e-01 9.43176658e-01 3.14350787e-01 1.58258167e+02] [-3.74277658e-01 -3.31396926e-01 8.66078699e-01 1.35516810e+02] [ 9.21040098e-01 -2.43694223e-02 3.88704605e-01 1.31149010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99710568099994 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:158.26, Y:135.53, Z:131.14 [[-1.18227127e-01 9.47993952e-01 2.95516182e-01 1.58260684e+02] [-3.75794483e-01 -3.18183917e-01 8.70366303e-01 1.35525344e+02] [ 9.19130487e-01 -8.15244339e-03 3.93868868e-01 1.31137302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0271056809999 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:158.26, Y:135.51, Z:131.13 [[-1.06232471e-01 9.42226808e-01 3.17684283e-01 1.58258341e+02] [-3.82422987e-01 -3.33633584e-01 8.61650330e-01 1.35514282e+02] [ 9.17860186e-01 -2.99545291e-02 3.95771911e-01 1.31127419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.05710568099994 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:158.27, Y:135.51, Z:131.20 [[-8.77349721e-02 9.51555891e-01 2.94692995e-01 1.58269011e+02] [-3.73070119e-01 -3.05690587e-01 8.75997689e-01 1.35512028e+02] [ 9.23645636e-01 -3.30855179e-02 3.81816824e-01 1.31197549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0871056809999 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:158.28, Y:135.50, Z:131.24 [[-4.39126803e-02 9.56652205e-01 2.87903171e-01 1.58281727e+02] [-3.61775027e-01 -2.83849473e-01 8.88002425e-01 1.35502221e+02] [ 9.31230641e-01 -6.51616109e-02 3.58557469e-01 1.31241069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.11710568099994 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:158.30, Y:135.58, Z:131.25 [[-7.39060845e-02 9.84040712e-01 1.61869601e-01 1.58303081e+02] [-3.75131048e-01 -1.77824191e-01 9.09755601e-01 1.35582189e+02] [ 9.24020881e-01 6.51416120e-03 3.82286513e-01 1.31248758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.1471056809999 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:158.29, Y:135.52, Z:131.25 [[-3.65149855e-02 9.62313793e-01 2.69478794e-01 1.58289508e+02] [-3.64786619e-01 -2.63886337e-01 8.92913615e-01 1.35515518e+02] [ 9.30374859e-01 -6.56975303e-02 3.60675001e-01 1.31251376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.17710568099994 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:158.31, Y:135.61, Z:131.20 [[-7.38482425e-02 9.87461590e-01 1.39520769e-01 1.58313023e+02] [-3.96042337e-01 -1.57436385e-01 9.04634872e-01 1.35606977e+02] [ 9.15257835e-01 1.15495641e-02 4.02702997e-01 1.31198676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2071056809999 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:158.28, Y:135.52, Z:131.18 [[-7.03194952e-02 9.60195028e-01 2.70334381e-01 1.58282948e+02] [-3.92795218e-01 -2.75763964e-01 8.77306191e-01 1.35521848e+02] [ 9.16933523e-01 -4.44943237e-02 3.96551598e-01 1.31181392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.23710568099995 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:158.30, Y:135.52, Z:131.24 [[-4.17799634e-02 9.65166734e-01 2.58278165e-01 1.58299104e+02] [-3.62692141e-01 -2.55521193e-01 8.96193802e-01 1.35524376e+02] [ 9.30971990e-01 -5.62325165e-02 3.60734055e-01 1.31241677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2671056809999 meters Centerline goodness : 0.998541 Centerline is valid? [True, True] Translation: X:158.34, Y:135.61, Z:131.19 [[-8.54860514e-02 9.87049335e-01 1.35741466e-01 1.58335165e+02] [-3.98522899e-01 -1.58741459e-01 9.03316472e-01 1.35608211e+02] [ 9.13165721e-01 2.31248756e-02 4.06931943e-01 1.31186340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2971056809999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:158.32, Y:135.55, Z:131.18 [[-8.60267455e-02 9.70956203e-01 2.23256469e-01 1.58318749e+02] [-3.94302104e-01 -2.38971377e-01 8.87366064e-01 1.35554402e+02] [ 9.14945490e-01 -1.16932807e-02 4.03408004e-01 1.31184813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.3271056809999 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:158.32, Y:135.56, Z:131.17 [[-8.48409651e-02 9.72095700e-01 2.18705193e-01 1.58324280e+02] [-4.03494972e-01 -2.34212689e-01 8.84497724e-01 1.35561557e+02] [ 9.11039965e-01 -1.32048052e-02 4.12106558e-01 1.31165018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.3571056809999 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:158.33, Y:135.56, Z:131.17 [[-8.33158721e-02 9.73126850e-01 2.14668580e-01 1.58325779e+02] [-4.05917503e-01 -2.29876988e-01 8.84526739e-01 1.35563706e+02] [ 9.10104086e-01 -1.34426172e-02 4.14161623e-01 1.31166368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.3871056809999 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:158.33, Y:135.57, Z:131.16 [[-8.33758957e-02 9.75307350e-01 2.04509249e-01 1.58328368e+02] [-4.09453237e-01 -2.20628651e-01 8.85251967e-01 1.35571819e+02] [ 9.08513350e-01 -9.92829837e-03 4.17737863e-01 1.31160361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.4171056809999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:158.32, Y:135.57, Z:131.16 [[-8.26983056e-02 9.73247158e-01 2.14361752e-01 1.58324390e+02] [-4.07058449e-01 -2.29325138e-01 8.84145576e-01 1.35569023e+02] [ 9.09650707e-01 -1.41404212e-02 4.15133279e-01 1.31157518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.4471056809999 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:158.33, Y:135.57, Z:131.20 [[-8.16770780e-02 9.74902988e-01 2.07106300e-01 1.58326558e+02] [-3.97572549e-01 -2.22421715e-01 8.90204835e-01 1.35566754e+02] [ 9.13928292e-01 -9.63045003e-03 4.05761422e-01 1.31200073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.4771056809999 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:158.34, Y:135.64, Z:131.07 [[-1.07624418e-01 9.79871234e-01 1.68134912e-01 1.58339180e+02] [-4.15724566e-01 -1.97977368e-01 8.87681276e-01 1.35638927e+02] [ 9.03100255e-01 2.56383678e-02 4.28663743e-01 1.31065766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.5071056809999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:158.32, Y:135.56, Z:131.14 [[-1.05879022e-01 9.66060560e-01 2.35619666e-01 1.58315486e+02] [-4.01857843e-01 -2.58310293e-01 8.78513555e-01 1.35564153e+02] [ 9.09560282e-01 -1.66945474e-03 4.15568654e-01 1.31139870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.5371056809999 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:158.32, Y:135.59, Z:131.16 [[-1.14289242e-01 9.74887024e-01 1.91136756e-01 1.58322967e+02] [-4.00239533e-01 -2.21276876e-01 8.89294586e-01 1.35594072e+02] [ 9.09255897e-01 2.51363186e-02 4.15477894e-01 1.31157629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.56710568099993 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:158.31, Y:135.56, Z:131.18 [[-9.40353586e-02 9.69739066e-01 2.25307556e-01 1.58314629e+02] [-3.88965963e-01 -2.44109210e-01 8.88322111e-01 1.35560993e+02] [ 9.16440304e-01 -4.10328236e-03 4.00150387e-01 1.31177523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.5971056809999 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:158.33, Y:135.63, Z:131.18 [[-1.20653458e-01 9.83535536e-01 1.34538441e-01 1.58333561e+02] [-3.93744430e-01 -1.71826255e-01 9.03017753e-01 1.35625567e+02] [ 9.11267286e-01 5.59784531e-02 4.07993071e-01 1.31183154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.62710568099993 meters Centerline goodness : 0.998295 Centerline is valid? [True, True] Translation: X:158.32, Y:135.60, Z:131.16 [[-1.25985976e-01 9.74779360e-01 1.84208396e-01 1.58324658e+02] [-3.93907356e-01 -2.19577539e-01 8.92537226e-01 1.35601250e+02] [ 9.10474892e-01 3.98861314e-02 4.11636451e-01 1.31157412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.6571056809999 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:158.32, Y:135.59, Z:131.16 [[-1.25792400e-01 9.71193554e-01 2.02384174e-01 1.58321150e+02] [-3.90947419e-01 -2.36025502e-01 8.89635925e-01 1.35592510e+02] [ 9.11776501e-01 3.27878673e-02 4.09375827e-01 1.31160330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.68710568099993 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:158.33, Y:135.59, Z:131.18 [[-1.23627737e-01 9.72212543e-01 1.98793746e-01 1.58325022e+02] [-3.84933626e-01 -2.31628375e-01 8.93406067e-01 1.35588961e+02] [ 9.14626857e-01 3.39273727e-02 4.02872991e-01 1.31180280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.7171056809999 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:158.33, Y:135.60, Z:131.13 [[-1.26629139e-01 9.71236212e-01 2.01656346e-01 1.58325394e+02] [-3.96165995e-01 -2.35893022e-01 8.87359559e-01 1.35597007e+02] [ 9.09405061e-01 3.24761900e-02 4.14641690e-01 1.31129066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.74710568099994 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:158.32, Y:135.60, Z:131.10 [[-1.30350364e-01 9.69253974e-01 2.08699582e-01 1.58324305e+02] [-3.98025617e-01 -2.43945583e-01 8.84345046e-01 1.35598597e+02] [ 9.08066292e-01 3.22069186e-02 4.17586307e-01 1.31101392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.7771056809999 meters Centerline goodness : 0.998140 Centerline is valid? [True, True] Translation: X:158.33, Y:135.59, Z:131.09 [[-1.26017057e-01 9.67632885e-01 2.18646520e-01 1.58325399e+02] [-4.02080400e-01 -2.51308365e-01 8.80440491e-01 1.35588191e+02] [ 9.06890872e-01 2.30370393e-02 4.20735358e-01 1.31091163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.80710568099994 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:158.32, Y:135.56, Z:131.16 [[-1.07235842e-01 9.64996489e-01 2.39337108e-01 1.58323436e+02] [-3.82209163e-01 -2.62238865e-01 8.86085173e-01 1.35560574e+02] [ 9.17832572e-01 3.54325413e-03 3.96951905e-01 1.31162441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8371056809999 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:158.34, Y:135.61, Z:131.11 [[-1.02057021e-01 9.78289652e-01 1.80371068e-01 1.58342742e+02] [-4.05287851e-01 -2.06477609e-01 8.90566536e-01 1.35614442e+02] [ 9.08474613e-01 1.77863653e-02 4.17561400e-01 1.31113468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.86710568099994 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:158.34, Y:135.60, Z:131.11 [[-9.67136709e-02 9.73346192e-01 2.07951090e-01 1.58337920e+02] [-4.06556842e-01 -2.29338649e-01 8.84372839e-01 1.35602614e+02] [ 9.08492157e-01 9.87005304e-04 4.17900737e-01 1.31105634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8971056809999 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:158.34, Y:135.61, Z:131.10 [[-9.93405362e-02 9.72371264e-01 2.11247682e-01 1.58339416e+02] [-4.10526025e-01 -2.33438248e-01 8.81461835e-01 1.35607216e+02] [ 9.06421448e-01 8.42220376e-04 4.22373590e-01 1.31099318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.92710568099994 meters Centerline goodness : 0.998174 Centerline is valid? [True, True] Translation: X:158.34, Y:135.60, Z:131.11 [[-1.02204317e-01 9.72374812e-01 2.09860676e-01 1.58335702e+02] [-4.11161601e-01 -2.33394487e-01 8.81177140e-01 1.35602953e+02] [ 9.05814780e-01 3.77345615e-03 4.23657108e-01 1.31107113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9571056809999 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:158.34, Y:135.61, Z:131.09 [[-1.03693891e-01 9.73063095e-01 2.05902381e-01 1.58337328e+02] [-4.14784036e-01 -2.30464180e-01 8.80250229e-01 1.35607816e+02] [ 9.03992135e-01 5.87155100e-03 4.27508765e-01 1.31094371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.98710568099995 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:158.33, Y:135.60, Z:131.12 [[-1.00277967e-01 9.72118430e-01 2.11967187e-01 1.58330909e+02] [-4.05135575e-01 -2.34474439e-01 8.83678054e-01 1.35598788e+02] [ 9.08740610e-01 2.73799025e-03 4.17352379e-01 1.31115764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0171056809999 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:158.34, Y:135.62, Z:131.09 [[-1.10578123e-01 9.77391288e-01 1.80218617e-01 1.58338406e+02] [-4.10021770e-01 -2.10043206e-01 8.87560702e-01 1.35623466e+02] [ 9.05347794e-01 2.42512401e-02 4.23977889e-01 1.31094341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0471056809999 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:158.32, Y:135.58, Z:131.14 [[-1.04597417e-01 9.67255860e-01 2.31247663e-01 1.58323125e+02] [-3.83144230e-01 -2.53766903e-01 8.88145741e-01 1.35584297e+02] [ 9.17747176e-01 4.29654276e-03 3.97141864e-01 1.31139332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0771056809999 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:158.34, Y:135.61, Z:131.13 [[-8.14288462e-02 9.78332533e-01 1.90354402e-01 1.58335837e+02] [-3.93276705e-01 -2.07030865e-01 8.95807822e-01 1.35605357e+02] [ 9.15807172e-01 -1.91735481e-03 4.01613680e-01 1.31131383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.1071056809999 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:158.34, Y:135.63, Z:131.21 [[-9.48178391e-02 9.85996422e-01 1.37188314e-01 1.58339737e+02] [-3.75349303e-01 -1.63047782e-01 9.12429900e-01 1.35634240e+02] [ 9.22020867e-01 3.50210934e-02 3.85552908e-01 1.31205268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.1371056809999 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:158.33, Y:135.62, Z:131.20 [[-9.40267343e-02 9.81847160e-01 1.64727434e-01 1.58334996e+02] [-3.74702666e-01 -1.88195137e-01 9.07843876e-01 1.35618591e+02] [ 9.22364833e-01 2.36377862e-02 3.85596122e-01 1.31195279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.1671056809999 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:158.34, Y:135.66, Z:131.10 [[-1.13327851e-01 9.83591260e-01 1.40374610e-01 1.58337265e+02] [-4.01414720e-01 -1.74567616e-01 8.99106429e-01 1.35655801e+02] [ 9.08858086e-01 4.55453641e-02 4.14611383e-01 1.31097585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.1971056809999 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:158.32, Y:135.61, Z:131.13 [[-1.05319956e-01 9.71873030e-01 2.10643111e-01 1.58319303e+02] [-3.83325546e-01 -2.35128165e-01 8.93183224e-01 1.35606740e+02] [ 9.17588815e-01 1.33251323e-02 3.97307448e-01 1.31130287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.2271056809999 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:158.33, Y:135.61, Z:131.12 [[-8.42480204e-02 9.78207467e-01 1.89769395e-01 1.58328713e+02] [-3.90402124e-01 -2.07624584e-01 8.96927095e-01 1.35612586e+02] [ 9.16781573e-01 1.47795742e-03 3.99386233e-01 1.31115400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.2571056809999 meters Centerline goodness : 0.998397 Centerline is valid? [True, True] Translation: X:158.33, Y:135.66, Z:131.16 [[-1.08975744e-01 9.83695317e-01 1.43065758e-01 1.58333800e+02] [-3.77548112e-01 -1.74097138e-01 9.09476558e-01 1.35659748e+02] [ 9.19555170e-01 4.50966772e-02 3.90364675e-01 1.31158972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.2871056809999 meters Centerline goodness : 0.997970 Centerline is valid? [True, True] Translation: X:158.33, Y:135.64, Z:131.11 [[-9.90051142e-02 9.79986722e-01 1.72696302e-01 1.58328060e+02] [-3.90840242e-01 -1.97898149e-01 8.98932827e-01 1.35639114e+02] [ 9.15118513e-01 2.15022829e-02 4.02611176e-01 1.31106138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.31710568099993 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:158.33, Y:135.67, Z:131.14 [[-1.23446357e-01 9.83492225e-01 1.32302835e-01 1.58328125e+02] [-3.90163283e-01 -1.70687708e-01 9.04786339e-01 1.35669009e+02] [ 9.12432798e-01 6.00728691e-02 4.04793331e-01 1.31136658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.3471056809999 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:158.31, Y:135.64, Z:131.12 [[-1.27717823e-01 9.73508207e-01 1.89657396e-01 1.58313846e+02] [-3.86709690e-01 -2.24967828e-01 8.94340591e-01 1.35638399e+02] [ 9.13314718e-01 4.08808809e-02 4.05197458e-01 1.31117888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.37710568099993 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:158.31, Y:135.63, Z:131.10 [[-1.17248002e-01 9.73582396e-01 1.95934235e-01 1.58310625e+02] [-3.92610370e-01 -2.26664012e-01 8.91336370e-01 1.35629895e+02] [ 9.12200638e-01 2.75815960e-02 4.08814447e-01 1.31095416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.4071056809999 meters Centerline goodness : 0.997805 Centerline is valid? [True, True] Translation: X:158.31, Y:135.66, Z:131.11 [[-1.33149849e-01 9.77590002e-01 1.63061051e-01 1.58311725e+02] [-3.85912961e-01 -2.02680525e-01 8.99995440e-01 1.35655485e+02] [ 9.12875843e-01 5.69068841e-02 4.04251533e-01 1.31114003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43710568099993 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:158.30, Y:135.63, Z:131.12 [[-1.33427775e-01 9.70807895e-01 1.99321500e-01 1.58303629e+02] [-3.74333191e-01 -2.35588892e-01 8.96868182e-01 1.35634204e+02] [ 9.17644643e-01 4.50544728e-02 3.94839719e-01 1.31115540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.4671056809999 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:158.30, Y:135.63, Z:131.11 [[-1.36760089e-01 9.69196222e-01 2.04830081e-01 1.58302742e+02] [-3.72309208e-01 -2.41902369e-01 8.96029630e-01 1.35630105e+02] [ 9.17977413e-01 4.62809668e-02 3.93923268e-01 1.31107761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49710568099994 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:158.31, Y:135.62, Z:131.12 [[-1.22451558e-01 9.68139717e-01 2.18428716e-01 1.58310382e+02] [-3.60374307e-01 -2.48436418e-01 8.99116069e-01 1.35624614e+02] [ 9.24735624e-01 3.13820662e-02 3.79314106e-01 1.31116614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5271056809999 meters Centerline goodness : 0.998419 Centerline is valid? [True, True] Translation: X:158.32, Y:135.65, Z:131.10 [[-1.34441974e-01 9.74187036e-01 1.81342150e-01 1.58315588e+02] [-3.70238230e-01 -2.19133309e-01 9.02720470e-01 1.35645699e+02] [ 9.19156684e-01 5.42237249e-02 3.90141998e-01 1.31103858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.55710568099994 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:158.33, Y:135.63, Z:131.10 [[-1.28726546e-01 9.68622152e-01 2.12604334e-01 1.58325180e+02] [-3.61009165e-01 -2.45449345e-01 8.99681611e-01 1.35627146e+02] [ 9.23635133e-01 3.90607936e-02 3.81277321e-01 1.31100812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5871056809999 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:158.33, Y:135.65, Z:131.06 [[-1.27732052e-01 9.74533130e-01 1.84308712e-01 1.58332244e+02] [-3.86688540e-01 -2.20058145e-01 8.95570425e-01 1.35650723e+02] [ 9.13321683e-01 4.31229809e-02 4.04949271e-01 1.31061333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.61710568099994 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:158.32, Y:135.63, Z:131.03 [[-1.25204328e-01 9.65460448e-01 2.28495075e-01 1.58323919e+02] [-3.85959335e-01 -2.59563555e-01 8.85246945e-01 1.35630594e+02] [ 9.13979906e-01 2.26469422e-02 4.05126953e-01 1.31033630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.6471056809999 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:158.32, Y:135.62, Z:131.03 [[-1.22050985e-01 9.62854494e-01 2.40862577e-01 1.58322449e+02] [-3.86876178e-01 -2.69634174e-01 8.81830049e-01 1.35624027e+02] [ 9.14018807e-01 1.44442325e-02 4.05414583e-01 1.31026817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.67710568099994 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:158.32, Y:135.63, Z:130.98 [[-1.08585273e-01 9.60418089e-01 2.56527450e-01 1.58323487e+02] [-3.96459198e-01 -2.78481657e-01 8.74796017e-01 1.35632477e+02] [ 9.11608108e-01 -6.71270296e-03 4.11005592e-01 1.30978080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7071056809999 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:158.32, Y:135.58, Z:131.12 [[-6.95992441e-02 9.59271523e-01 2.73777446e-01 1.58322527e+02] [-3.70195582e-01 -2.79682542e-01 8.85851515e-01 1.35584879e+02] [ 9.26342904e-01 -3.96966053e-02 3.74583773e-01 1.31116638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.73710568099995 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:158.34, Y:135.64, Z:131.14 [[-5.64357641e-02 9.78368624e-01 1.99022210e-01 1.58340218e+02] [-3.72377054e-01 -2.05582590e-01 9.05025485e-01 1.35635183e+02] [ 9.26364040e-01 -2.30354993e-02 3.75924236e-01 1.31144855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7671056809999 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:158.34, Y:135.64, Z:131.14 [[-5.51192190e-02 9.80425779e-01 1.89016307e-01 1.58339643e+02] [-3.79486391e-01 -1.95668789e-01 9.04269763e-01 1.35640688e+02] [ 9.23553978e-01 -2.18864732e-02 3.82843351e-01 1.31142865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7971056809999 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:158.34, Y:135.64, Z:131.14 [[-5.24687895e-02 9.79082902e-01 1.96580002e-01 1.58337770e+02] [-3.79668964e-01 -2.01626999e-01 9.02883177e-01 1.35635873e+02] [ 9.23633317e-01 -2.72621385e-02 3.82306516e-01 1.31141396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.8271056809999 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:158.34, Y:135.63, Z:131.14 [[-5.21548787e-02 9.80027589e-01 1.91900477e-01 1.58335039e+02] [-3.79964523e-01 -1.97183336e-01 9.03739837e-01 1.35634800e+02] [ 9.23529550e-01 -2.57809315e-02 3.82659788e-01 1.31141703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.8571056809999 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:158.33, Y:135.64, Z:131.14 [[-4.99601417e-02 9.80237669e-01 1.91410806e-01 1.58332774e+02] [-3.78724002e-01 -1.95930478e-01 9.04532685e-01 1.35637504e+02] [ 9.24160221e-01 -2.73012854e-02 3.81028248e-01 1.31136553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.8871056809999 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:158.33, Y:135.65, Z:131.13 [[-5.58880244e-02 9.82894524e-01 1.75484713e-01 1.58334717e+02] [-3.85831267e-01 -1.83366721e-01 9.04163082e-01 1.35647544e+02] [ 9.20874998e-01 -1.71756007e-02 3.89479443e-01 1.31128720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.9171056809999 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:158.33, Y:135.64, Z:131.14 [[-5.43280730e-02 9.79933566e-01 1.91777651e-01 1.58334308e+02] [-3.80592565e-01 -1.97884705e-01 9.03322170e-01 1.35641667e+02] [ 9.23145579e-01 -2.39133951e-02 3.83706124e-01 1.31135676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.9471056809999 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:158.34, Y:135.68, Z:131.03 [[-7.85878033e-02 9.84508942e-01 1.56735765e-01 1.58339809e+02] [-4.17585983e-01 -1.75273600e-01 8.91572270e-01 1.35681011e+02] [ 9.05232514e-01 4.61604771e-03 4.24891502e-01 1.31033052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.9771056809999 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:158.32, Y:135.60, Z:131.11 [[-5.70062127e-02 9.66662559e-01 2.49627302e-01 1.58318856e+02] [-3.81656373e-01 -2.52143202e-01 8.89248120e-01 1.35602630e+02] [ 9.22544690e-01 -4.45791830e-02 3.83306655e-01 1.31114463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.0071056809999 meters Centerline goodness : 0.998223 Centerline is valid? [True, True] Translation: X:158.33, Y:135.64, Z:131.12 [[-7.39082950e-02 9.79666641e-01 1.86523018e-01 1.58329456e+02] [-3.80533010e-01 -2.00587006e-01 9.02751063e-01 1.35635095e+02] [ 9.21809195e-01 -4.25737370e-03 3.87620539e-01 1.31119621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.0371056809999 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:158.33, Y:135.62, Z:131.12 [[-6.16068202e-02 9.75409360e-01 2.11615642e-01 1.58329118e+02] [-3.80894933e-01 -2.18948581e-01 8.98320972e-01 1.35620857e+02] [ 9.22563629e-01 -2.52606273e-02 3.85017209e-01 1.31118585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.06710568099993 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:158.34, Y:135.65, Z:131.10 [[-7.32392717e-02 9.81363589e-01 1.77655611e-01 1.58338134e+02] [-3.86135234e-01 -1.92143557e-01 9.02208643e-01 1.35647623e+02] [ 9.19530092e-01 -2.52198705e-03 3.93011513e-01 1.31097200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.0971056809999 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:158.33, Y:135.62, Z:131.12 [[-6.75159248e-02 9.74864284e-01 2.12323403e-01 1.58327820e+02] [-3.76666141e-01 -2.21966037e-01 8.99362939e-01 1.35619241e+02] [ 9.23885392e-01 -1.92537160e-02 3.82184610e-01 1.31118060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.12710568099993 meters Centerline goodness : 0.998444 Centerline is valid? [True, True] Translation: X:158.33, Y:135.63, Z:131.11 [[-6.69842850e-02 9.78267435e-01 1.96229284e-01 1.58332623e+02] [-3.85011957e-01 -2.06781729e-01 8.99448225e-01 1.35634102e+02] [ 9.20477539e-01 -1.53017244e-02 3.90495785e-01 1.31106078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.1571056809999 meters Centerline goodness : 0.998502 Centerline is valid? [True, True] Translation: X:158.34, Y:135.63, Z:131.12 [[-5.31418298e-02 9.78938097e-01 1.97119632e-01 1.58336678e+02] [-3.89334945e-01 -2.02088630e-01 8.98653708e-01 1.35632284e+02] [ 9.19561986e-01 -2.89894586e-02 3.91874169e-01 1.31117349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.18710568099993 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:158.34, Y:135.65, Z:131.11 [[-5.37115889e-02 9.84125472e-01 1.69151176e-01 1.58343507e+02] [-3.97376333e-01 -1.76470428e-01 9.00527755e-01 1.35652300e+02] [ 9.16082483e-01 -1.88478975e-02 4.00546678e-01 1.31111946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.2171056809999 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:158.34, Y:135.59, Z:131.24 [[-6.71734267e-02 9.86327648e-01 1.50484225e-01 1.58342590e+02] [-4.13010875e-01 -1.64784198e-01 8.95694248e-01 1.35591602e+02] [ 9.08245423e-01 -1.98476945e-03 4.18433164e-01 1.31238390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.24710568099994 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:158.35, Y:135.63, Z:131.13 [[-3.63373845e-02 9.76708952e-01 2.11469188e-01 1.58351145e+02] [-3.78400495e-01 -2.09300062e-01 9.01668758e-01 1.35633641e+02] [ 9.24928462e-01 -4.72557610e-02 3.77192567e-01 1.31130194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.2771056809999 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:158.37, Y:135.72, Z:131.10 [[-6.24144176e-02 9.94414151e-01 8.51171890e-02 1.58368030e+02] [-4.10770463e-01 -1.03319869e-01 9.05865681e-01 1.35721356e+02] [ 9.09599949e-01 2.15754517e-02 4.14924611e-01 1.31104014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.30710568099994 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:158.36, Y:135.66, Z:131.10 [[-6.56822618e-02 9.82194186e-01 1.76012559e-01 1.58360987e+02] [-3.96924580e-01 -1.87554991e-01 8.98484281e-01 1.35660553e+02] [ 9.15498071e-01 -1.08492314e-02 4.02176051e-01 1.31097410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3371056809999 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:158.36, Y:135.67, Z:131.10 [[-6.04652839e-02 9.85821832e-01 1.56522409e-01 1.58362504e+02] [-3.95553177e-01 -1.67636069e-01 9.03014857e-01 1.35674144e+02] [ 9.16450563e-01 -7.31188650e-03 4.00081120e-01 1.31103006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.36710568099994 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:158.36, Y:135.67, Z:131.11 [[-6.06399755e-02 9.86346498e-01 1.53112309e-01 1.58360882e+02] [-3.91672659e-01 -1.64605076e-01 9.05261121e-01 1.35671153e+02] [ 9.18104200e-01 -5.07489291e-03 3.96306603e-01 1.31110177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3971056809999 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:158.35, Y:135.59, Z:131.32 [[-5.87252402e-02 9.87154357e-01 1.48585402e-01 1.58351815e+02] [-3.74347781e-01 -1.59757155e-01 9.13422898e-01 1.35592819e+02] [ 9.25426974e-01 -1.98163652e-03 3.78920821e-01 1.31323190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.42710568099994 meters Centerline goodness : 0.998350 Centerline is valid? [True, True] Translation: X:158.36, Y:135.63, Z:131.28 [[-6.11233521e-02 9.90676214e-01 1.21756214e-01 1.58357507e+02] [-3.82112622e-01 -1.35916476e-01 9.14066002e-01 1.35626593e+02] [ 9.22092121e-01 9.34619179e-03 3.86857556e-01 1.31284088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4571056809999 meters Centerline goodness : 0.998417 Centerline is valid? [True, True] Translation: X:158.36, Y:135.64, Z:131.28 [[-7.25928121e-02 9.89449035e-01 1.25382979e-01 1.58362081e+02] [-3.78336509e-01 -1.43637244e-01 9.14456028e-01 1.35637012e+02] [ 9.22817300e-01 1.89459759e-02 3.84771725e-01 1.31279003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.48710568099995 meters Centerline goodness : 0.998241 Centerline is valid? [True, True] Translation: X:158.36, Y:135.64, Z:131.28 [[-7.82132316e-02 9.89803857e-01 1.19042075e-01 1.58363744e+02] [-3.80745243e-01 -1.40013537e-01 9.14018200e-01 1.35641504e+02] [ 9.21366241e-01 2.61636131e-02 3.87814021e-01 1.31281203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5171056809999 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:158.37, Y:135.71, Z:131.12 [[-8.60128993e-02 9.89810906e-01 1.13473132e-01 1.58368617e+02] [-3.94862093e-01 -1.38435828e-01 9.08250763e-01 1.35714375e+02] [ 9.14705258e-01 3.33150432e-02 4.02746073e-01 1.31117072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5471056809999 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:158.37, Y:135.76, Z:131.00 [[-1.10045790e-01 9.90065494e-01 8.75228093e-02 1.58372983e+02] [-4.31347299e-01 -1.26905456e-01 8.93215827e-01 1.35757985e+02] [ 8.95449291e-01 6.05419135e-02 4.41027487e-01 1.31003095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5771056809999 meters Centerline goodness : 0.997753 Centerline is valid? [True, True] Translation: X:158.36, Y:135.71, Z:130.97 [[-1.17795678e-01 9.80232848e-01 1.58958303e-01 1.58356922e+02] [-4.30567590e-01 -1.94659482e-01 8.81316763e-01 1.35711507e+02] [ 8.94838381e-01 3.53730125e-02 4.44986541e-01 1.30974710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.6071056809999 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:158.35, Y:135.67, Z:131.08 [[-9.53072927e-02 9.75772911e-01 1.96935895e-01 1.58348216e+02] [-3.97203725e-01 -2.18682474e-01 8.91295224e-01 1.35666155e+02] [ 9.12768164e-01 6.72326374e-03 4.08422669e-01 1.31076191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.6371056809999 meters Centerline goodness : 0.998290 Centerline is valid? [True, True] Translation: X:158.35, Y:135.63, Z:131.29 [[-9.42225389e-02 9.87035790e-01 1.29932527e-01 1.58348635e+02] [-3.82972780e-01 -1.56405837e-01 9.10422465e-01 1.35630658e+02] [ 9.18941763e-01 3.60216950e-02 3.92744795e-01 1.31288691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.6671056809999 meters Centerline goodness : 0.996880 Centerline is valid? [True, True] Translation: X:158.35, Y:135.53, Z:131.58 [[-8.63634097e-02 9.89596300e-01 1.15067480e-01 1.58346517e+02] [-3.62051366e-01 -1.38777521e-01 9.21769824e-01 1.35531095e+02] [ 9.28148786e-01 3.79468467e-02 3.70269992e-01 1.31581815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.6971056809999 meters Centerline goodness : 0.998070 Centerline is valid? [True, True] Translation: X:158.37, Y:135.77, Z:131.02 [[-1.16434026e-01 9.90977588e-01 6.63817599e-02 1.58374294e+02] [-4.25450624e-01 -1.10158381e-01 8.98252135e-01 1.35767301e+02] [ 8.97460241e-01 7.63449516e-02 4.34438217e-01 1.31015079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.7271056809999 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:158.36, Y:135.70, Z:131.05 [[-1.03756520e-01 9.81502643e-01 1.60894828e-01 1.58361412e+02] [-4.00413943e-01 -1.89300257e-01 8.96567949e-01 1.35695590e+02] [ 9.10441244e-01 2.86002376e-02 4.12648480e-01 1.31045646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.7571056809999 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:158.37, Y:135.72, Z:131.07 [[-8.25341629e-02 9.88029347e-01 1.30330817e-01 1.58366359e+02] [-3.98875551e-01 -1.52595197e-01 9.04219553e-01 1.35718412e+02] [ 9.13283311e-01 2.26432275e-02 4.06695067e-01 1.31072808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.7871056809999 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:158.37, Y:135.77, Z:131.01 [[-9.61863649e-02 9.92241072e-01 7.87771416e-02 1.58374022e+02] [-4.23400479e-01 -1.12413577e-01 8.98941167e-01 1.35765522e+02] [ 9.00821968e-01 5.31116037e-02 4.30927998e-01 1.31005027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.81710568099993 meters Centerline goodness : 0.997534 Centerline is valid? [True, True] Translation: X:158.36, Y:135.72, Z:130.98 [[-8.80245146e-02 9.84616927e-01 1.50934399e-01 1.58363818e+02] [-4.22471287e-01 -1.74121607e-01 8.89494057e-01 1.35718732e+02] [ 9.02091845e-01 1.45318326e-02 4.31299350e-01 1.30983124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.8471056809999 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:158.36, Y:135.72, Z:130.99 [[-7.86968504e-02 9.86058820e-01 1.46611079e-01 1.58363016e+02] [-4.19462537e-01 -1.66167750e-01 8.92434568e-01 1.35722354e+02] [ 9.04355011e-01 8.73393469e-03 4.26691613e-01 1.30989068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.87710568099993 meters Centerline goodness : 0.998028 Centerline is valid? [True, True] Translation: X:158.36, Y:135.70, Z:131.06 [[-6.04607948e-02 9.85314656e-01 1.59685693e-01 1.58363033e+02] [-4.00967508e-01 -1.70477866e-01 9.00090193e-01 1.35698696e+02] [ 9.14094935e-01 -9.60860577e-03 4.05386389e-01 1.31057962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.9071056809999 meters Centerline goodness : 0.997652 Centerline is valid? [True, True] Translation: X:158.38, Y:135.75, Z:131.00 [[-6.87331766e-02 9.92665083e-01 9.94574464e-02 1.58375198e+02] [-4.21649858e-01 -1.19256602e-01 8.98882228e-01 1.35750691e+02] [ 9.04149958e-01 1.98468127e-02 4.26753977e-01 1.31004592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93710568099993 meters Centerline goodness : 0.998054 Centerline is valid? [True, True] Translation: X:158.37, Y:135.73, Z:131.00 [[-6.70425206e-02 9.88364073e-01 1.36534830e-01 1.58370846e+02] [-4.19802142e-01 -1.52083285e-01 8.94783123e-01 1.35729725e+02] [ 9.05136157e-01 2.67090206e-03 4.25113401e-01 1.30999502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.9671056809999 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:158.38, Y:135.74, Z:131.00 [[-6.49352338e-02 9.88677984e-01 1.35274753e-01 1.58377216e+02] [-4.22760809e-01 -1.50050418e-01 8.93732718e-01 1.35736409e+02] [ 9.03911895e-01 8.45878822e-04 4.27717863e-01 1.30998114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99710568099994 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:158.37, Y:135.71, Z:131.07 [[-4.88722628e-02 9.87393117e-01 1.50553430e-01 1.58374083e+02] [-4.01794146e-01 -1.57434876e-01 9.02095186e-01 1.35712915e+02] [ 9.14424937e-01 -1.64040538e-02 4.04422973e-01 1.31068814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0271056809999 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:158.38, Y:135.74, Z:131.08 [[-4.81300934e-02 9.93204386e-01 1.05964811e-01 1.58380038e+02] [-4.02266000e-01 -1.16378173e-01 9.08095912e-01 1.35742511e+02] [ 9.14256834e-01 1.08070026e-03 4.05133648e-01 1.31078735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.05710568099994 meters Centerline goodness : 0.998018 Centerline is valid? [True, True] Translation: X:158.39, Y:135.78, Z:131.00 [[-6.63273672e-02 9.94969741e-01 7.50725924e-02 1.58385348e+02] [-4.35307967e-01 -9.65551702e-02 8.95088863e-01 1.35783371e+02] [ 8.97834982e-01 2.66891902e-02 4.39522506e-01 1.30995874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0871056809999 meters Centerline goodness : 0.997358 Centerline is valid? [True, True] Translation: X:158.37, Y:135.76, Z:130.90 [[-6.95363645e-02 9.87625575e-01 1.40571754e-01 1.58373153e+02] [-4.37417359e-01 -1.56830217e-01 8.85477463e-01 1.35761031e+02] [ 8.96566087e-01 8.43583241e-05 4.42909973e-01 1.30900689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.11710568099994 meters Centerline goodness : 0.997722 Centerline is valid? [True, True] Translation: X:158.37, Y:135.78, Z:130.92 [[-8.61467381e-02 9.89650620e-01 1.14762315e-01 1.58374147e+02] [-4.35846860e-01 -1.41018979e-01 8.88904473e-01 1.35777809e+02] [ 8.95888528e-01 2.65574262e-02 4.43484440e-01 1.30918964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.1471056809999 meters Centerline goodness : 0.997947 Centerline is valid? [True, True] Translation: X:158.35, Y:135.70, Z:131.03 [[-7.36948836e-02 9.81546512e-01 1.76452568e-01 1.58354449e+02] [-4.04383286e-01 -1.91146084e-01 8.94392158e-01 1.35700694e+02] [ 9.11615721e-01 -5.44234307e-03 4.11007492e-01 1.31025097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.17710568099994 meters Centerline goodness : 0.997777 Centerline is valid? [True, True] Translation: X:158.37, Y:135.79, Z:130.90 [[-8.97005684e-02 9.91149644e-01 9.78580176e-02 1.58366842e+02] [-4.32384912e-01 -1.27265723e-01 8.92662715e-01 1.35794438e+02] [ 8.97216304e-01 3.77600226e-02 4.39973960e-01 1.30897236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2071056809999 meters Centerline goodness : 0.997543 Centerline is valid? [True, True] Translation: X:158.36, Y:135.78, Z:130.89 [[-1.07999397e-01 9.85588145e-01 1.30200379e-01 1.58359536e+02] [-4.29377975e-01 -1.64364782e-01 8.88042101e-01 1.35780968e+02] [ 8.96644124e-01 4.00028366e-02 4.40941139e-01 1.30887689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2371056809999 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:158.35, Y:135.71, Z:131.00 [[-9.42666663e-02 9.78350414e-01 1.84239690e-01 1.58354229e+02] [-4.05041145e-01 -2.06744779e-01 8.90616791e-01 1.35712871e+02] [ 9.09425900e-01 9.33082072e-03 4.15761312e-01 1.30998984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2671056809999 meters Centerline goodness : 0.997970 Centerline is valid? [True, True] Translation: X:158.37, Y:135.76, Z:131.01 [[-1.12381786e-01 9.88111357e-01 1.04910817e-01 1.58372057e+02] [-4.08598114e-01 -1.42193924e-01 9.01570003e-01 1.35764849e+02] [ 9.05769240e-01 5.84536850e-02 4.19720444e-01 1.31013361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2971056809999 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:158.38, Y:135.78, Z:130.95 [[-1.32834977e-01 9.85710683e-01 1.03582423e-01 1.58376675e+02] [-4.25220759e-01 -1.51079070e-01 8.92391405e-01 1.35775799e+02] [ 8.95288878e-01 7.44953948e-02 4.39213230e-01 1.30948956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.3271056809999 meters Centerline goodness : 0.997510 Centerline is valid? [True, True] Translation: X:158.37, Y:135.74, Z:130.99 [[-1.19010035e-01 9.81071629e-01 1.52758207e-01 1.58368045e+02] [-4.06850926e-01 -1.88527527e-01 8.93828673e-01 1.35737685e+02] [ 9.05709079e-01 4.42247638e-02 4.21586568e-01 1.30987699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.3571056809999 meters Centerline goodness : 0.997598 Centerline is valid? [True, True] Translation: X:158.37, Y:135.76, Z:130.99 [[-1.15632766e-01 9.85568135e-01 1.23630560e-01 1.58372765e+02] [-4.11083265e-01 -1.60789577e-01 8.97305556e-01 1.35759620e+02] [ 9.04234269e-01 5.29354693e-02 4.23743110e-01 1.30994540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.3871056809999 meters Centerline goodness : 0.997855 Centerline is valid? [True, True] Translation: X:158.37, Y:135.74, Z:130.98 [[-8.64266899e-02 9.86244793e-01 1.40895832e-01 1.58371066e+02] [-4.15135621e-01 -1.64213486e-01 8.94816376e-01 1.35742296e+02] [ 9.05644988e-01 1.88451388e-02 4.23617773e-01 1.30976788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.4171056809999 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:158.37, Y:135.77, Z:131.01 [[-9.35966699e-02 9.90914742e-01 9.65796944e-02 1.58369492e+02] [-4.15683430e-01 -1.27039794e-01 9.00593236e-01 1.35768847e+02] [ 9.04680579e-01 4.41459492e-02 4.23797341e-01 1.31006210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.4471056809999 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:158.37, Y:135.74, Z:130.99 [[-7.56182112e-02 9.89150638e-01 1.25948011e-01 1.58367552e+02] [-4.17491468e-01 -1.46112508e-01 8.96856738e-01 1.35744830e+02] [ 9.05528995e-01 1.52364822e-02 4.24010719e-01 1.30990634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.4771056809999 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:158.37, Y:135.78, Z:130.95 [[-8.44501315e-02 9.92544519e-01 8.78837447e-02 1.58368184e+02] [-4.41201325e-01 -1.16328960e-01 8.89836482e-01 1.35775218e+02] [ 8.93425747e-01 3.63723833e-02 4.47735953e-01 1.30952430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.5071056809999 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:158.36, Y:135.72, Z:130.99 [[-7.15200124e-02 9.87053859e-01 1.43560325e-01 1.58361391e+02] [-4.45353523e-01 -1.60386423e-01 8.80872542e-01 1.35722973e+02] [ 8.92493769e-01 -9.35081154e-04 4.51058753e-01 1.30992546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.5371056809999 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:158.37, Y:135.67, Z:131.12 [[-4.30695188e-02 9.90491167e-01 1.30660874e-01 1.58366642e+02] [-4.47244536e-01 -1.36060878e-01 8.84002128e-01 1.35667205e+02] [ 8.93374133e-01 -2.03638159e-02 4.48851839e-01 1.31124912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.56710568099993 meters Centerline goodness : 0.996865 Centerline is valid? [True, True] Translation: X:158.38, Y:135.69, Z:131.14 [[-3.22138437e-02 9.95548052e-01 8.85795909e-02 1.58375259e+02] [-4.49557196e-01 -9.35869969e-02 8.88335410e-01 1.35686112e+02] [ 8.92670486e-01 -1.12048945e-02 4.50570588e-01 1.31143631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.5971056809999 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:158.37, Y:135.79, Z:130.94 [[-5.70199155e-02 9.95091308e-01 8.08827435e-02 1.58369411e+02] [-4.51671549e-01 -9.79611392e-02 8.86789957e-01 1.35785811e+02] [ 8.90360344e-01 1.40322544e-02 4.55040168e-01 1.30939236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.62710568099993 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:158.35, Y:135.65, Z:131.21 [[-4.24620565e-02 9.87968920e-01 1.48709065e-01 1.58347264e+02] [-3.97261618e-01 -1.53266892e-01 9.04816262e-01 1.35649893e+02] [ 9.16722521e-01 -2.06560445e-02 3.98990159e-01 1.31212602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.6571056809999 meters Centerline goodness : 0.988089 Centerline is valid? [True, True] Translation: X:158.38, Y:135.71, Z:131.11 [[-1.77454541e-02 9.97739846e-01 6.48097120e-02 1.58383812e+02] [-4.59463883e-01 -6.57079252e-02 8.85762614e-01 1.35707661e+02] [ 8.88019166e-01 -1.40594621e-02 4.59591441e-01 1.31108342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.68710568099993 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:158.36, Y:135.69, Z:131.19 [[-4.66125997e-02 9.93394579e-01 1.04854543e-01 1.58356747e+02] [-3.94865085e-01 -1.14743323e-01 9.11545684e-01 1.35688848e+02] [ 9.17555900e-01 1.08611589e-03 3.97605319e-01 1.31194233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.7171056809999 meters Centerline goodness : 0.998154 Centerline is valid? [True, True] Translation: X:158.36, Y:135.69, Z:131.22 [[-6.54955247e-02 9.93636258e-01 9.16369059e-02 1.58360408e+02] [-3.96764157e-01 -1.10194613e-01 9.11282257e-01 1.35691600e+02] [ 9.15580985e-01 2.33266699e-02 4.01456506e-01 1.31219527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.74710568099994 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:158.36, Y:135.61, Z:131.41 [[-6.32932706e-02 9.94005652e-01 8.91444112e-02 1.58363048e+02] [-3.91904803e-01 -1.06903566e-01 9.13773633e-01 1.35613979e+02] [ 9.17826012e-01 2.28995990e-02 3.96321865e-01 1.31407609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.7771056809999 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:158.37, Y:135.71, Z:131.21 [[-8.04372766e-02 9.93940192e-01 7.49182207e-02 1.58373409e+02] [-3.98520858e-01 -1.00962093e-01 9.11585312e-01 1.35707865e+02] [ 9.13625181e-01 4.34689663e-02 4.04227014e-01 1.31208459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.80710568099994 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:158.37, Y:135.62, Z:131.41 [[-7.56361893e-02 9.93892035e-01 8.03603688e-02 1.58369051e+02] [-3.95692211e-01 -1.03891085e-01 9.12487982e-01 1.35621221e+02] [ 9.15263263e-01 3.72191417e-02 4.01133262e-01 1.31412743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8371056809999 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:158.37, Y:135.79, Z:131.02 [[-9.99655425e-02 9.92094104e-01 7.58694931e-02 1.58373611e+02] [-4.10553514e-01 -1.10585407e-01 9.05105894e-01 1.35791494e+02] [ 9.06340280e-01 5.93309148e-02 4.18362450e-01 1.31022169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.86710568099994 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:158.36, Y:135.68, Z:131.21 [[-9.77375050e-02 9.88539054e-01 1.15056157e-01 1.58360587e+02] [-4.05604691e-01 -1.45138874e-01 9.02451961e-01 1.35675718e+02] [ 9.08808129e-01 4.15360861e-02 4.15141589e-01 1.31214577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8971056809999 meters Centerline goodness : 0.997487 Centerline is valid? [True, True] Translation: X:158.36, Y:135.59, Z:131.46 [[-8.18929754e-02 9.92628430e-01 8.93439415e-02 1.58359310e+02] [-3.96608314e-01 -1.14698886e-01 9.10794165e-01 1.35593520e+02] [ 9.14327833e-01 3.91530941e-02 4.03077721e-01 1.31456248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.92710568099994 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:158.36, Y:135.62, Z:131.46 [[-8.09001266e-02 9.95353214e-01 5.22221092e-02 1.58359273e+02] [-3.99766637e-01 -8.03979479e-02 9.13084227e-01 1.35618976e+02] [ 9.13039871e-01 5.29919726e-02 4.04413211e-01 1.31462157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9571056809999 meters Centerline goodness : 0.997278 Centerline is valid? [True, True] Translation: X:158.35, Y:135.60, Z:131.52 [[-8.75633888e-02 9.95153266e-01 4.47507492e-02 1.58354262e+02] [-3.97492692e-01 -7.60967068e-02 9.14444559e-01 1.35604139e+02] [ 9.13417874e-01 6.22837687e-02 4.02229437e-01 1.31515105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9871056809999 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:158.35, Y:135.61, Z:131.52 [[-8.97520863e-02 9.95341914e-01 3.51999540e-02 1.58351684e+02] [-4.02971372e-01 -6.86119055e-02 9.12637102e-01 1.35608086e+02] [ 9.10801096e-01 6.77265102e-02 4.07252359e-01 1.31515177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0171056809999 meters Centerline goodness : 0.996845 Centerline is valid? [True, True] Translation: X:158.35, Y:135.61, Z:131.51 [[-9.72907401e-02 9.94743769e-01 3.19272063e-02 1.58347621e+02] [-4.06386375e-01 -6.89889104e-02 9.11093104e-01 1.35609868e+02] [ 9.08506811e-01 7.56661407e-02 4.10962296e-01 1.31509182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0471056809999 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:158.35, Y:135.60, Z:131.52 [[-1.01262062e-01 9.94273308e-01 3.41552775e-02 1.58345282e+02] [-3.99643110e-01 -7.20937098e-02 9.13831430e-01 1.35604698e+02] [ 9.11060580e-01 7.88865335e-02 4.04654834e-01 1.31524776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0771056809999 meters Centerline goodness : 0.996945 Centerline is valid? [True, True] Translation: X:158.34, Y:135.61, Z:131.52 [[-1.05721057e-01 9.93933381e-01 3.03231415e-02 1.58344112e+02] [-4.03244380e-01 -7.07259623e-02 9.12355089e-01 1.35607817e+02] [ 9.08964811e-01 8.42275082e-02 4.08275274e-01 1.31517257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.1071056809999 meters Centerline goodness : 0.996995 Centerline is valid? [True, True] Translation: X:158.35, Y:135.61, Z:131.52 [[-1.10361681e-01 9.93561293e-01 2.56175224e-02 1.58345380e+02] [-4.01111037e-01 -6.81072647e-02 9.13494027e-01 1.35610750e+02] [ 9.09357045e-01 9.05392654e-02 4.06044832e-01 1.31520988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.1371056809999 meters Centerline goodness : 0.997036 Centerline is valid? [True, True] Translation: X:158.35, Y:135.61, Z:131.52 [[-1.14666279e-01 9.93132692e-01 2.32185275e-02 1.58349768e+02] [-4.10532808e-01 -6.86573781e-02 9.09257377e-01 1.35605788e+02] [ 9.04607350e-01 9.47291925e-02 4.15586239e-01 1.31519575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.1671056809999 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:158.36, Y:135.61, Z:131.51 [[-1.16690904e-01 9.92968567e-01 1.99162846e-02 1.58357054e+02] [-4.14670055e-01 -6.69330237e-02 9.07506868e-01 1.35608134e+02] [ 9.02458852e-01 9.76391100e-02 4.19564805e-01 1.31510845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.1971056809999 meters Centerline goodness : 0.996899 Centerline is valid? [True, True] Translation: X:158.36, Y:135.61, Z:131.52 [[-1.16144970e-01 9.93111519e-01 1.54873288e-02 1.58360684e+02] [-4.13896873e-01 -6.25681828e-02 9.08171020e-01 1.35607740e+02] [ 9.02884115e-01 9.90693385e-02 4.18312732e-01 1.31515538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.2271056809999 meters Centerline goodness : 0.996113 Centerline is valid? [True, True] Translation: X:158.32, Y:135.51, Z:131.28 [[ -0.17020133 0.88677621 -0.42972022 158.32181339] [ 0.47575602 -0.30794286 -0.82390983 135.50925634] [ -0.8629529 -0.34467253 -0.36947684 131.28099122] [ 0. 0. 0. 1. ]] SLAMing on 381.2571056809999 meters Centerline goodness : 0.996013 Centerline is valid? [True, True] Translation: X:157.55, Y:136.38, Z:131.64 [[-9.23129159e-02 -1.01181126e-01 9.90575946e-01 1.57554506e+02] [ 2.48002870e-01 9.61137000e-01 1.21285796e-01 1.36376329e+02] [-9.64351026e-01 2.56861923e-01 -6.36321495e-02 1.31636470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.2871056809999 meters Centerline goodness : 0.996086 Centerline is valid? [True, True] Translation: X:157.00, Y:135.54, Z:131.35 [[ 2.47077797e-02 -9.77172595e-01 -2.11005319e-01 1.57004812e+02] [ 3.47565944e-01 -1.89505744e-01 9.18305770e-01 1.35541222e+02] [-9.37329953e-01 -9.60275595e-02 3.34949649e-01 1.31354526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.31710568099993 meters Centerline goodness : 0.997935 Centerline is valid? [True, True] Translation: X:158.17, Y:135.04, Z:131.68 [[-1.13073507e-01 5.59994134e-01 -8.20744145e-01 1.58174761e+02] [ 5.01939483e-01 -6.80691301e-01 -5.33587958e-01 1.35042408e+02] [-8.57479526e-01 -4.72298553e-01 -2.04115013e-01 1.31677953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.3471056809999 meters Centerline goodness : 0.997873 Centerline is valid? [True, True] Translation: X:157.99, Y:136.15, Z:132.04 [[ -0.21491719 0.47145746 0.85530022 157.99158821] [ 0.30628895 0.8641194 -0.39935542 136.15472628] [ -0.9273606 0.17614066 -0.33011632 132.03545633] [ 0. 0. 0. 1. ]] SLAMing on 381.37710568099993 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:157.13, Y:135.24, Z:131.79 [[-3.00718254e-02 -9.32906415e-01 -3.58861123e-01 1.57126659e+02] [ 3.28111544e-01 -3.48342310e-01 8.78066313e-01 1.35242082e+02] [-9.44160209e-01 -9.13414204e-02 3.16572654e-01 1.31788121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.4071056809999 meters Centerline goodness : 0.997220 Centerline is valid? [True, True] Translation: X:157.01, Y:135.54, Z:131.18 [[-8.56885969e-02 -9.48169431e-01 -3.05993782e-01 1.57010762e+02] [ 3.68343222e-01 -3.15511954e-01 8.74514424e-01 1.35543102e+02] [-9.25732540e-01 -3.77748217e-02 3.76287560e-01 1.31176609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43710568099993 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:158.37, Y:135.41, Z:131.50 [[ -0.23660605 0.85773732 -0.45640362 158.3667465 ] [ 0.47074946 -0.30972193 -0.82611577 135.41330816] [ -0.84994854 -0.41031575 -0.3304973 131.49799658] [ 0. 0. 0. 1. ]] SLAMing on 381.4671056809999 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:157.60, Y:136.25, Z:131.87 [[-2.37039556e-01 -6.56475467e-02 9.69279448e-01 1.57602190e+02] [ 2.75889257e-01 9.52089082e-01 1.31952637e-01 1.36251771e+02] [-9.31502747e-01 2.98691781e-01 -2.07571320e-01 1.31869139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49710568099994 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:157.16, Y:135.29, Z:131.47 [[-1.31692126e-01 -8.63101931e-01 -4.87557423e-01 1.57157175e+02] [ 3.44088790e-01 -5.01060855e-01 7.94066071e-01 1.35293055e+02] [-9.29655898e-01 -6.31907948e-02 3.62969468e-01 1.31465009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5271056809999 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:157.17, Y:135.28, Z:131.59 [[-1.03763475e-01 -8.95627625e-01 -4.32532426e-01 1.57165331e+02] [ 3.26284182e-01 -4.41465795e-01 8.35850815e-01 1.35277614e+02] [-9.39559351e-01 -5.43977037e-02 3.38037151e-01 1.31592445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.55710568099994 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:157.14, Y:135.33, Z:131.48 [[-1.25512423e-01 -8.93640116e-01 -4.30875824e-01 1.57137502e+02] [ 3.47211448e-01 -4.46411045e-01 8.24718976e-01 1.35327588e+02] [-9.29349688e-01 -4.60925420e-02 3.66312210e-01 1.31478746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5871056809999 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:157.14, Y:135.32, Z:131.46 [[-1.21689275e-01 -8.86169738e-01 -4.47096093e-01 1.57142445e+02] [ 3.53571785e-01 -4.59597024e-01 8.14713182e-01 1.35322322e+02] [-9.27458200e-01 -5.89387076e-02 3.69252644e-01 1.31462641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.61710568099994 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:157.14, Y:135.33, Z:131.47 [[-1.22433018e-01 -8.96965183e-01 -4.24810094e-01 1.57135162e+02] [ 3.56677922e-01 -4.39199644e-01 8.24551110e-01 1.35334094e+02] [-9.26170080e-01 -5.05681007e-02 3.73700215e-01 1.31470682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.6471056809999 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:157.14, Y:135.32, Z:131.45 [[-1.14055548e-01 -8.80273123e-01 -4.60554624e-01 1.57144301e+02] [ 3.61796709e-01 -4.68549492e-01 8.05955653e-01 1.35315603e+02] [-9.25253735e-01 -7.47034332e-02 3.71920588e-01 1.31451757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.67710568099994 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:157.13, Y:135.33, Z:131.47 [[-1.01372287e-01 -8.96351320e-01 -4.31599318e-01 1.57126423e+02] [ 3.60100368e-01 -4.37476947e-01 8.23979154e-01 1.35328316e+02] [-9.27389554e-01 -7.18904223e-02 3.67124478e-01 1.31465427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7071056809999 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:157.13, Y:135.32, Z:131.46 [[-9.43621792e-02 -8.91612873e-01 -4.42856933e-01 1.57126240e+02] [ 3.64844655e-01 -4.44864218e-01 8.17914546e-01 1.35320071e+02] [-9.26274342e-01 -8.43937859e-02 3.67278548e-01 1.31463580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7371056809999 meters Centerline goodness : 0.997947 Centerline is valid? [True, True] Translation: X:157.12, Y:135.33, Z:131.45 [[-9.30633533e-02 -8.94285035e-01 -4.37713935e-01 1.57119989e+02] [ 3.65689299e-01 -4.39596708e-01 8.20381662e-01 1.35328599e+02] [-9.26072648e-01 -8.37198334e-02 3.67940811e-01 1.31445778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7671056809999 meters Centerline goodness : 0.998025 Centerline is valid? [True, True] Translation: X:157.11, Y:135.33, Z:131.49 [[-9.16502392e-02 -9.08974915e-01 -4.06650757e-01 1.57114211e+02] [ 3.46999895e-01 -4.11926046e-01 8.42560387e-01 1.35332417e+02] [-9.33376294e-01 -6.38869091e-02 3.53167321e-01 1.31490999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7971056809999 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:157.12, Y:135.33, Z:131.47 [[-9.94802484e-02 -8.98441362e-01 -4.27676045e-01 1.57117703e+02] [ 3.51759984e-01 -4.33808679e-01 8.29502829e-01 1.35329604e+02] [-9.30789232e-01 -6.79201715e-02 3.59191114e-01 1.31465184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.8271056809999 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:157.12, Y:135.32, Z:131.47 [[-9.46598888e-02 -8.95421967e-01 -4.35039086e-01 1.57123900e+02] [ 3.50186504e-01 -4.39022080e-01 8.27423124e-01 1.35320776e+02] [-9.31884606e-01 -7.40210355e-02 3.55122469e-01 1.31465395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.8571056809999 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:157.13, Y:135.32, Z:131.46 [[-9.45752179e-02 -8.92414732e-01 -4.41193240e-01 1.57125478e+02] [ 3.52770128e-01 -4.44464242e-01 8.23410453e-01 1.35316210e+02] [-9.30918238e-01 -7.77655726e-02 3.56852562e-01 1.31457140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.8871056809999 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:157.12, Y:135.32, Z:131.47 [[-8.83962692e-02 -9.00858836e-01 -4.25017009e-01 1.57121182e+02] [ 3.54047441e-01 -4.27240187e-01 8.31935233e-01 1.35322497e+02] [-9.31040552e-01 -7.69362137e-02 3.56713204e-01 1.31467649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.9171056809999 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:157.17, Y:135.25, Z:131.56 [[-6.14496142e-02 -8.85608734e-01 -4.60348906e-01 1.57169920e+02] [ 3.40921602e-01 -4.52104905e-01 8.24241237e-01 1.35252156e+02] [-9.38081237e-01 -1.06293580e-01 3.29704820e-01 1.31562626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.9471056809999 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:157.16, Y:135.26, Z:131.57 [[-6.14742688e-02 -8.96091535e-01 -4.39591715e-01 1.57160774e+02] [ 3.38152894e-01 -4.33076641e-01 8.35522138e-01 1.35264694e+02] [-9.39081218e-01 -9.72860982e-02 3.29639016e-01 1.31567235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.9771056809999 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:157.16, Y:135.28, Z:131.55 [[-6.31474504e-02 -8.94664309e-01 -4.42253518e-01 1.57155013e+02] [ 3.43953725e-01 -4.35498527e-01 8.31887533e-01 1.35276294e+02] [-9.36860840e-01 -9.95831684e-02 3.35223744e-01 1.31545434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.0071056809999 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:157.15, Y:135.30, Z:131.45 [[-7.34532854e-02 -8.81384354e-01 -4.66654301e-01 1.57145671e+02] [ 3.63876801e-01 -4.59346082e-01 8.10305406e-01 1.35298219e+02] [-9.28546331e-01 -1.10285080e-01 3.54455797e-01 1.31449714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.0371056809999 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:157.13, Y:135.32, Z:131.47 [[-7.58977014e-02 -9.02165353e-01 -4.24661294e-01 1.57134529e+02] [ 3.60077647e-01 -4.21948720e-01 8.32047694e-01 1.35316545e+02] [-9.29829892e-01 -8.97605319e-02 3.56874515e-01 1.31470104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.06710568099993 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:157.16, Y:135.27, Z:131.51 [[-6.25344917e-02 -8.87239419e-01 -4.57051037e-01 1.57163155e+02] [ 3.57743176e-01 -4.47443779e-01 8.19642535e-01 1.35273686e+02] [-9.31723810e-01 -1.12250960e-01 3.45384517e-01 1.31513219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.0971056809999 meters Centerline goodness : 0.998030 Centerline is valid? [True, True] Translation: X:157.16, Y:135.28, Z:131.51 [[-5.99556002e-02 -8.90944811e-01 -4.50136279e-01 1.57160789e+02] [ 3.55537080e-01 -4.40433846e-01 8.24385476e-01 1.35277661e+02] [-9.32737214e-01 -1.10613612e-01 3.43170392e-01 1.31510936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.12710568099993 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:157.15, Y:135.30, Z:131.44 [[-7.70830184e-02 -8.82522816e-01 -4.63909138e-01 1.57150963e+02] [ 3.66378074e-01 -4.57811957e-01 8.10046492e-01 1.35300428e+02] [-9.27267661e-01 -1.07525308e-01 3.58626537e-01 1.31444995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.1571056809999 meters Centerline goodness : 0.996772 Centerline is valid? [True, True] Translation: X:157.02, Y:135.53, Z:130.87 [[-9.37390463e-02 -8.83857904e-01 -4.58266513e-01 1.57022784e+02] [ 3.91540289e-01 -4.55931327e-01 7.99263929e-01 1.35530832e+02] [-9.15373800e-01 -1.04507564e-01 3.88804547e-01 1.30870181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.18710568099993 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:158.17, Y:136.23, Z:131.42 [[-3.56866135e-01 7.34546306e-01 5.77138013e-01 1.58174493e+02] [ 2.59278830e-01 6.71428705e-01 -6.94231937e-01 1.36229438e+02] [-8.97452534e-01 -9.81081992e-02 -4.30062474e-01 1.31420595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.2171056809999 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:157.26, Y:135.25, Z:131.35 [[-1.75844056e-01 -7.68197461e-01 -6.15590390e-01 1.57255128e+02] [ 3.38483141e-01 -6.34388635e-01 6.94967786e-01 1.35246920e+02] [-9.24396036e-01 -8.61610148e-02 3.71575360e-01 1.31349965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.24710568099994 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:157.24, Y:135.27, Z:131.34 [[-1.77435447e-01 -7.81669214e-01 -5.97921318e-01 1.57242941e+02] [ 3.27095722e-01 -6.19863012e-01 7.13286924e-01 1.35266873e+02] [-9.28183738e-01 -6.90151212e-02 3.65666326e-01 1.31338859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.2771056809999 meters Centerline goodness : 0.998397 Centerline is valid? [True, True] Translation: X:157.24, Y:135.27, Z:131.34 [[-1.91088737e-01 -7.85795433e-01 -5.88226684e-01 1.57239845e+02] [ 3.10899854e-01 -6.16868264e-01 7.23059351e-01 1.35269585e+02] [-9.31035110e-01 -4.47110916e-02 3.62180263e-01 1.31341066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.30710568099994 meters Centerline goodness : 0.998179 Centerline is valid? [True, True] Translation: X:157.25, Y:135.26, Z:131.32 [[-1.91716948e-01 -7.65463952e-01 -6.14255281e-01 1.57249768e+02] [ 3.15900675e-01 -6.40686684e-01 6.99805213e-01 1.35262970e+02] [-9.29220843e-01 -5.98791387e-02 3.64641075e-01 1.31323654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3371056809999 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:157.24, Y:135.27, Z:131.32 [[-1.93161856e-01 -7.74599233e-01 -6.02232950e-01 1.57236739e+02] [ 3.08691041e-01 -6.30600931e-01 7.12076055e-01 1.35274023e+02] [-9.31342224e-01 -4.83579843e-02 3.60919890e-01 1.31323975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.36710568099994 meters Centerline goodness : 0.997483 Centerline is valid? [True, True] Translation: X:157.27, Y:135.23, Z:131.46 [[-1.55358057e-01 -8.00780696e-01 -5.78458426e-01 1.57269139e+02] [ 2.86442857e-01 -5.96927989e-01 7.49418084e-01 1.35233242e+02] [-9.45417561e-01 -4.92671472e-02 3.22115483e-01 1.31461304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3971056809999 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:157.19, Y:135.32, Z:131.18 [[-2.05103785e-01 -7.75205620e-01 -5.97485300e-01 1.57189045e+02] [ 3.16728307e-01 -6.30185855e-01 7.08906882e-01 1.35324500e+02] [-9.26075384e-01 -4.38410228e-02 3.74783068e-01 1.31178720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.42710568099994 meters Centerline goodness : 0.997339 Centerline is valid? [True, True] Translation: X:157.27, Y:135.23, Z:131.46 [[-1.46103731e-01 -8.04785401e-01 -5.75303536e-01 1.57267017e+02] [ 2.83262782e-01 -5.91227492e-01 7.55123996e-01 1.35225565e+02] [-9.47848034e-01 -5.26356476e-02 3.14346294e-01 1.31457578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4571056809999 meters Centerline goodness : 0.997392 Centerline is valid? [True, True] Translation: X:157.26, Y:135.22, Z:131.46 [[-1.47593118e-01 -8.07598816e-01 -5.70964468e-01 1.57263996e+02] [ 2.82724685e-01 -5.87648359e-01 7.58113553e-01 1.35223894e+02] [-9.47777940e-01 -4.95334061e-02 3.15060975e-01 1.31459798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4871056809999 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:157.26, Y:135.23, Z:131.44 [[-1.60026919e-01 -7.99605390e-01 -5.78811373e-01 1.57262199e+02] [ 2.86051482e-01 -5.98772563e-01 7.48094892e-01 1.35226864e+02] [-9.44757077e-01 -4.58545308e-02 3.24548035e-01 1.31442530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5171056809999 meters Centerline goodness : 0.997873 Centerline is valid? [True, True] Translation: X:157.27, Y:135.22, Z:131.44 [[-1.66099519e-01 -7.92809023e-01 -5.86399866e-01 1.57266559e+02] [ 2.86664282e-01 -6.07799468e-01 7.40542637e-01 1.35222564e+02] [-9.43522411e-01 -4.50961208e-02 3.28225228e-01 1.31444069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5471056809999 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:157.20, Y:135.30, Z:131.18 [[-2.16236294e-01 -7.69642357e-01 -6.00743296e-01 1.57197131e+02] [ 3.03272977e-01 -6.37811736e-01 7.07970120e-01 1.35303361e+02] [-9.28044916e-01 -2.91003725e-02 3.71329775e-01 1.31184987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5771056809999 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:157.20, Y:135.30, Z:131.18 [[-2.21683183e-01 -7.63129858e-01 -6.07033267e-01 1.57202310e+02] [ 3.03821325e-01 -6.45589307e-01 7.00647593e-01 1.35301174e+02] [-9.26579284e-01 -2.91078629e-02 3.74971416e-01 1.31178095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.6071056809999 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:157.21, Y:135.30, Z:131.19 [[-2.25606530e-01 -7.59828078e-01 -6.09723696e-01 1.57211015e+02] [ 3.01871676e-01 -6.49578402e-01 6.97797528e-01 1.35295025e+02] [-9.26269499e-01 -2.66306349e-02 3.75919705e-01 1.31194340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.6371056809999 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:157.20, Y:135.31, Z:131.16 [[-2.27263622e-01 -7.61022609e-01 -6.07614873e-01 1.57200867e+02] [ 3.04807003e-01 -6.48179142e-01 6.97822679e-01 1.35307136e+02] [-9.24902123e-01 -2.66155592e-02 3.79272560e-01 1.31162045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.6671056809999 meters Centerline goodness : 0.997753 Centerline is valid? [True, True] Translation: X:157.19, Y:135.32, Z:131.14 [[-2.25509853e-01 -7.63971303e-01 -6.04560299e-01 1.57191125e+02] [ 3.08400780e-01 -6.44611973e-01 6.99545826e-01 1.35320369e+02] [-9.24139743e-01 -2.86923918e-02 3.80975697e-01 1.31135969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.6971056809999 meters Centerline goodness : 0.997328 Centerline is valid? [True, True] Translation: X:157.27, Y:135.22, Z:131.44 [[-1.69417932e-01 -7.93631428e-01 -5.84334426e-01 1.57273259e+02] [ 2.79264714e-01 -6.07262319e-01 7.43803533e-01 1.35223563e+02] [-9.45150138e-01 -3.71703301e-02 3.24514380e-01 1.31440794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.7271056809999 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:157.20, Y:135.31, Z:131.18 [[-2.16440051e-01 -7.68839963e-01 -6.01696614e-01 1.57199211e+02] [ 3.07767249e-01 -6.38613439e-01 7.05302911e-01 1.35309856e+02] [-9.26516608e-01 -3.25267133e-02 3.74845286e-01 1.31179079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.7571056809999 meters Centerline goodness : 0.997531 Centerline is valid? [True, True] Translation: X:157.28, Y:135.22, Z:131.43 [[-1.63314034e-01 -7.86766264e-01 -5.95254040e-01 1.57282021e+02] [ 2.85691080e-01 -6.15217685e-01 7.34770581e-01 1.35218632e+02] [-9.44303517e-01 -5.00604225e-02 3.25245786e-01 1.31432028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.7871056809999 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:157.20, Y:135.31, Z:131.20 [[-2.12394208e-01 -7.78518839e-01 -5.90590482e-01 1.57198950e+02] [ 3.07595136e-01 -6.26921281e-01 7.15789731e-01 1.35312371e+02] [-9.27509532e-01 -2.96331669e-02 3.72623057e-01 1.31196504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.81710568099993 meters Centerline goodness : 0.997427 Centerline is valid? [True, True] Translation: X:157.30, Y:135.21, Z:131.44 [[-1.54459386e-01 -7.80989464e-01 -6.05142756e-01 1.57297997e+02] [ 2.87510834e-01 -6.21516222e-01 7.28735278e-01 1.35208632e+02] [-9.45240614e-01 -6.14250949e-02 3.20541946e-01 1.31437026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.8471056809999 meters Centerline goodness : 0.997990 Centerline is valid? [True, True] Translation: X:157.20, Y:135.32, Z:131.18 [[-2.08392847e-01 -7.76985878e-01 -5.94024718e-01 1.57204244e+02] [ 3.14867890e-01 -6.28321701e-01 7.11386008e-01 1.35315653e+02] [-9.25975503e-01 -3.87915540e-02 3.75585653e-01 1.31176431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.87710568099993 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:157.29, Y:135.22, Z:131.44 [[-1.45458285e-01 -8.01747905e-01 -5.79691455e-01 1.57285253e+02] [ 2.83248201e-01 -5.95144258e-01 7.52046387e-01 1.35223736e+02] [-9.47951657e-01 -5.48051836e-02 3.13662315e-01 1.31444139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.9071056809999 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:157.20, Y:135.32, Z:131.14 [[-2.08721195e-01 -7.71454286e-01 -6.01077156e-01 1.57201639e+02] [ 3.26135941e-01 -6.34337496e-01 7.00893208e-01 1.35324398e+02] [-9.21992847e-01 -4.97415958e-02 3.83998650e-01 1.31142331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93710568099993 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:157.28, Y:135.22, Z:131.43 [[-1.35719813e-01 -8.03105634e-01 -5.80173658e-01 1.57277326e+02] [ 2.90261550e-01 -5.92128185e-01 7.51752915e-01 1.35224218e+02] [-9.47274176e-01 -6.63743402e-02 3.13474212e-01 1.31433567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.9671056809999 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:157.26, Y:135.24, Z:131.38 [[-1.55273154e-01 -7.99091060e-01 -5.80812986e-01 1.57258982e+02] [ 3.01869852e-01 -5.98201675e-01 7.42313511e-01 1.35243609e+02] [-9.40619392e-01 -6.00685703e-02 3.34106161e-01 1.31377236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99710568099994 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:157.25, Y:135.26, Z:131.29 [[-1.76490520e-01 -7.74739491e-01 -6.07148925e-01 1.57249422e+02] [ 3.19346969e-01 -6.28534543e-01 7.09198027e-01 1.35263058e+02] [-9.31057791e-01 -6.87244408e-02 3.58341097e-01 1.31292101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0271056809999 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:157.25, Y:135.26, Z:131.29 [[-1.73849982e-01 -7.78029058e-01 -6.03694433e-01 1.57248481e+02] [ 3.19185548e-01 -6.24454167e-01 7.12865751e-01 1.35264191e+02] [-9.31609773e-01 -6.87588406e-02 3.56896977e-01 1.31289728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.05710568099994 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:157.22, Y:135.30, Z:131.17 [[-1.92966884e-01 -7.66582337e-01 -6.12466573e-01 1.57218997e+02] [ 3.31528499e-01 -6.38426968e-01 6.94622099e-01 1.35300075e+02] [-9.23500209e-01 -6.90110616e-02 3.77339154e-01 1.31172061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0871056809999 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:157.25, Y:135.27, Z:131.28 [[-1.69910377e-01 -7.78657698e-01 -6.04005507e-01 1.57253818e+02] [ 3.16549546e-01 -6.23560907e-01 7.14820383e-01 1.35268137e+02] [-9.33234616e-01 -6.97422685e-02 3.52433210e-01 1.31282790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.11710568099994 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:157.29, Y:135.22, Z:131.41 [[-1.23191240e-01 -7.96799135e-01 -5.91553088e-01 1.57289261e+02] [ 2.85113716e-01 -5.99379921e-01 7.47966496e-01 1.35224591e+02] [-9.50544101e-01 -7.65169793e-02 3.01016718e-01 1.31406612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.1471056809999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:157.22, Y:135.30, Z:131.18 [[-1.84492292e-01 -7.69303193e-01 -6.11665915e-01 1.57222765e+02] [ 3.36568781e-01 -6.34172740e-01 6.96093665e-01 1.35303593e+02] [-9.23408929e-01 -7.74437355e-02 3.75923421e-01 1.31180286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.17710568099994 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:157.25, Y:135.27, Z:131.26 [[-1.83956972e-01 -7.62423605e-01 -6.20378981e-01 1.57248967e+02] [ 3.38009320e-01 -6.41726248e-01 6.88430913e-01 1.35272911e+02] [-9.22989454e-01 -8.30522111e-02 3.75756301e-01 1.31258305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2071056809999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:157.24, Y:135.29, Z:131.21 [[-1.65755922e-01 -7.72694776e-01 -6.12754240e-01 1.57236104e+02] [ 3.28998943e-01 -6.29080464e-01 7.04285074e-01 1.35293324e+02] [-9.29669119e-01 -8.48560751e-02 3.58489577e-01 1.31206210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2371056809999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:157.25, Y:135.27, Z:131.28 [[-1.50370980e-01 -7.84874530e-01 -6.01132715e-01 1.57253193e+02] [ 3.20830470e-01 -6.13879320e-01 7.21262775e-01 1.35274809e+02] [-9.35123723e-01 -8.44047014e-02 3.44121299e-01 1.31275698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2671056809999 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:157.26, Y:135.27, Z:131.27 [[-1.58841222e-01 -7.71751796e-01 -6.15766702e-01 1.57262520e+02] [ 3.30157178e-01 -6.29299776e-01 7.03546751e-01 1.35267709e+02] [-9.30465316e-01 -9.15475707e-02 3.54758140e-01 1.31272828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2971056809999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:157.26, Y:135.27, Z:131.27 [[-1.69754252e-01 -7.67496885e-01 -6.18168282e-01 1.57264137e+02] [ 3.36917493e-01 -6.34673263e-01 6.95468513e-01 1.35266806e+02] [-9.26104798e-01 -9.02129705e-02 3.66321611e-01 1.31266328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.3271056809999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:157.25, Y:135.29, Z:131.21 [[-1.72543619e-01 -7.71819622e-01 -6.11982983e-01 1.57247073e+02] [ 3.38085038e-01 -6.29962676e-01 6.99174896e-01 1.35287612e+02] [-9.25163341e-01 -8.62641227e-02 3.69636706e-01 1.31212196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.3571056809999 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:157.23, Y:135.31, Z:131.13 [[-1.73038893e-01 -7.71945165e-01 -6.11684726e-01 1.57230559e+02] [ 3.44593631e-01 -6.29251741e-01 6.96632956e-01 1.35313448e+02] [-9.22666121e-01 -9.02380656e-02 3.74892412e-01 1.31134940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.3871056809999 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:157.25, Y:135.28, Z:131.26 [[-1.63423654e-01 -7.93405117e-01 -5.86345487e-01 1.57250472e+02] [ 3.24124911e-01 -6.04523448e-01 7.27663688e-01 1.35280649e+02] [-9.31791689e-01 -7.11317204e-02 3.55955794e-01 1.31260526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.4171056809999 meters Centerline goodness : 0.998492 Centerline is valid? [True, True] Translation: X:157.22, Y:135.32, Z:131.12 [[-1.71965380e-01 -7.80666132e-01 -6.00823018e-01 1.57220929e+02] [ 3.24736331e-01 -6.20741050e-01 7.13601334e-01 1.35317800e+02] [-9.30039904e-01 -7.23943378e-02 3.60256626e-01 1.31123666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.4471056809999 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:157.26, Y:135.27, Z:131.25 [[-1.74652476e-01 -7.74453278e-01 -6.08044927e-01 1.57262064e+02] [ 3.15614223e-01 -6.28985073e-01 7.10468465e-01 1.35266311e+02] [-9.32675815e-01 -6.78225511e-02 3.54282270e-01 1.31252761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.4771056809999 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:157.31, Y:135.21, Z:131.40 [[-1.30005839e-01 -7.97530385e-01 -5.89104208e-01 1.57307758e+02] [ 2.79695731e-01 -5.99515553e-01 7.49900927e-01 1.35208704e+02] [-9.51245909e-01 -6.72784330e-02 3.01006366e-01 1.31404053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.5071056809999 meters Centerline goodness : 0.998554 Centerline is valid? [True, True] Translation: X:157.22, Y:135.31, Z:131.10 [[-1.88283095e-01 -7.80505052e-01 -5.96121916e-01 1.57218428e+02] [ 3.03668649e-01 -6.23500432e-01 7.20439146e-01 1.35313405e+02] [-9.33988666e-01 -4.53770249e-02 3.54409506e-01 1.31100681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.5371056809999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:157.27, Y:135.25, Z:131.24 [[-1.93525757e-01 -7.63753956e-01 -6.15814644e-01 1.57268944e+02] [ 2.99035042e-01 -6.43733028e-01 7.04404594e-01 1.35254967e+02] [-9.34412021e-01 -4.78297254e-02 3.52968118e-01 1.31236785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.56710568099993 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:157.26, Y:135.26, Z:131.23 [[-1.96991607e-01 -7.66886722e-01 -6.10801983e-01 1.57260000e+02] [ 2.91788091e-01 -6.40637853e-01 7.10241404e-01 1.35260483e+02] [-9.35977573e-01 -3.83131496e-02 3.49968693e-01 1.31230660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.5971056809999 meters Centerline goodness : 0.998197 Centerline is valid? [True, True] Translation: X:157.27, Y:135.25, Z:131.26 [[-1.88237195e-01 -7.74419689e-01 -6.04020615e-01 1.57265684e+02] [ 2.84510713e-01 -6.31641474e-01 7.21167596e-01 1.35253408e+02] [-9.40010858e-01 -3.60997704e-02 3.39229118e-01 1.31263972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.62710568099993 meters Centerline goodness : 0.998032 Centerline is valid? [True, True] Translation: X:157.27, Y:135.26, Z:131.23 [[-1.92711283e-01 -7.64039978e-01 -6.15715254e-01 1.57265697e+02] [ 2.87783250e-01 -6.43891847e-01 7.08931654e-01 1.35258112e+02] [-9.38106158e-01 -4.05734081e-02 3.43963132e-01 1.31231354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.6571056809999 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:157.29, Y:135.23, Z:131.30 [[-1.74568337e-01 -7.75435646e-01 -6.06815832e-01 1.57290942e+02] [ 2.75670343e-01 -6.30122595e-01 7.25914166e-01 1.35230144e+02] [-9.45268088e-01 -4.05594996e-02 3.23764064e-01 1.31303975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.68710568099993 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:157.31, Y:135.22, Z:131.33 [[-1.69127619e-01 -7.75649346e-01 -6.08082183e-01 1.57308915e+02] [ 2.79932237e-01 -6.29365512e-01 7.24939305e-01 1.35218711e+02] [-9.45004651e-01 -4.76145468e-02 3.23572347e-01 1.31332326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.7171056809999 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:157.30, Y:135.23, Z:131.30 [[-1.78498446e-01 -7.77758653e-01 -6.02685475e-01 1.57298399e+02] [ 2.80432107e-01 -6.27331237e-01 7.26507641e-01 1.35230069e+02] [-9.43131029e-01 -3.93318724e-02 3.30086149e-01 1.31296652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.74710568099994 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:157.28, Y:135.26, Z:131.22 [[-1.93508956e-01 -7.63630695e-01 -6.15972764e-01 1.57282049e+02] [ 2.87089647e-01 -6.44431876e-01 7.08722154e-01 1.35255397e+02] [-9.38154475e-01 -3.96953192e-02 3.43933806e-01 1.31224479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.7771056809999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:157.28, Y:135.26, Z:131.22 [[-1.95884981e-01 -7.65146281e-01 -6.13335343e-01 1.57280190e+02] [ 2.86126512e-01 -6.42832214e-01 7.10562005e-01 1.35258010e+02] [-9.37955592e-01 -3.63030781e-02 3.44849813e-01 1.31219154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.80710568099994 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:157.29, Y:135.25, Z:131.25 [[-1.90001260e-01 -7.68846809e-01 -6.10552295e-01 1.57288791e+02] [ 2.84806500e-01 -6.38302431e-01 7.15161006e-01 1.35245857e+02] [-9.39566271e-01 -3.80077700e-02 3.40250835e-01 1.31252266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8371056809999 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:157.28, Y:135.25, Z:131.25 [[-1.90084920e-01 -7.77743549e-01 -5.99151646e-01 1.57280639e+02] [ 2.84326150e-01 -6.27735220e-01 7.24642763e-01 1.35251943e+02] [-9.39694825e-01 -3.26108190e-02 3.40455828e-01 1.31253403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.86710568099994 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:157.27, Y:135.27, Z:131.22 [[-1.97869827e-01 -7.75623952e-01 -5.99378859e-01 1.57271412e+02] [ 2.86879735e-01 -6.30517492e-01 7.21212667e-01 1.35268051e+02] [-9.37308673e-01 -2.92434225e-02 3.47271181e-01 1.31217492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8971056809999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:157.29, Y:135.26, Z:131.21 [[-1.99557286e-01 -7.65017377e-01 -6.12311443e-01 1.57286905e+02] [ 2.94196707e-01 -6.42827638e-01 7.07262982e-01 1.35259735e+02] [-9.34679189e-01 -3.90005287e-02 3.53346532e-01 1.31210115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.92710568099994 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:157.28, Y:135.26, Z:131.21 [[-2.01373743e-01 -7.67942690e-01 -6.08039999e-01 1.57284187e+02] [ 2.96317690e-01 -6.39431118e-01 7.09453080e-01 1.35263191e+02] [-9.33619003e-01 -3.73077859e-02 3.56319641e-01 1.31206035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9571056809999 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:157.28, Y:135.26, Z:131.21 [[-2.00905302e-01 -7.69001000e-01 -6.06856261e-01 1.57283481e+02] [ 2.91468410e-01 -6.38356029e-01 7.12423853e-01 1.35264367e+02] [-9.35245008e-01 -3.37496999e-02 3.52388610e-01 1.31208959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9871056809999 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:157.29, Y:135.26, Z:131.21 [[-1.98431518e-01 -7.64125595e-01 -6.13789058e-01 1.57287930e+02] [ 2.97437470e-01 -6.43656680e-01 7.05150359e-01 1.35263074e+02] [-9.33892865e-01 -4.26398083e-02 3.55001356e-01 1.31207060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0171056809999 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:157.29, Y:135.26, Z:131.23 [[-1.93982321e-01 -7.73327028e-01 -6.03602657e-01 1.57290326e+02] [ 2.90582459e-01 -6.32973016e-01 7.17570203e-01 1.35257974e+02] [-9.36980626e-01 -3.62004112e-02 3.47500844e-01 1.31230201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0471056809999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:157.30, Y:135.26, Z:131.22 [[-1.92370965e-01 -7.70733949e-01 -6.07422910e-01 1.57295610e+02] [ 2.92802455e-01 -6.35869716e-01 7.14098331e-01 1.35258797e+02] [-9.36621660e-01 -4.04831343e-02 3.47995663e-01 1.31223613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0771056809999 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:157.31, Y:135.24, Z:131.26 [[-1.85943879e-01 -7.72663616e-01 -6.06972660e-01 1.57309496e+02] [ 2.90258377e-01 -6.33371745e-01 7.17349501e-01 1.35244156e+02] [-9.38709193e-01 -4.27921498e-02 3.42043687e-01 1.31256587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.1071056809999 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:157.26, Y:135.31, Z:131.09 [[-1.97716908e-01 -7.71727120e-01 -6.04437983e-01 1.57263836e+02] [ 3.13215415e-01 -6.34022520e-01 7.07044233e-01 1.35311922e+02] [-9.28872504e-01 -4.95246941e-02 3.67073803e-01 1.31092746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.1371056809999 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:157.27, Y:135.29, Z:131.22 [[-1.95980664e-01 -7.98841337e-01 -5.68721458e-01 1.57273559e+02] [ 3.09040330e-01 -6.00728982e-01 7.37305069e-01 1.35289030e+02] [-9.30637230e-01 -3.12603301e-02 3.64605456e-01 1.31221310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.1671056809999 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:157.28, Y:135.28, Z:131.22 [[-1.96184241e-01 -7.93807991e-01 -5.75656684e-01 1.57276728e+02] [ 2.92917967e-01 -6.07702484e-01 7.38171224e-01 1.35277867e+02] [-9.35794212e-01 -2.38026238e-02 3.51742274e-01 1.31219282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.1971056809999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:157.30, Y:135.27, Z:131.21 [[-1.94241607e-01 -7.72594167e-01 -6.04457154e-01 1.57295657e+02] [ 2.98879889e-01 -6.33507238e-01 7.13680175e-01 1.35266064e+02] [-9.34313122e-01 -4.20337028e-02 3.53966323e-01 1.31205359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.2271056809999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:157.29, Y:135.27, Z:131.20 [[-1.95836185e-01 -7.70794613e-01 -6.06237456e-01 1.57294767e+02] [ 3.02630404e-01 -6.35537034e-01 7.10286925e-01 1.35266923e+02] [-9.32771691e-01 -4.43660050e-02 3.57727033e-01 1.31196937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.2571056809999 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:157.31, Y:135.24, Z:131.25 [[-1.87203203e-01 -7.76325352e-01 -6.01891940e-01 1.57308100e+02] [ 3.07955147e-01 -6.28216878e-01 7.14497853e-01 1.35243283e+02] [-9.32801473e-01 -5.15994342e-02 3.56677600e-01 1.31254975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.2871056809999 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:157.25, Y:135.31, Z:131.09 [[-2.01480319e-01 -7.84992511e-01 -5.85826287e-01 1.57248552e+02] [ 3.08715177e-01 -6.18500794e-01 7.22600655e-01 1.35310970e+02] [-9.29570127e-01 -3.52636559e-02 3.66954839e-01 1.31085880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.31710568099993 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:157.29, Y:135.27, Z:131.20 [[-1.98528244e-01 -7.79686493e-01 -5.93864891e-01 1.57289155e+02] [ 3.12175142e-01 -6.24671969e-01 7.15773436e-01 1.35268447e+02] [-9.29049631e-01 -4.32886138e-02 3.67413771e-01 1.31203565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.3471056809999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:157.30, Y:135.26, Z:131.22 [[-2.06799149e-01 -7.76770610e-01 -5.94862616e-01 1.57297431e+02] [ 3.05232959e-01 -6.28881677e-01 7.15080888e-01 1.35257043e+02] [-9.29552017e-01 -3.36935571e-02 3.67148188e-01 1.31222949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.37710568099993 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:157.29, Y:135.27, Z:131.19 [[-2.13100025e-01 -7.72512334e-01 -5.98174784e-01 1.57290704e+02] [ 3.05656758e-01 -6.34218032e-01 7.10170004e-01 1.35267345e+02] [-9.27988322e-01 -3.14989197e-02 3.71275495e-01 1.31189197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.4071056809999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:157.30, Y:135.25, Z:131.23 [[-2.15835218e-01 -7.70745087e-01 -5.99472409e-01 1.57304460e+02] [ 2.98307061e-01 -6.36639518e-01 7.11127993e-01 1.35251087e+02] [-9.29746232e-01 -2.53403872e-02 3.67327931e-01 1.31227031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43710568099993 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:157.33, Y:135.22, Z:131.31 [[-2.06064910e-01 -7.78470396e-01 -5.92892145e-01 1.57331237e+02] [ 2.95144251e-01 -6.27123802e-01 7.20836741e-01 1.35221777e+02] [-9.32966840e-01 -2.64495494e-02 3.58989272e-01 1.31309091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.4671056809999 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:157.31, Y:135.24, Z:131.27 [[-2.17237629e-01 -7.83118211e-01 -5.82695187e-01 1.57310260e+02] [ 2.95051234e-01 -6.21708250e-01 7.25550565e-01 1.35243960e+02] [-9.30458265e-01 -1.43080499e-02 3.66118420e-01 1.31268918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49710568099994 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:157.30, Y:135.27, Z:131.23 [[-2.27600153e-01 -7.80320207e-01 -5.82493387e-01 1.57295299e+02] [ 2.95082511e-01 -6.25335663e-01 7.22413746e-01 1.35265851e+02] [-9.27967932e-01 -7.46213166e-03 3.72585338e-01 1.31226651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5271056809999 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:157.31, Y:135.24, Z:131.29 [[-2.12237414e-01 -7.86129316e-01 -5.80479093e-01 1.57312429e+02] [ 2.83034910e-01 -6.18001825e-01 7.33460963e-01 1.35243947e+02] [-9.35332304e-01 -8.62799004e-03 3.53665150e-01 1.31285003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.55710568099994 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:157.32, Y:135.24, Z:131.30 [[-2.02689463e-01 -7.88065399e-01 -5.81265781e-01 1.57323161e+02] [ 2.81977726e-01 -6.15415585e-01 7.36038192e-01 1.35237281e+02] [-9.37766252e-01 -1.47168172e-02 3.46955144e-01 1.31296482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5871056809999 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:157.30, Y:135.27, Z:131.23 [[-2.23913425e-01 -7.85057754e-01 -5.77535368e-01 1.57301509e+02] [ 2.88512033e-01 -6.19414611e-01 7.30127624e-01 1.35268499e+02] [-9.30926197e-01 -3.14052626e-03 3.65193856e-01 1.31232670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.61710568099994 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:157.31, Y:135.26, Z:131.27 [[-2.14988208e-01 -7.93472812e-01 -5.69368920e-01 1.57308584e+02] [ 2.79285665e-01 -6.08605347e-01 7.42697145e-01 1.35256549e+02] [-9.35830961e-01 6.54550835e-04 3.52448554e-01 1.31272945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.6471056809999 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:157.33, Y:135.24, Z:131.27 [[-2.22179553e-01 -7.76181524e-01 -5.90066512e-01 1.57333692e+02] [ 2.86246142e-01 -6.30450901e-01 7.21522562e-01 1.35241252e+02] [-9.32040446e-01 -8.59670180e-03 3.62252266e-01 1.31270583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.67710568099994 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:157.30, Y:135.27, Z:131.27 [[-2.27514427e-01 -8.00527372e-01 -5.54430440e-01 1.57298250e+02] [ 2.70938683e-01 -5.98919886e-01 7.53582909e-01 1.35266296e+02] [-9.35323161e-01 2.12343306e-02 3.53156746e-01 1.31265889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7071056809999 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:157.31, Y:135.26, Z:131.25 [[-2.35636689e-01 -7.89687194e-01 -5.66453429e-01 1.57309613e+02] [ 2.69615657e-01 -6.13106024e-01 7.42568785e-01 1.35261571e+02] [-9.33693070e-01 2.22517366e-02 3.57382305e-01 1.31250726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7371056809999 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:157.32, Y:135.26, Z:131.23 [[-2.43930772e-01 -7.80990706e-01 -5.74935906e-01 1.57321017e+02] [ 2.78719148e-01 -6.24289793e-01 7.29779344e-01 1.35257822e+02] [-9.28877503e-01 1.77699929e-02 3.69960555e-01 1.31233227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7671056809999 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:157.29, Y:135.28, Z:131.24 [[-2.45738853e-01 -8.02395039e-01 -5.43851651e-01 1.57293766e+02] [ 2.70541529e-01 -5.95534350e-01 7.56403410e-01 1.35276215e+02] [-9.30816683e-01 3.87432490e-02 3.63427109e-01 1.31236482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7971056809999 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:157.31, Y:135.26, Z:131.23 [[-2.44785056e-01 -7.78374822e-01 -5.78111506e-01 1.57314698e+02] [ 2.72835822e-01 -6.27455535e-01 7.29287437e-01 1.35261478e+02] [-9.30398243e-01 2.07891375e-02 3.65960273e-01 1.31227599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.8271056809999 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:157.30, Y:135.27, Z:131.23 [[-2.42121906e-01 -7.91273965e-01 -5.61482409e-01 1.57300693e+02] [ 2.75376993e-01 -6.10946735e-01 7.42234193e-01 1.35273419e+02] [-9.30346438e-01 2.50918201e-02 3.65822233e-01 1.31234788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.8571056809999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:157.29, Y:135.28, Z:131.23 [[-2.37082879e-01 -7.93803377e-01 -5.60060628e-01 1.57293019e+02] [ 2.81687891e-01 -6.07900893e-01 7.42366780e-01 1.35276763e+02] [-9.29754613e-01 1.82401561e-02 3.67727693e-01 1.31231413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.8871056809999 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:157.29, Y:135.28, Z:131.23 [[-2.33171158e-01 -7.95455350e-01 -5.59358559e-01 1.57294045e+02] [ 2.83275579e-01 -6.05829005e-01 7.43455556e-01 1.35275314e+02] [-9.30261338e-01 1.48997731e-02 3.66594925e-01 1.31226768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.9171056809999 meters Centerline goodness : 0.997907 Centerline is valid? [True, True] Translation: X:157.30, Y:135.27, Z:131.24 [[-2.26691215e-01 -7.98230308e-01 -5.58067620e-01 1.57295924e+02] [ 2.89887458e-01 -6.02313670e-01 7.43763070e-01 1.35272314e+02] [-9.29825981e-01 6.82775032e-03 3.67936173e-01 1.31235957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.9471056809999 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:157.24, Y:135.36, Z:130.99 [[-2.60083256e-01 -7.69938433e-01 -5.82710485e-01 1.57235819e+02] [ 3.19761793e-01 -6.38104595e-01 7.00410538e-01 1.35358446e+02] [-9.11103230e-01 -4.16349611e-03 4.12157214e-01 1.30987638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.9771056809999 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:157.22, Y:135.38, Z:130.95 [[-2.54048287e-01 -7.85345724e-01 -5.64527733e-01 1.57216960e+02] [ 3.27265514e-01 -6.19048190e-01 7.13916397e-01 1.35380973e+02] [-9.10141061e-01 -3.38122092e-03 4.14284705e-01 1.30953535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.0071056809999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:157.21, Y:135.38, Z:130.98 [[-2.52735197e-01 -7.98449916e-01 -5.46445471e-01 1.57211846e+02] [ 3.29892352e-01 -6.02051057e-01 7.27121421e-01 1.35381799e+02] [-9.09558111e-01 3.50099447e-03 4.15562013e-01 1.30981058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.0371056809999 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:157.28, Y:135.29, Z:131.24 [[-2.17097297e-01 -8.25419335e-01 -5.21106213e-01 1.57280142e+02] [ 3.01354899e-01 -5.64434972e-01 7.68503993e-01 1.35286327e+02] [-9.28468626e-01 9.80222980e-03 3.71281467e-01 1.31243650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.06710568099993 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:157.23, Y:135.37, Z:130.96 [[-2.50370561e-01 -7.79408062e-01 -5.74314945e-01 1.57227568e+02] [ 3.30578169e-01 -6.26379509e-01 7.05950979e-01 1.35369573e+02] [-9.09962997e-01 -1.31066400e-02 4.14482279e-01 1.30961970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.0971056809999 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:157.23, Y:135.35, Z:131.04 [[-2.15589284e-01 -8.19564594e-01 -5.30881472e-01 1.57231001e+02] [ 3.07787231e-01 -5.72986691e-01 7.59574402e-01 1.35352834e+02] [-9.26708304e-01 3.57563094e-04 3.75781308e-01 1.31040541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.12710568099993 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:157.23, Y:135.36, Z:131.03 [[-2.12434112e-01 -8.18606608e-01 -5.33624372e-01 1.57233391e+02] [ 3.11902122e-01 -5.74326806e-01 7.56878977e-01 1.35355610e+02] [-9.26060913e-01 -5.65166053e-03 3.77331743e-01 1.31034028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.1571056809999 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:157.22, Y:135.36, Z:131.03 [[-2.09799704e-01 -8.29422011e-01 -5.17728898e-01 1.57222662e+02] [ 3.05324803e-01 -5.58610143e-01 7.71188351e-01 1.35362591e+02] [-9.28849207e-01 3.71961378e-03 3.70439355e-01 1.31030604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.18710568099993 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:157.22, Y:135.36, Z:131.03 [[-2.10229442e-01 -8.25439796e-01 -5.23882358e-01 1.57224230e+02] [ 3.09451879e-01 -5.64488799e-01 7.65239786e-01 1.35362440e+02] [-9.27385096e-01 -1.24044701e-03 3.74106061e-01 1.31026495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.2171056809999 meters Centerline goodness : 0.998049 Centerline is valid? [True, True] Translation: X:157.22, Y:135.36, Z:131.05 [[-2.11949923e-01 -8.35320811e-01 -5.07263612e-01 1.57221536e+02] [ 2.96271035e-01 -5.49550413e-01 7.81164398e-01 1.35361604e+02] [-9.31289807e-01 1.52802184e-02 3.63958530e-01 1.31045325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.24710568099994 meters Centerline goodness : 0.997578 Centerline is valid? [True, True] Translation: X:157.22, Y:135.37, Z:131.03 [[-2.14673643e-01 -8.36725575e-01 -5.03791167e-01 1.57216868e+02] [ 2.96120067e-01 -5.47297409e-01 7.82801668e-01 1.35371270e+02] [-9.30713776e-01 1.88642113e-02 3.65261562e-01 1.31028420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.2771056809999 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:157.22, Y:135.35, Z:131.05 [[-2.19184522e-01 -8.42433894e-01 -4.92202479e-01 1.57222673e+02] [ 2.70497269e-01 -5.37162323e-01 7.98929200e-01 1.35353966e+02] [-9.37437664e-01 4.19734883e-02 3.45613734e-01 1.31053861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.30710568099994 meters Centerline goodness : 0.990890 Centerline is valid? [True, True] Translation: X:157.09, Y:135.55, Z:130.46 [[-2.96738435e-01 -7.75778325e-01 -5.56879064e-01 1.57087245e+02] [ 3.12186892e-01 -6.29909276e-01 7.11163588e-01 1.35553061e+02] [-9.02488585e-01 3.71792258e-02 4.29106116e-01 1.30456831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3371056809999 meters Centerline goodness : 0.996902 Centerline is valid? [True, True] Translation: X:156.97, Y:136.27, Z:130.88 [[-2.09990365e-01 -6.70034733e-01 7.12009482e-01 1.56970890e+02] [ 2.92258967e-01 6.51931195e-01 6.99693085e-01 1.36269813e+02] [-9.32999862e-01 3.55019962e-01 5.89243891e-02 1.30883229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.36710568099994 meters Centerline goodness : 0.997210 Centerline is valid? [True, True] Translation: X:158.14, Y:136.24, Z:131.12 [[ -0.26273806 0.93698994 0.23025761 158.13592486] [ 0.29766485 0.30571529 -0.90439692 136.24465269] [ -0.91780409 -0.1690799 -0.35923201 131.12083619] [ 0. 0. 0. 1. ]] SLAMing on 385.3971056809999 meters Centerline goodness : 0.997630 Centerline is valid? [True, True] Translation: X:157.35, Y:135.32, Z:131.05 [[-2.10396410e-01 -7.11952328e-01 -6.69968084e-01 1.57354095e+02] [ 2.41506586e-01 -7.01919005e-01 6.70062892e-01 1.35323033e+02] [-9.47316167e-01 -2.08228779e-02 3.19622415e-01 1.31047327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.42710568099994 meters Centerline goodness : 0.997653 Centerline is valid? [True, True] Translation: X:157.25, Y:135.38, Z:131.09 [[-2.12791923e-01 -8.32507014e-01 -5.11518982e-01 1.57248274e+02] [ 2.35819543e-01 -5.51790066e-01 7.99948039e-01 1.35384358e+02] [-9.48213447e-01 4.95963088e-02 3.13737892e-01 1.31087053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4571056809999 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:157.24, Y:135.40, Z:131.09 [[-2.24532025e-01 -8.34605291e-01 -5.03010316e-01 1.57240723e+02] [ 2.26567259e-01 -5.46756245e-01 8.06055138e-01 1.35395962e+02] [-9.47761915e-01 6.70195236e-02 3.11858520e-01 1.31092268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4871056809999 meters Centerline goodness : 0.997372 Centerline is valid? [True, True] Translation: X:157.28, Y:135.37, Z:131.07 [[-2.23739065e-01 -7.92752379e-01 -5.66996028e-01 1.57283779e+02] [ 2.34385777e-01 -6.08435353e-01 7.58201641e-01 1.35368449e+02] [-9.46046584e-01 3.67435219e-02 3.21940640e-01 1.31069069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5171056809999 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:157.27, Y:135.39, Z:131.00 [[-2.84167291e-01 -7.49811854e-01 -5.97520824e-01 1.57268480e+02] [ 2.61386300e-01 -6.60192346e-01 7.04147192e-01 1.35386360e+02] [-9.22456586e-01 4.39118421e-02 3.83595617e-01 1.31002912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5471056809999 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:157.30, Y:135.37, Z:131.05 [[-2.23196975e-01 -7.75615192e-01 -5.90427120e-01 1.57296014e+02] [ 2.40537615e-01 -6.30799990e-01 7.37721512e-01 1.35365888e+02] [-9.44629433e-01 2.26372786e-02 3.27357278e-01 1.31046790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5771056809999 meters Centerline goodness : 0.998020 Centerline is valid? [True, True] Translation: X:157.27, Y:135.38, Z:131.05 [[-2.21790149e-01 -7.99062756e-01 -5.58845096e-01 1.57273304e+02] [ 2.42130441e-01 -6.00299951e-01 7.62241969e-01 1.35380662e+02] [-9.44553852e-01 3.37443507e-02 3.26618033e-01 1.31052268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.6071056809999 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:157.26, Y:135.38, Z:131.05 [[-2.12697043e-01 -8.00849628e-01 -5.59821258e-01 1.57264619e+02] [ 2.52793787e-01 -5.98525824e-01 7.60172441e-01 1.35378850e+02] [-9.43851296e-01 2.01670948e-02 3.29754483e-01 1.31050268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.6371056809999 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:157.27, Y:135.38, Z:131.05 [[-2.08105282e-01 -7.97645320e-01 -5.66086685e-01 1.57267275e+02] [ 2.52023677e-01 -6.02943866e-01 7.56929825e-01 1.35376003e+02] [-9.45080027e-01 1.48538470e-02 3.26501310e-01 1.31048963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.6671056809999 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:157.27, Y:135.37, Z:131.05 [[-1.97437216e-01 -8.02016349e-01 -5.63727170e-01 1.57266070e+02] [ 2.57129019e-01 -5.97280801e-01 7.59697514e-01 1.35374132e+02] [-9.45993242e-01 5.04194801e-03 3.24147135e-01 1.31054848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.6971056809999 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:157.26, Y:135.38, Z:131.05 [[-1.97735480e-01 -8.04636349e-01 -5.59875903e-01 1.57259327e+02] [ 2.56479380e-01 -5.93724073e-01 7.62699189e-01 1.35375475e+02] [-9.46107292e-01 7.21606549e-03 3.23772946e-01 1.31048005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.7271056809999 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:157.26, Y:135.38, Z:131.05 [[-1.97965400e-01 -8.06856449e-01 -5.56589949e-01 1.57255956e+02] [ 2.56032658e-01 -5.90679299e-01 7.65209281e-01 1.35383298e+02] [-9.46180204e-01 8.97975701e-03 3.23515665e-01 1.31047942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.7571056809999 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:157.26, Y:135.38, Z:131.04 [[-1.97631046e-01 -8.03179462e-01 -5.62000643e-01 1.57258497e+02] [ 2.56672068e-01 -5.95705253e-01 7.61087840e-01 1.35381737e+02] [-9.46076857e-01 6.16471862e-03 3.23883585e-01 1.31043848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.7871056809999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:157.26, Y:135.38, Z:131.07 [[-1.98929957e-01 -8.05997337e-01 -5.57490058e-01 1.57261518e+02] [ 2.65620556e-01 -5.91909958e-01 7.60978529e-01 1.35379504e+02] [-9.43330585e-01 3.30060684e-03 3.31838083e-01 1.31073085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.81710568099993 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:157.26, Y:135.38, Z:131.05 [[-1.90770050e-01 -8.12618165e-01 -5.50689119e-01 1.57256842e+02] [ 2.60385092e-01 -5.82786195e-01 7.69779095e-01 1.35383243e+02] [-9.46470492e-01 3.45955986e-03 3.22771807e-01 1.31051336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.8471056809999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:157.26, Y:135.38, Z:131.05 [[-1.91057300e-01 -8.08347466e-01 -5.56840626e-01 1.57258060e+02] [ 2.70053530e-01 -5.88686054e-01 7.61918514e-01 1.35380914e+02] [-9.43699210e-01 -4.80668273e-03 3.30769854e-01 1.31053838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.87710568099993 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:157.26, Y:135.38, Z:131.03 [[-1.91494105e-01 -8.00760370e-01 -5.67549855e-01 1.57260967e+02] [ 2.68905297e-01 -5.98929079e-01 7.54303586e-01 1.35378868e+02] [-9.43938530e-01 -8.17247172e-03 3.30020093e-01 1.31029436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.9071056809999 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:157.25, Y:135.38, Z:131.04 [[-1.91798218e-01 -8.05506861e-01 -5.60688988e-01 1.57251618e+02] [ 2.74411149e-01 -5.92524090e-01 7.57372910e-01 1.35383970e+02] [-9.42290807e-01 -8.59653479e-03 3.34685127e-01 1.31043647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93710568099993 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:157.25, Y:135.39, Z:131.03 [[-1.91082267e-01 -8.06949177e-01 -5.58856504e-01 1.57246043e+02] [ 2.79841386e-01 -5.90504013e-01 7.56963546e-01 1.35388129e+02] [-9.40838119e-01 -1.17488681e-02 3.38652622e-01 1.31029156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.9671056809999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:157.25, Y:135.38, Z:131.05 [[-1.90062015e-01 -8.13116962e-01 -5.50197452e-01 1.57248997e+02] [ 2.82544381e-01 -5.82005111e-01 7.62521294e-01 1.35381445e+02] [-9.40236727e-01 -1.05288649e-02 3.40358692e-01 1.31050755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99710568099994 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:157.24, Y:135.38, Z:131.02 [[-1.97870631e-01 -8.11759951e-01 -5.49447901e-01 1.57243331e+02] [ 2.79304575e-01 -5.83985257e-01 7.62200875e-01 1.35384301e+02] [-9.39593618e-01 -2.64614488e-03 3.42281800e-01 1.31021126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0271056809999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:157.25, Y:135.39, Z:131.00 [[-2.01482751e-01 -8.01303848e-01 -5.63308836e-01 1.57248867e+02] [ 2.75771800e-01 -5.98245797e-01 7.52364194e-01 1.35385006e+02] [-9.39869467e-01 -3.75628414e-03 3.41513213e-01 1.31004802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.05710568099994 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:157.25, Y:135.38, Z:131.03 [[-2.03198431e-01 -8.04630775e-01 -5.57924469e-01 1.57246640e+02] [ 2.68614152e-01 -5.93760223e-01 7.58482192e-01 1.35380485e+02] [-9.41571471e-01 4.25598322e-03 3.36786359e-01 1.31026525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0871056809999 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:157.24, Y:135.39, Z:131.00 [[-2.11437187e-01 -8.06207357e-01 -5.52561321e-01 1.57235870e+02] [ 2.68868465e-01 -5.91508148e-01 7.60149892e-01 1.35388212e+02] [-9.39682960e-01 1.21576401e-02 3.41830554e-01 1.31000789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.11710568099994 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:157.23, Y:135.39, Z:131.00 [[-2.17346880e-01 -8.05303564e-01 -5.51585445e-01 1.57234228e+02] [ 2.61823176e-01 -5.92484701e-01 7.61846772e-01 1.35389930e+02] [-9.40323858e-01 2.11671656e-02 3.39621838e-01 1.31001221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.1471056809999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:157.24, Y:135.39, Z:131.00 [[-2.19437707e-01 -7.99197596e-01 -5.59580463e-01 1.57235427e+02] [ 2.59769501e-01 -6.00716960e-01 7.56081305e-01 1.35385848e+02] [-9.40407836e-01 2.05508103e-02 3.39427114e-01 1.30996689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.17710568099994 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:157.23, Y:135.38, Z:130.99 [[-2.23077305e-01 -7.94386360e-01 -5.64966218e-01 1.57232663e+02] [ 2.51533160e-01 -6.06852464e-01 7.53963631e-01 1.35384314e+02] [-9.41789565e-01 2.60844365e-02 3.35189524e-01 1.30990698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2071056809999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:157.23, Y:135.39, Z:130.98 [[-2.25342197e-01 -7.94186732e-01 -5.64347702e-01 1.57227456e+02] [ 2.48444268e-01 -6.06937443e-01 7.54918794e-01 1.35389140e+02] [-9.42070242e-01 2.99061074e-02 3.34079758e-01 1.30981498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2371056809999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:157.23, Y:135.39, Z:130.98 [[-2.32684403e-01 -7.90387324e-01 -5.66697315e-01 1.57227377e+02] [ 2.45247281e-01 -6.11545593e-01 7.52240493e-01 1.35389331e+02] [-9.41122595e-01 3.60536545e-02 3.36137464e-01 1.30975135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2671056809999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:157.23, Y:135.39, Z:130.98 [[-2.32690027e-01 -7.88056232e-01 -5.69932212e-01 1.57232460e+02] [ 2.44506851e-01 -6.14598197e-01 7.49990304e-01 1.35385854e+02] [-9.41313843e-01 3.51629338e-02 3.35696019e-01 1.30977161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2971056809999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:157.23, Y:135.39, Z:130.97 [[-2.29149219e-01 -7.86125746e-01 -5.74018246e-01 1.57233211e+02] [ 2.46619030e-01 -6.17356582e-01 7.47027379e-01 1.35385358e+02] [-9.41631398e-01 2.96169180e-02 3.35340348e-01 1.30973323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.3271056809999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:157.23, Y:135.38, Z:130.98 [[-2.22425634e-01 -7.90510256e-01 -5.70631555e-01 1.57232966e+02] [ 2.49519909e-01 -6.11956710e-01 7.50499034e-01 1.35384771e+02] [-9.42478993e-01 2.45462901e-02 3.33362906e-01 1.30983010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.3571056809999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:157.24, Y:135.38, Z:130.97 [[-2.19769054e-01 -7.86715269e-01 -5.76871431e-01 1.57236605e+02] [ 2.55562874e-01 -6.17105255e-01 7.44223570e-01 1.35381810e+02] [-9.41482438e-01 1.61303889e-02 3.36675854e-01 1.30972492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.3871056809999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:157.23, Y:135.39, Z:131.00 [[-2.16637141e-01 -8.01977019e-01 -5.56687714e-01 1.57228619e+02] [ 2.56293099e-01 -5.96948851e-01 7.60240697e-01 1.35386495e+02] [-9.42009658e-01 2.20211521e-02 3.34862468e-01 1.30996273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.4171056809999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:157.24, Y:135.38, Z:130.97 [[-2.17751902e-01 -7.90452815e-01 -5.72510661e-01 1.57240229e+02] [ 2.65122556e-01 -6.12434938e-01 7.44737187e-01 1.35382544e+02] [-9.39305137e-01 1.03824496e-02 3.42925743e-01 1.30973414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.4471056809999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:157.25, Y:135.38, Z:130.99 [[-2.13238725e-01 -7.94736906e-01 -5.68262701e-01 1.57247088e+02] [ 2.68323004e-01 -6.06913169e-01 7.48103717e-01 1.35380484e+02] [-9.39431749e-01 7.04672787e-03 3.42663584e-01 1.30989864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.4771056809999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:157.24, Y:135.39, Z:130.98 [[-2.13249679e-01 -7.96802534e-01 -5.65358555e-01 1.57243441e+02] [ 2.71966911e-01 -6.04210395e-01 7.48975165e-01 1.35385966e+02] [-9.38380826e-01 5.95989320e-03 3.45551597e-01 1.30981276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.5071056809999 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:157.25, Y:135.39, Z:130.98 [[-2.02761995e-01 -7.94018990e-01 -5.73080638e-01 1.57247498e+02] [ 2.76248900e-01 -6.07848318e-01 7.44450782e-01 1.35387262e+02] [-9.39454160e-01 -7.36657067e-03 3.42595410e-01 1.30981648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.5371056809999 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:157.24, Y:135.39, Z:130.98 [[-2.25233209e-01 -7.82657671e-01 -5.80273187e-01 1.57241539e+02] [ 2.94795882e-01 -6.22404072e-01 7.25057625e-01 1.35393777e+02] [-9.28636306e-01 -7.75509080e-03 3.70910325e-01 1.30978660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.56710568099993 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:157.28, Y:135.37, Z:130.96 [[-2.19526598e-01 -7.39077443e-01 -6.36845826e-01 1.57278844e+02] [ 3.00104693e-01 -6.72274827e-01 6.76744952e-01 1.35371144e+02] [-9.28302346e-01 -4.25569039e-02 3.69382815e-01 1.30964829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.5971056809999 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:157.28, Y:135.37, Z:130.97 [[-2.11196179e-01 -7.41891089e-01 -6.36391221e-01 1.57277053e+02] [ 3.04564017e-01 -6.68612170e-01 6.78379337e-01 1.35371218e+02] [-9.28782501e-01 -5.05507426e-02 3.67161666e-01 1.30966799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.62710568099993 meters Centerline goodness : 0.997073 Centerline is valid? [True, True] Translation: X:157.13, Y:135.53, Z:130.41 [[-1.75087975e-01 -7.51449002e-01 -6.36135676e-01 1.57131308e+02] [ 3.07967715e-01 -6.55494346e-01 6.89552789e-01 1.35525420e+02] [-9.35147094e-01 -7.51768492e-02 3.46191210e-01 1.30411730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.6571056809999 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:158.04, Y:136.40, Z:130.95 [[ -0.38724694 0.80946727 0.44136442 158.04218437] [ 0.19304009 0.53929119 -0.81969539 136.40423972] [ -0.90154053 -0.2322235 -0.36509849 130.94911831] [ 0. 0. 0. 1. ]] SLAMing on 386.68710568099993 meters Centerline goodness : 0.996978 Centerline is valid? [True, True] Translation: X:157.55, Y:136.69, Z:130.49 [[-3.80931267e-01 4.19288114e-01 8.24068473e-01 1.57552888e+02] [ 9.43685514e-02 9.04243627e-01 -4.16458928e-01 1.36689322e+02] [-9.19774944e-01 -8.08760790e-02 -3.84022282e-01 1.30488606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.7171056809999 meters Centerline goodness : 0.998541 Centerline is valid? [True, True] Translation: X:157.50, Y:135.36, Z:130.83 [[-3.06010002e-01 -4.51599837e-01 -8.38102300e-01 1.57498387e+02] [ 2.33037509e-01 -8.89084115e-01 3.93983447e-01 1.35355934e+02] [-9.23066302e-01 -7.47463972e-02 3.77308333e-01 1.30828792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.74710568099994 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:157.49, Y:135.36, Z:130.86 [[-2.76469200e-01 -4.94855215e-01 -8.23822249e-01 1.57492308e+02] [ 2.32220876e-01 -8.66231733e-01 4.42398067e-01 1.35355290e+02] [-9.32543965e-01 -6.89992845e-02 3.54402106e-01 1.30859713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.7771056809999 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:157.47, Y:135.35, Z:130.89 [[-2.85815513e-01 -5.31456539e-01 -7.97410459e-01 1.57468043e+02] [ 2.19342033e-01 -8.46313331e-01 4.85430550e-01 1.35352710e+02] [-9.32844341e-01 -3.61620492e-02 3.58460237e-01 1.30893656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.80710568099994 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:157.48, Y:135.35, Z:130.86 [[-2.96207047e-01 -4.99996772e-01 -8.13796420e-01 1.57475405e+02] [ 2.07548915e-01 -8.65367773e-01 4.56138210e-01 1.35347094e+02] [-9.32300828e-01 -3.37912117e-02 3.60101820e-01 1.30859391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8371056809999 meters Centerline goodness : 0.998009 Centerline is valid? [True, True] Translation: X:157.48, Y:135.35, Z:130.85 [[-3.00543934e-01 -4.89411038e-01 -8.18627009e-01 1.57477496e+02] [ 2.01309343e-01 -8.71522639e-01 4.47127317e-01 1.35347070e+02] [-9.32281016e-01 -3.04158622e-02 3.60453857e-01 1.30846090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.86710568099994 meters Centerline goodness : 0.998101 Centerline is valid? [True, True] Translation: X:157.47, Y:135.35, Z:130.83 [[-3.11018049e-01 -4.79902268e-01 -8.20342360e-01 1.57470589e+02] [ 1.85637084e-01 -8.77200925e-01 4.42783705e-01 1.35346329e+02] [-9.32097981e-01 -1.45722398e-02 3.61912978e-01 1.30832115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8971056809999 meters Centerline goodness : 0.997807 Centerline is valid? [True, True] Translation: X:157.47, Y:135.34, Z:130.83 [[-3.14587360e-01 -4.74241871e-01 -8.22270905e-01 1.57471012e+02] [ 1.79324424e-01 -8.80345385e-01 4.39129541e-01 1.35344980e+02] [-9.32136012e-01 -9.30865392e-03 3.61988681e-01 1.30828636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.92710568099994 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:157.47, Y:135.34, Z:130.83 [[-3.17881003e-01 -4.67007497e-01 -8.25139786e-01 1.57473609e+02] [ 1.74266320e-01 -8.84232654e-01 4.33317278e-01 1.35340312e+02] [-9.31977960e-01 -6.05074280e-03 3.62464441e-01 1.30825230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9571056809999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:157.45, Y:135.34, Z:130.82 [[-3.21894925e-01 -4.92019228e-01 -8.08888581e-01 1.57450027e+02] [ 1.69110993e-01 -8.70501796e-01 4.62199195e-01 1.35344768e+02] [-9.31549853e-01 1.19876241e-02 3.63415971e-01 1.30822828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9871056809999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:157.45, Y:135.34, Z:130.84 [[-3.17589413e-01 -4.95588675e-01 -8.08411300e-01 1.57451167e+02] [ 1.60460830e-01 -8.68342369e-01 4.69290797e-01 1.35342002e+02] [-9.34552988e-01 1.93234409e-02 3.55298913e-01 1.30843988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0171056809999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:157.48, Y:135.34, Z:130.85 [[-3.10075235e-01 -4.66089387e-01 -8.28621767e-01 1.57479689e+02] [ 1.62920180e-01 -8.84737542e-01 4.36688101e-01 1.35335420e+02] [-9.36648474e-01 4.06957774e-04 3.50270568e-01 1.30848862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0471056809999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:157.48, Y:135.34, Z:130.84 [[-3.09794152e-01 -4.66129710e-01 -8.28704215e-01 1.57477009e+02] [ 1.65167443e-01 -8.84714480e-01 4.35889899e-01 1.35336265e+02] [-9.36347852e-01 -1.83881419e-03 3.51068825e-01 1.30844953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0771056809999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:157.47, Y:135.34, Z:130.85 [[-3.04952206e-01 -4.75027627e-01 -8.25441037e-01 1.57471955e+02] [ 1.65513805e-01 -8.79970482e-01 4.45260744e-01 1.35337048e+02] [-9.37874902e-01 -8.38640894e-04 3.46972570e-01 1.30852401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.1071056809999 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:157.47, Y:135.34, Z:130.84 [[-3.02529205e-01 -4.74480707e-01 -8.26646320e-01 1.57471331e+02] [ 1.68897421e-01 -8.80248931e-01 4.43435994e-01 1.35339169e+02] [-9.38056363e-01 -5.46609263e-03 3.46439577e-01 1.30843750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.1371056809999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:157.47, Y:135.34, Z:130.85 [[-3.00611065e-01 -4.85506565e-01 -8.20924091e-01 1.57470405e+02] [ 1.71957855e-01 -8.74220551e-01 4.54058282e-01 1.35339037e+02] [-9.38116988e-01 -4.66940182e-03 3.46287039e-01 1.30854566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.1671056809999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:157.46, Y:135.34, Z:130.85 [[-2.99338214e-01 -4.93334266e-01 -8.16711660e-01 1.57461694e+02] [ 1.73879227e-01 -8.69831482e-01 4.61691680e-01 1.35340860e+02] [-9.38169840e-01 -3.80722901e-03 3.46154382e-01 1.30852573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.1971056809999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:157.45, Y:135.34, Z:130.86 [[-2.98086570e-01 -5.07002791e-01 -8.08759894e-01 1.57450641e+02] [ 1.73072495e-01 -8.61941903e-01 4.76552271e-01 1.35343644e+02] [-9.38717374e-01 2.07973916e-03 3.44681544e-01 1.30857923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.2271056809999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:157.49, Y:135.33, Z:130.91 [[-2.81314533e-01 -4.97987001e-01 -8.20287193e-01 1.57485995e+02] [ 1.79499858e-01 -8.67027785e-01 4.64803853e-01 1.35330855e+02] [-9.42678065e-01 -1.64853555e-02 3.33296113e-01 1.30909961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.2571056809999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:157.45, Y:135.35, Z:130.86 [[-2.96880244e-01 -5.16859732e-01 -8.02943422e-01 1.57448210e+02] [ 1.80797963e-01 -8.56068926e-01 4.84208727e-01 1.35347686e+02] [-9.37642905e-01 -1.41852998e-03 3.47597138e-01 1.30858316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.2871056809999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:157.46, Y:135.35, Z:130.82 [[-3.01959594e-01 -4.92759136e-01 -8.16093645e-01 1.57455645e+02] [ 1.89302183e-01 -8.69999346e-01 4.55264562e-01 1.35353215e+02] [-9.34336710e-01 -1.70168064e-02 3.55985029e-01 1.30823753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.31710568099993 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:157.46, Y:135.35, Z:130.86 [[-2.96052193e-01 -5.04226595e-01 -8.11238954e-01 1.57462363e+02] [ 1.87199246e-01 -8.63470500e-01 4.68374997e-01 1.35349729e+02] [-9.36648035e-01 -1.31998752e-02 3.50023174e-01 1.30859774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.3471056809999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:157.47, Y:135.36, Z:130.81 [[-3.07528663e-01 -4.72977823e-01 -8.25662219e-01 1.57466627e+02] [ 1.91946643e-01 -8.80710515e-01 4.33019024e-01 1.35356805e+02] [-9.31977794e-01 -2.53173299e-02 3.61630232e-01 1.30813202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.37710568099993 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:157.49, Y:135.35, Z:130.82 [[-3.04293177e-01 -4.63355922e-01 -8.32290185e-01 1.57485477e+02] [ 1.98162495e-01 -8.85400282e-01 4.20473502e-01 1.35350624e+02] [-9.31738852e-01 -3.69814819e-02 3.61241031e-01 1.30824968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.4071056809999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:157.45, Y:135.36, Z:130.83 [[-3.04754922e-01 -5.06602738e-01 -8.06522227e-01 1.57451245e+02] [ 1.99955177e-01 -8.61963746e-01 4.65871685e-01 1.35356591e+02] [-9.31204792e-01 -1.92916055e-02 3.63985535e-01 1.30829928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43710568099993 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:157.44, Y:135.36, Z:130.81 [[-3.05756395e-01 -5.03863445e-01 -8.07858066e-01 1.57444694e+02] [ 2.01854391e-01 -8.63509284e-01 4.62175855e-01 1.35363782e+02] [-9.30466459e-01 -2.17564748e-02 3.65730535e-01 1.30810675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.4671056809999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:157.44, Y:135.37, Z:130.81 [[-3.06037880e-01 -5.08419978e-01 -8.04891261e-01 1.57439531e+02] [ 2.00344266e-01 -8.60918123e-01 4.67634645e-01 1.35365957e+02] [-9.30700269e-01 -1.81414334e-02 3.65332585e-01 1.30809050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49710568099994 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:157.46, Y:135.35, Z:130.88 [[-2.87660528e-01 -5.23116678e-01 -8.02247070e-01 1.57462700e+02] [ 1.97615624e-01 -8.52047054e-01 4.84730732e-01 1.35352182e+02] [-9.37122983e-01 -1.90986569e-02 3.48476334e-01 1.30884476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5271056809999 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:157.44, Y:135.36, Z:130.86 [[-2.94710102e-01 -5.32955853e-01 -7.93160775e-01 1.57441307e+02] [ 1.95972341e-01 -8.46091409e-01 4.95705729e-01 1.35361177e+02] [-9.35275787e-01 -9.34808736e-03 3.53796291e-01 1.30860215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.55710568099994 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:157.44, Y:135.37, Z:130.83 [[-3.00642888e-01 -5.23699961e-01 -7.97089835e-01 1.57440954e+02] [ 1.96429712e-01 -8.51837013e-01 4.85581170e-01 1.35367674e+02] [-9.33289463e-01 -1.05856011e-02 3.58968972e-01 1.30832640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5871056809999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:157.43, Y:135.38, Z:130.82 [[-3.05198549e-01 -5.31769463e-01 -7.89984231e-01 1.57427561e+02] [ 1.92842178e-01 -8.46888447e-01 4.95572248e-01 1.35375063e+02] [-9.32558706e-01 -1.09434862e-03 3.61016706e-01 1.30821873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.61710568099994 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:157.46, Y:135.37, Z:130.83 [[-2.99337703e-01 -5.01995361e-01 -8.11417030e-01 1.57461377e+02] [ 1.97032301e-01 -8.64602595e-01 4.62212749e-01 1.35368130e+02] [-9.33581926e-01 -2.15176619e-02 3.57717456e-01 1.30826205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.6471056809999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:157.45, Y:135.37, Z:130.83 [[-2.98971913e-01 -5.20222368e-01 -7.99990302e-01 1.57447626e+02] [ 1.96449500e-01 -8.53930547e-01 4.81881952e-01 1.35371109e+02] [-9.33821926e-01 -1.30885265e-02 3.57498673e-01 1.30829812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.67710568099994 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:157.45, Y:135.37, Z:130.82 [[-3.03940079e-01 -5.05734101e-01 -8.07374416e-01 1.57453276e+02] [ 2.01008302e-01 -8.62431499e-01 4.64550935e-01 1.35372172e+02] [-9.31244378e-01 -2.10933123e-02 3.63784251e-01 1.30816055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7071056809999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:157.43, Y:135.38, Z:130.82 [[-3.01616223e-01 -5.39192600e-01 -7.86319906e-01 1.57432191e+02] [ 2.01473679e-01 -8.42148589e-01 5.00194073e-01 1.35379011e+02] [-9.31899142e-01 -7.55611688e-03 3.62638794e-01 1.30824357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7371056809999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:157.44, Y:135.38, Z:130.83 [[-2.98430890e-01 -5.40794045e-01 -7.86435506e-01 1.57435860e+02] [ 2.03817022e-01 -8.41086145e-01 5.01031655e-01 1.35379650e+02] [-9.32414943e-01 -1.07656205e-02 3.61229118e-01 1.30826163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7671056809999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:157.44, Y:135.38, Z:130.83 [[-2.99195544e-01 -5.45101008e-01 -7.83164681e-01 1.57437273e+02] [ 2.11755389e-01 -8.38227357e-01 5.02528162e-01 1.35379744e+02] [-9.30398668e-01 -1.54851543e-02 3.66221966e-01 1.30831071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7971056809999 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:157.43, Y:135.38, Z:130.84 [[-2.96573999e-01 -5.56549618e-01 -7.76077564e-01 1.57430509e+02] [ 2.13683035e-01 -8.30706700e-01 5.14068030e-01 1.35379441e+02] [-9.30797198e-01 -1.33753976e-02 3.65291220e-01 1.30836986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.8271056809999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:157.43, Y:135.38, Z:130.83 [[-2.92774756e-01 -5.55329320e-01 -7.78390832e-01 1.57431572e+02] [ 2.23228317e-01 -8.31263329e-01 5.09087809e-01 1.35377055e+02] [-9.29759141e-01 -2.47108166e-02 3.67338148e-01 1.30832401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.8571056809999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:157.42, Y:135.38, Z:130.85 [[-2.88299698e-01 -5.74264117e-01 -7.66227126e-01 1.57420936e+02] [ 2.18999090e-01 -8.18538181e-01 5.31069340e-01 1.35381545e+02] [-9.32160224e-01 -1.46959129e-02 3.61747630e-01 1.30847488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.8871056809999 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:157.41, Y:135.39, Z:130.84 [[-2.90855988e-01 -5.71199702e-01 -7.67550451e-01 1.57414626e+02] [ 2.16321221e-01 -8.20719941e-01 5.28794769e-01 1.35385241e+02] [-9.31991375e-01 -1.22343257e-02 3.62273926e-01 1.30835763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.9171056809999 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:157.43, Y:135.38, Z:130.88 [[-2.86092915e-01 -5.75258724e-01 -7.66308192e-01 1.57427989e+02] [ 2.16226200e-01 -8.17865958e-01 5.33236819e-01 1.35378910e+02] [-9.33486515e-01 -1.31406330e-02 3.58371664e-01 1.30877107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.9471056809999 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:157.42, Y:135.38, Z:130.88 [[-2.82951703e-01 -5.91903528e-01 -7.54710903e-01 1.57416939e+02] [ 2.13712800e-01 -8.05992667e-01 5.51998786e-01 1.35379859e+02] [-9.35021483e-01 -5.10238392e-03 3.54554358e-01 1.30881396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.9771056809999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:157.41, Y:135.39, Z:130.86 [[-2.91351399e-01 -5.88304369e-01 -7.54329061e-01 1.57409516e+02] [ 2.13543646e-01 -8.08638421e-01 5.48181553e-01 1.35387157e+02] [-9.32477063e-01 -1.36871581e-03 3.61226595e-01 1.30858325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.0071056809999 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:157.41, Y:135.39, Z:130.86 [[-2.91693982e-01 -5.84538468e-01 -7.57119145e-01 1.57412723e+02] [ 2.12913187e-01 -8.11362429e-01 5.44388633e-01 1.35387188e+02] [-9.32514126e-01 -2.40576207e-03 3.61125486e-01 1.30855748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.0371056809999 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:157.41, Y:135.39, Z:130.83 [[-3.01703456e-01 -5.71046044e-01 -7.63466725e-01 1.57410584e+02] [ 2.14060469e-01 -8.20909693e-01 5.29419864e-01 1.35392742e+02] [-9.29060353e-01 -3.70024281e-03 3.69909676e-01 1.30829509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.06710568099993 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:157.42, Y:135.39, Z:130.82 [[-3.10877512e-01 -5.57926732e-01 -7.69462757e-01 1.57416663e+02] [ 2.16880422e-01 -8.29860176e-01 5.14096266e-01 1.35390622e+02] [-9.25374549e-01 -7.06043962e-03 3.78988252e-01 1.30815234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.0971056809999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:157.40, Y:135.40, Z:130.82 [[-3.06188815e-01 -5.85768611e-01 -7.50415581e-01 1.57397925e+02] [ 2.16185135e-01 -8.10466005e-01 5.44434425e-01 1.35400021e+02] [-9.27098914e-01 4.47103793e-03 3.74790092e-01 1.30824941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.12710568099993 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:157.41, Y:135.40, Z:130.80 [[-3.07758845e-01 -5.70432728e-01 -7.61505743e-01 1.57407679e+02] [ 2.20485501e-01 -8.21322564e-01 5.26132483e-01 1.35401748e+02] [-9.25565037e-01 -5.97905003e-03 3.78541429e-01 1.30802291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.1571056809999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:157.40, Y:135.40, Z:130.80 [[-3.09480557e-01 -5.74531592e-01 -7.57717120e-01 1.57402578e+02] [ 2.21942217e-01 -8.18471832e-01 5.29948595e-01 1.35403679e+02] [-9.24642329e-01 -4.16063083e-03 3.80813933e-01 1.30799564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.18710568099993 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:157.40, Y:135.40, Z:130.77 [[-3.32655600e-01 -5.49830717e-01 -7.66176503e-01 1.57396077e+02] [ 2.20452793e-01 -8.35275026e-01 5.03702488e-01 1.35403266e+02] [-9.16919199e-01 -1.34629631e-03 3.99070632e-01 1.30769800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.2171056809999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:157.42, Y:135.40, Z:130.80 [[-2.99233830e-01 -5.61987954e-01 -7.71121686e-01 1.57419264e+02] [ 2.31702405e-01 -8.26759123e-01 5.12623983e-01 1.35401723e+02] [-9.25620392e-01 -2.52763116e-02 3.77608259e-01 1.30804019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.24710568099994 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:157.39, Y:135.41, Z:130.80 [[-3.13046443e-01 -5.77400607e-01 -7.54062639e-01 1.57392681e+02] [ 2.36255315e-01 -8.16354757e-01 5.27018347e-01 1.35408892e+02] [-9.19883335e-01 -1.31700869e-02 3.91970915e-01 1.30795352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.2771056809999 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:157.41, Y:135.41, Z:130.80 [[-2.96333145e-01 -5.78882386e-01 -7.59659035e-01 1.57407340e+02] [ 2.34963983e-01 -8.15125278e-01 5.29492879e-01 1.35405376e+02] [-9.25731383e-01 -2.15862226e-02 3.77565149e-01 1.30804664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.30710568099994 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:157.40, Y:135.41, Z:130.80 [[-2.95909275e-01 -5.80913741e-01 -7.58272330e-01 1.57402707e+02] [ 2.34275747e-01 -8.13713644e-01 5.31963326e-01 1.35407956e+02] [-9.26041346e-01 -2.02319339e-02 3.76879415e-01 1.30798734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3371056809999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:157.38, Y:135.41, Z:130.77 [[-3.23920457e-01 -5.70910346e-01 -7.54411634e-01 1.57376224e+02] [ 2.23382905e-01 -8.21010723e-01 5.25396488e-01 1.35412698e+02] [-9.19334333e-01 1.66400826e-03 3.93473780e-01 1.30765436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.36710568099994 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:157.41, Y:135.40, Z:130.78 [[-3.11900139e-01 -5.52915377e-01 -7.72659620e-01 1.57410834e+02] [ 2.25066075e-01 -8.33078026e-01 5.05298194e-01 1.35404573e+02] [-9.23072892e-01 -1.62968914e-02 3.84279646e-01 1.30781373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3971056809999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:157.39, Y:135.41, Z:130.77 [[-3.26921773e-01 -5.63175193e-01 -7.58917556e-01 1.57392327e+02] [ 2.19342613e-01 -8.26331648e-01 5.18714590e-01 1.35408600e+02] [-9.19244784e-01 3.11613359e-03 3.93674126e-01 1.30774529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.42710568099994 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:157.39, Y:135.41, Z:130.76 [[-3.34086479e-01 -5.53249114e-01 -7.63086917e-01 1.57388676e+02] [ 2.15963146e-01 -8.32998483e-01 5.09385363e-01 1.35406625e+02] [-9.17467244e-01 5.38011096e-03 3.97774949e-01 1.30761405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4571056809999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:157.38, Y:135.40, Z:130.76 [[-3.35431948e-01 -5.56090481e-01 -7.60426712e-01 1.57379498e+02] [ 2.13616257e-01 -8.31063850e-01 5.13518230e-01 1.35404716e+02] [-9.17525751e-01 9.81091189e-03 3.97555334e-01 1.30762531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4871056809999 meters Centerline goodness : 0.996820 Centerline is valid? [True, True] Translation: X:157.20, Y:135.50, Z:130.18 [[-3.47956765e-01 -5.01383614e-01 -7.92174577e-01 1.57201771e+02] [ 1.87873404e-01 -8.65127677e-01 4.65035145e-01 1.35499241e+02] [-9.18493154e-01 1.29835903e-02 3.95223674e-01 1.30179311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5171056809999 meters Centerline goodness : 0.996148 Centerline is valid? [True, True] Translation: X:157.21, Y:135.50, Z:130.11 [[-3.56569420e-01 -4.49857472e-01 -8.18832402e-01 1.57214012e+02] [ 1.87838716e-01 -8.93064284e-01 4.08843249e-01 1.35498640e+02] [-9.15191163e-01 -8.02742688e-03 4.02940064e-01 1.30113492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5471056809999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:157.58, Y:136.67, Z:130.88 [[-3.80886195e-01 2.55173949e-01 8.88713656e-01 1.57577903e+02] [ 6.33845566e-02 9.66109162e-01 -2.50230865e-01 1.36671762e+02] [-9.22446803e-01 -3.89787609e-02 -3.84151730e-01 1.30876948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5771056809999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:157.67, Y:135.42, Z:130.73 [[-3.35226308e-01 -2.04122294e-01 -9.19759431e-01 1.57670440e+02] [ 1.19520684e-01 -9.77573695e-01 1.73391109e-01 1.35418579e+02] [-9.34525617e-01 -5.18050146e-02 3.52105257e-01 1.30731741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.6071056809999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:157.53, Y:135.41, Z:130.79 [[-3.25963348e-01 -4.19073182e-01 -8.47422895e-01 1.57527103e+02] [ 1.04203227e-01 -9.06845943e-01 4.08377428e-01 1.35409866e+02] [-9.39622043e-01 4.48118738e-02 3.39267318e-01 1.30786683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.6371056809999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:157.55, Y:135.41, Z:130.77 [[-3.30476920e-01 -3.85338535e-01 -8.61567884e-01 1.57546786e+02] [ 1.04468640e-01 -9.22183043e-01 3.72377145e-01 1.35407965e+02] [-9.38014557e-01 3.30552266e-02 3.45016005e-01 1.30773321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.6671056809999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:157.54, Y:135.41, Z:130.78 [[-3.22422786e-01 -4.00101315e-01 -8.57882559e-01 1.57542428e+02] [ 9.95720314e-02 -9.15589168e-01 3.89591949e-01 1.35405538e+02] [-9.41344229e-01 4.01922126e-02 3.35045711e-01 1.30783476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.6971056809999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:157.52, Y:135.41, Z:130.71 [[-3.53595956e-01 -3.56544862e-01 -8.64780701e-01 1.57524542e+02] [ 9.54604132e-02 -9.33433177e-01 3.45817601e-01 1.35413045e+02] [-9.30514486e-01 3.97273822e-02 3.64094117e-01 1.30712327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.7271056809999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:157.51, Y:135.42, Z:130.66 [[-3.67557984e-01 -3.28470526e-01 -8.70062206e-01 1.57514719e+02] [ 9.24423199e-02 -9.43820931e-01 3.17264034e-01 1.35419890e+02] [-9.25394805e-01 3.61823600e-02 3.77273497e-01 1.30662979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.7571056809999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:157.53, Y:135.42, Z:130.68 [[-3.54656162e-01 -3.34183053e-01 -8.73235761e-01 1.57526129e+02] [ 9.39898156e-02 -9.41956834e-01 3.22309227e-01 1.35416421e+02] [-9.30260674e-01 3.22336853e-02 3.65480599e-01 1.30682651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.7871056809999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:157.51, Y:135.42, Z:130.67 [[-3.60418481e-01 -3.38991686e-01 -8.69012748e-01 1.57510984e+02] [ 9.39209722e-02 -9.40080562e-01 3.27761176e-01 1.35420152e+02] [-9.28050305e-01 3.65126632e-02 3.70660837e-01 1.30668751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.81710568099993 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:157.54, Y:135.41, Z:130.73 [[-3.36048484e-01 -3.58348329e-01 -8.71009697e-01 1.57535112e+02] [ 9.15368988e-02 -9.32839597e-01 3.48469915e-01 1.35410517e+02] [-9.37385947e-01 3.73732601e-02 3.46281427e-01 1.30726906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.8471056809999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:157.53, Y:135.41, Z:130.71 [[-3.42367320e-01 -3.56690674e-01 -8.69227462e-01 1.57531189e+02] [ 9.15128976e-02 -9.33397725e-01 3.46978497e-01 1.35413189e+02] [-9.35098929e-01 3.92485744e-02 3.52206675e-01 1.30712200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.87710568099993 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:157.51, Y:135.42, Z:130.66 [[-3.73344084e-01 -3.27116595e-01 -8.68106519e-01 1.57510999e+02] [ 9.55209150e-02 -9.44350573e-01 3.14766183e-01 1.35418597e+02] [-9.22762131e-01 3.45937634e-02 3.83814176e-01 1.30664555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.9071056809999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:157.54, Y:135.41, Z:130.68 [[-3.47053792e-01 -3.25182446e-01 -8.79664733e-01 1.57541671e+02] [ 9.78386413e-02 -9.45399351e-01 3.10882081e-01 1.35411201e+02] [-9.32727863e-01 2.18276028e-02 3.59919839e-01 1.30684933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93710568099993 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:157.53, Y:135.41, Z:130.67 [[-3.50496579e-01 -3.32607996e-01 -8.75513603e-01 1.57527722e+02] [ 9.77486235e-02 -9.42700376e-01 3.19000326e-01 1.35414339e+02] [-9.31449062e-01 2.62282733e-02 3.62925230e-01 1.30669479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.9671056809999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:157.53, Y:135.41, Z:130.67 [[-3.49274230e-01 -3.29113832e-01 -8.77320692e-01 1.57530197e+02] [ 9.75329732e-02 -9.43970965e-01 3.15287386e-01 1.35414978e+02] [-9.31930701e-01 2.45540636e-02 3.61804183e-01 1.30669839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99710568099994 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:157.53, Y:135.42, Z:130.67 [[-3.50627491e-01 -3.25531813e-01 -8.78116963e-01 1.57529203e+02] [ 9.89850617e-02 -9.45272995e-01 3.10903398e-01 1.35416073e+02] [-9.31269198e-01 2.20908167e-02 3.63661485e-01 1.30667168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0271056809999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:157.53, Y:135.42, Z:130.66 [[-3.61020676e-01 -3.16823168e-01 -8.77090162e-01 1.57526829e+02] [ 1.00985702e-01 -9.48271997e-01 3.00968616e-01 1.35416604e+02] [-9.27073870e-01 2.00823269e-02 3.74340407e-01 1.30660756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.05710568099994 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:157.53, Y:135.42, Z:130.66 [[-3.55507640e-01 -3.22363756e-01 -8.77323160e-01 1.57526858e+02] [ 9.81494099e-02 -9.46327382e-01 3.07946714e-01 1.35417061e+02] [-9.29505789e-01 2.33686591e-02 3.68066427e-01 1.30664368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0871056809999 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:157.53, Y:135.42, Z:130.66 [[-3.72655523e-01 -3.00595014e-01 -8.77935361e-01 1.57532607e+02] [ 9.92489881e-02 -9.53565879e-01 2.84362011e-01 1.35417807e+02] [-9.22647007e-01 1.88348779e-02 3.85185342e-01 1.30662835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.11710568099994 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:157.53, Y:135.42, Z:130.66 [[-3.81775904e-01 -2.97330316e-01 -8.75123901e-01 1.57533794e+02] [ 8.23041862e-02 -9.54017669e-01 2.88229609e-01 1.35416934e+02] [-9.20583065e-01 3.80127591e-02 3.88692488e-01 1.30662968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.1471056809999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:157.59, Y:135.42, Z:130.65 [[-3.56006120e-01 -2.36925399e-01 -9.03950219e-01 1.57586371e+02] [ 9.23914201e-02 -9.71510411e-01 2.18246068e-01 1.35420261e+02] [-9.29905085e-01 -5.82030847e-03 3.67753527e-01 1.30646619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.17710568099994 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:157.54, Y:135.42, Z:130.68 [[-3.64611984e-01 -3.03682889e-01 -8.80247013e-01 1.57543790e+02] [ 8.19582031e-02 -9.52121012e-01 2.94530868e-01 1.35417414e+02] [-9.27545661e-01 3.52460207e-02 3.72044035e-01 1.30677869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2071056809999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:157.58, Y:135.42, Z:130.65 [[-3.83803160e-01 -2.18640415e-01 -8.97157458e-01 1.57583197e+02] [ 8.09732278e-02 -9.75790946e-01 2.03163397e-01 1.35415170e+02] [-9.19857854e-01 5.32901839e-03 3.92215668e-01 1.30646815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2371056809999 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:157.59, Y:135.41, Z:130.65 [[-3.82707406e-01 -2.18933250e-01 -8.97554051e-01 1.57587422e+02] [ 8.35644292e-02 -9.75736773e-01 2.02372767e-01 1.35411176e+02] [-9.20082620e-01 2.44596479e-03 3.91716721e-01 1.30651364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2671056809999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:157.59, Y:135.41, Z:130.65 [[-3.79297297e-01 -2.16246492e-01 -8.99650496e-01 1.57586137e+02] [ 7.88980778e-02 -9.76323788e-01 2.01412401e-01 1.35411626e+02] [-9.21904905e-01 5.41448438e-03 3.87378406e-01 1.30653666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2971056809999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:157.61, Y:135.41, Z:130.70 [[-3.48983253e-01 -2.38076609e-01 -9.06383041e-01 1.57605396e+02] [ 9.06871190e-02 -9.71231624e-01 2.20193049e-01 1.35405855e+02] [-9.32730688e-01 -5.35358019e-03 3.60534053e-01 1.30699728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.3271056809999 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:157.54, Y:135.41, Z:130.67 [[-3.79448330e-01 -2.78570813e-01 -8.82279586e-01 1.57542887e+02] [ 7.65607912e-02 -9.59779698e-01 2.70113636e-01 1.35408693e+02] [-9.22039810e-01 3.49461449e-02 3.85514405e-01 1.30670933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.3571056809999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:157.59, Y:135.41, Z:130.66 [[-3.78740352e-01 -2.12639500e-01 -9.00744242e-01 1.57587433e+02] [ 7.46064471e-02 -9.77095644e-01 1.99293704e-01 1.35409101e+02] [-9.22490988e-01 8.27924015e-03 3.85929826e-01 1.30656134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.3871056809999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:157.59, Y:135.41, Z:130.66 [[-3.78478613e-01 -2.11128018e-01 -9.01209687e-01 1.57588314e+02] [ 7.38597043e-02 -9.77422650e-01 1.97963904e-01 1.35409162e+02] [-9.22658487e-01 8.36202288e-03 3.85527422e-01 1.30655721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.4171056809999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:157.59, Y:135.41, Z:130.66 [[-3.77767964e-01 -2.10239215e-01 -9.01715497e-01 1.57592640e+02] [ 7.47074133e-02 -9.77625488e-01 1.96639791e-01 1.35410298e+02] [-9.22881448e-01 6.91938137e-03 3.85022018e-01 1.30660181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.4471056809999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:157.60, Y:135.41, Z:130.67 [[-3.77027719e-01 -2.09787165e-01 -9.02130503e-01 1.57595106e+02] [ 7.67441827e-02 -9.77737183e-01 1.95295500e-01 1.35411095e+02] [-9.23017025e-01 4.39854880e-03 3.84733965e-01 1.30665210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.4771056809999 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:157.60, Y:135.41, Z:130.67 [[-3.76537132e-01 -2.09611357e-01 -9.02376234e-01 1.57596601e+02] [ 7.95858422e-02 -9.77784044e-01 1.93918688e-01 1.35411770e+02] [-9.22976642e-01 1.20121431e-03 3.84854096e-01 1.30666586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.5071056809999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:157.60, Y:135.41, Z:130.67 [[-3.76139729e-01 -2.09331582e-01 -9.02606887e-01 1.57601078e+02] [ 8.21652642e-02 -9.77843166e-01 1.92539897e-01 1.35412288e+02] [-9.22912658e-01 -1.74102883e-03 3.85005448e-01 1.30672361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.5371056809999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:157.61, Y:135.41, Z:130.68 [[-3.74050014e-01 -2.11356914e-01 -9.03003235e-01 1.57605268e+02] [ 9.06773600e-02 -9.77353998e-01 1.91198271e-01 1.35413661e+02] [-9.22964898e-01 -1.03642335e-02 3.84744564e-01 1.30679969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.56710568099993 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:157.61, Y:135.41, Z:130.68 [[-3.74185816e-01 -2.09888769e-01 -9.03289367e-01 1.57607185e+02] [ 9.01170927e-02 -9.77670319e-01 1.89841138e-01 1.35413587e+02] [-9.22964726e-01 -1.03659502e-02 3.84744932e-01 1.30682292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.5971056809999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:157.61, Y:135.41, Z:130.68 [[-3.73506694e-01 -2.10009379e-01 -9.03542368e-01 1.57608957e+02] [ 9.37143083e-02 -9.77595144e-01 1.88481729e-01 1.35414763e+02] [-9.22881562e-01 -1.42756604e-02 3.84819214e-01 1.30684982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.62710568099993 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:157.63, Y:135.42, Z:130.73 [[-3.45180529e-01 -2.34418112e-01 -9.08789608e-01 1.57630849e+02] [ 1.12726864e-01 -9.71650654e-01 2.07816409e-01 1.35418980e+02] [-9.31741947e-01 -3.07108247e-02 3.61820105e-01 1.30725243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.6571056809999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:157.60, Y:135.42, Z:130.70 [[-3.70537757e-01 -2.28162299e-01 -9.00357560e-01 1.57602331e+02] [ 1.03417058e-01 -9.73466273e-01 2.04128211e-01 1.35417488e+02] [-9.23042081e-01 -1.74751207e-02 3.84301883e-01 1.30695207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.68710568099993 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:157.63, Y:135.42, Z:130.73 [[-3.44393472e-01 -2.35848641e-01 -9.08718084e-01 1.57629861e+02] [ 1.23999214e-01 -9.70878136e-01 2.04987413e-01 1.35422495e+02] [-9.30600522e-01 -4.20840011e-02 3.63609138e-01 1.30730194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.7171056809999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:157.62, Y:135.42, Z:130.74 [[-3.36347344e-01 -2.62759337e-01 -9.04338429e-01 1.57615216e+02] [ 1.22955696e-01 -9.64319448e-01 2.34456604e-01 1.35420563e+02] [-9.33676797e-01 -3.23347050e-02 3.56654042e-01 1.30735208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.74710568099994 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:157.62, Y:135.42, Z:130.74 [[-3.34010994e-01 -2.67332746e-01 -9.03863850e-01 1.57617726e+02] [ 1.20933506e-01 -9.63165271e-01 2.40182740e-01 1.35419760e+02] [-9.34778981e-01 -2.90837489e-02 3.54037276e-01 1.30736314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.7771056809999 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:157.62, Y:135.42, Z:130.74 [[-3.40698471e-01 -2.56418943e-01 -9.04529644e-01 1.57623767e+02] [ 1.15336977e-01 -9.66221165e-01 2.30464838e-01 1.35418461e+02] [-9.33071237e-01 -2.58066970e-02 3.58764659e-01 1.30740288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.80710568099994 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:157.62, Y:135.42, Z:130.74 [[-3.44267818e-01 -2.54442464e-01 -9.03735969e-01 1.57622136e+02] [ 1.10565514e-01 -9.66866207e-01 2.30097815e-01 1.35419124e+02] [-9.32338424e-01 -2.07067593e-02 3.60993481e-01 1.30737417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8371056809999 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:157.62, Y:135.42, Z:130.73 [[-3.46993744e-01 -2.52379769e-01 -9.03271717e-01 1.57620784e+02] [ 1.01723955e-01 -9.67558283e-01 2.31264365e-01 1.35419306e+02] [-9.32334478e-01 -1.16370838e-02 3.61409739e-01 1.30733425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.86710568099994 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:157.62, Y:135.42, Z:130.74 [[-3.50571244e-01 -2.58254673e-01 -9.00224598e-01 1.57617098e+02] [ 9.77756181e-02 -9.66067700e-01 2.39067204e-01 1.35419257e+02] [-9.31418129e-01 -4.20992940e-03 3.63926565e-01 1.30738135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8971056809999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:157.61, Y:135.42, Z:130.69 [[-3.81346306e-01 -2.19287239e-01 -8.98046826e-01 1.57606669e+02] [ 8.00673297e-02 -9.75642018e-01 2.04234856e-01 1.35417404e+02] [-9.20958315e-01 5.97999632e-03 3.89615223e-01 1.30692981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.92710568099994 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:157.66, Y:135.42, Z:130.77 [[-3.56794151e-01 -2.21568001e-01 -9.07527165e-01 1.57659804e+02] [ 9.91544573e-02 -9.74960469e-01 1.99048931e-01 1.35418632e+02] [-9.28905984e-01 -1.89658691e-02 3.69829648e-01 1.30770615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9571056809999 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:157.62, Y:135.42, Z:130.74 [[-3.61431770e-01 -2.57623876e-01 -8.96101007e-01 1.57616877e+02] [ 9.72214951e-02 -9.66244868e-01 2.38576688e-01 1.35420363e+02] [-9.27316050e-01 -8.91084761e-04 3.74278172e-01 1.30741715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9871056809999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:157.62, Y:135.42, Z:130.74 [[-3.63286469e-01 -2.54563793e-01 -8.96225539e-01 1.57622113e+02] [ 1.02711096e-01 -9.67027732e-01 2.33040331e-01 1.35423387e+02] [-9.25998581e-01 -7.39190803e-03 3.77454617e-01 1.30740781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0171056809999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:157.63, Y:135.42, Z:130.76 [[-3.63801843e-01 -2.53014156e-01 -8.96455272e-01 1.57633216e+02] [ 1.09361398e-01 -9.67348487e-01 2.28641617e-01 1.35422745e+02] [-9.25034218e-01 -1.48573596e-02 3.79593145e-01 1.30763500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0471056809999 meters Centerline goodness : 0.997379 Centerline is valid? [True, True] Translation: X:157.42, Y:135.46, Z:130.23 [[-3.84407527e-01 -2.18642754e-01 -8.96898099e-01 1.57421686e+02] [ 8.86895016e-02 -9.75801195e-01 1.99865457e-01 1.35458202e+02] [-9.18893370e-01 -2.71565923e-03 3.94496641e-01 1.30227756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0771056809999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:157.65, Y:135.43, Z:130.69 [[-3.59203484e-01 -1.91878417e-01 -9.13321154e-01 1.57651592e+02] [ 1.35683574e-01 -9.78975087e-01 1.52308065e-01 1.35433087e+02] [-9.23343287e-01 -6.92130904e-02 3.77686011e-01 1.30685228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.1071056809999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:157.59, Y:135.43, Z:130.72 [[-3.51862301e-01 -2.94364703e-01 -8.88561952e-01 1.57594130e+02] [ 1.47328154e-01 -9.54850030e-01 2.57984175e-01 1.35426823e+02] [-9.24384842e-01 -4.01352863e-02 3.79343937e-01 1.30719058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.1371056809999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:157.60, Y:135.43, Z:130.72 [[-3.51954981e-01 -2.90479358e-01 -8.89803031e-01 1.57599957e+02] [ 1.55619818e-01 -9.55555932e-01 2.50390363e-01 1.35427656e+02] [-9.22989796e-01 -5.03448502e-02 3.81517015e-01 1.30722577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.1671056809999 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:157.58, Y:135.42, Z:130.69 [[-3.63985215e-01 -2.80973203e-01 -8.88013977e-01 1.57577649e+02] [ 1.43274647e-01 -9.58956457e-01 2.44693461e-01 1.35422547e+02] [-9.20319042e-01 -3.81650869e-02 3.89302309e-01 1.30686733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.1971056809999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:157.60, Y:135.42, Z:130.68 [[-3.63626819e-01 -2.49425736e-01 -8.97531247e-01 1.57600983e+02] [ 1.48591138e-01 -9.66681177e-01 2.08442259e-01 1.35424230e+02] [-9.19617426e-01 -5.75699939e-02 3.88573656e-01 1.30681495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.2271056809999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:157.62, Y:135.43, Z:130.71 [[-3.44333589e-01 -2.65008273e-01 -9.00669193e-01 1.57620313e+02] [ 1.74703362e-01 -9.60665687e-01 2.15870733e-01 1.35432430e+02] [-9.22449519e-01 -8.30183920e-02 3.77087300e-01 1.30711501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.2571056809999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:157.59, Y:135.43, Z:130.73 [[-3.42763556e-01 -3.12661861e-01 -8.85864383e-01 1.57589481e+02] [ 1.82580797e-01 -9.47179465e-01 2.63657570e-01 1.35431348e+02] [-9.21508219e-01 -7.13696193e-02 3.81744653e-01 1.30728460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.2871056809999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:157.58, Y:135.43, Z:130.73 [[-3.40463023e-01 -3.26298760e-01 -8.81824273e-01 1.57581599e+02] [ 1.85410255e-01 -9.42737318e-01 2.77253291e-01 1.35431679e+02] [-9.21796055e-01 -6.91047696e-02 3.81466333e-01 1.30734758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.31710568099993 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:157.58, Y:135.43, Z:130.74 [[-3.34409079e-01 -3.31462040e-01 -8.82215100e-01 1.57581613e+02] [ 1.88525105e-01 -9.40715471e-01 2.81979942e-01 1.35432128e+02] [-9.23379041e-01 -7.20230413e-02 3.77072710e-01 1.30738962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.3471056809999 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:157.57, Y:135.42, Z:130.72 [[-3.54846120e-01 -3.18826366e-01 -8.78882233e-01 1.57566500e+02] [ 1.65741432e-01 -9.46619194e-01 2.76481245e-01 1.35423836e+02] [-9.20116302e-01 -4.75589034e-02 3.88746886e-01 1.30717057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.37710568099993 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:157.62, Y:135.43, Z:130.72 [[-3.45480160e-01 -2.72334274e-01 -8.98040925e-01 1.57615471e+02] [ 1.88072828e-01 -9.57642950e-01 2.18056396e-01 1.35433795e+02] [-9.19386791e-01 -9.35629380e-02 3.82065316e-01 1.30717881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.4071056809999 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:157.58, Y:135.43, Z:130.71 [[-3.58421848e-01 -2.94927942e-01 -8.85748998e-01 1.57580012e+02] [ 1.66176915e-01 -9.53790023e-01 2.50339421e-01 1.35426648e+02] [-9.18650647e-01 -5.74639180e-02 3.90869398e-01 1.30705065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43710568099993 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:157.62, Y:135.44, Z:130.71 [[-3.50993702e-01 -2.64172608e-01 -8.98340834e-01 1.57619588e+02] [ 1.85494947e-01 -9.59982054e-01 2.09823930e-01 1.35435638e+02] [-9.17820814e-01 -9.29908072e-02 3.85950339e-01 1.30714944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.4671056809999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:157.59, Y:135.43, Z:130.72 [[-3.45347009e-01 -3.12519491e-01 -8.84910736e-01 1.57587636e+02] [ 1.84168515e-01 -9.47157831e-01 2.62629018e-01 1.35431417e+02] [-9.20226821e-01 -7.22745502e-02 3.84654375e-01 1.30724893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49710568099994 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:157.59, Y:135.43, Z:130.73 [[-3.46400052e-01 -3.03675643e-01 -8.87574283e-01 1.57594815e+02] [ 1.86595212e-01 -9.49552263e-01 2.52056991e-01 1.35429179e+02] [-9.19341738e-01 -7.83045573e-02 3.85589374e-01 1.30729571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5271056809999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:157.59, Y:135.42, Z:130.73 [[-3.43261810e-01 -3.06701475e-01 -8.87753082e-01 1.57586570e+02] [ 1.96129055e-01 -9.47752007e-01 2.51593972e-01 1.35420936e+02] [-9.18534008e-01 -8.77515710e-02 3.85480140e-01 1.30725919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.55710568099994 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:157.58, Y:135.42, Z:130.74 [[-3.40942002e-01 -3.22100064e-01 -8.83181805e-01 1.57580941e+02] [ 1.96721274e-01 -9.43116085e-01 2.68016399e-01 1.35417664e+02] [-9.19271066e-01 -8.23626020e-02 3.84911821e-01 1.30743182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5871056809999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:157.57, Y:135.42, Z:130.75 [[-3.40288713e-01 -3.41826034e-01 -8.75990042e-01 1.57568249e+02] [ 1.87423360e-01 -9.37549757e-01 2.93040844e-01 1.35416433e+02] [-9.21453241e-01 -6.44625056e-02 3.83103784e-01 1.30753317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.61710568099994 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:157.59, Y:135.41, Z:130.75 [[-3.42472663e-01 -2.94395049e-01 -8.92212996e-01 1.57590970e+02] [ 1.78809119e-01 -9.52706094e-01 2.45720162e-01 1.35414079e+02] [-9.22355557e-01 -7.53833818e-02 3.78916312e-01 1.30746951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.6471056809999 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:157.56, Y:135.41, Z:130.75 [[-3.45274511e-01 -3.29520414e-01 -8.78750140e-01 1.57563404e+02] [ 1.67124483e-01 -9.42955579e-01 2.87930866e-01 1.35413644e+02] [-9.23501445e-01 -4.74454734e-02 3.80649456e-01 1.30752346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.67710568099994 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:157.58, Y:135.41, Z:130.72 [[-3.52389096e-01 -2.86307155e-01 -8.90982681e-01 1.57580965e+02] [ 1.59379924e-01 -9.56505434e-01 2.44326412e-01 1.35413481e+02] [-9.22182175e-01 -5.59067885e-02 3.82693698e-01 1.30717509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7071056809999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:157.56, Y:135.41, Z:130.74 [[-3.47492780e-01 -3.31657464e-01 -8.77070177e-01 1.57557373e+02] [ 1.52028034e-01 -9.42910924e-01 2.96321558e-01 1.35409152e+02] [-9.25276307e-01 -3.03696521e-02 3.78075971e-01 1.30743393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7371056809999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:157.57, Y:135.41, Z:130.73 [[-3.51594492e-01 -3.11558936e-01 -8.82786691e-01 1.57566831e+02] [ 1.48634639e-01 -9.49611472e-01 2.75945278e-01 1.35408022e+02] [-9.24277587e-01 -3.41918414e-02 3.80186613e-01 1.30733526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7671056809999 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:157.57, Y:135.41, Z:130.73 [[-3.55996866e-01 -3.04609083e-01 -8.83447530e-01 1.57566079e+02] [ 1.45401697e-01 -9.51923910e-01 2.69627921e-01 1.35406742e+02] [-9.23105941e-01 -3.24680750e-02 3.83172606e-01 1.30726296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7971056809999 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:157.57, Y:135.41, Z:130.73 [[-3.56876681e-01 -3.02030459e-01 -8.83977735e-01 1.57565842e+02] [ 1.42419531e-01 -9.52818737e-01 2.68054343e-01 1.35407339e+02] [-9.23231126e-01 -3.02333499e-02 3.83053825e-01 1.30726929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8271056809999 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:157.57, Y:135.41, Z:130.73 [[-3.57068542e-01 -3.02253452e-01 -8.83824025e-01 1.57565292e+02] [ 1.43447374e-01 -9.52718903e-01 2.67861051e-01 1.35408114e+02] [-9.22997783e-01 -3.11374811e-02 3.83543413e-01 1.30726492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8571056809999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:157.57, Y:135.41, Z:130.72 [[-3.55414039e-01 -3.01223662e-01 -8.84841888e-01 1.57567444e+02] [ 1.44656242e-01 -9.52970251e-01 2.66312358e-01 1.35408436e+02] [-9.23447580e-01 -3.33467516e-02 3.82272889e-01 1.30723803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8871056809999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:157.57, Y:135.41, Z:130.72 [[-3.59681651e-01 -2.95106597e-01 -8.85178630e-01 1.57570256e+02] [ 1.51570089e-01 -9.54547089e-01 2.56644429e-01 1.35409950e+02] [-9.20682148e-01 -4.18563119e-02 3.88062406e-01 1.30720804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.9171056809999 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:157.57, Y:135.41, Z:130.72 [[-3.58248007e-01 -2.98749375e-01 -8.84537832e-01 1.57568845e+02] [ 1.54873666e-01 -9.53311419e-01 2.59251781e-01 1.35409202e+02] [-9.20691324e-01 -4.41151827e-02 3.87790327e-01 1.30721981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.9471056809999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:157.58, Y:135.41, Z:130.75 [[-3.54841672e-01 -3.02034991e-01 -8.84795034e-01 1.57583796e+02] [ 1.66956226e-01 -9.51638230e-01 2.57895907e-01 1.35406986e+02] [-9.19898367e-01 -5.62098249e-02 3.88107523e-01 1.30752339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.9771056809999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:157.58, Y:135.41, Z:130.74 [[-3.55813040e-01 -3.02435620e-01 -8.84267933e-01 1.57577184e+02] [ 1.71908477e-01 -9.51224426e-01 2.56163164e-01 1.35408547e+02] [-9.18610122e-01 -6.08669591e-02 3.90449301e-01 1.30738342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.0071056809999 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:157.59, Y:135.41, Z:130.74 [[-3.53320311e-01 -2.93961843e-01 -8.88116655e-01 1.57588334e+02] [ 1.77899234e-01 -9.53136531e-01 2.44709248e-01 1.35407072e+02] [-9.18431609e-01 -7.15345250e-02 3.89058082e-01 1.30741867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.0371056809999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:157.58, Y:135.41, Z:130.75 [[-3.50468809e-01 -2.98309928e-01 -8.87796599e-01 1.57582859e+02] [ 1.82802591e-01 -9.51475484e-01 2.47543162e-01 1.35408974e+02] [-9.18561281e-01 -7.55353616e-02 3.87994307e-01 1.30749922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.06710568099993 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:157.59, Y:135.41, Z:130.75 [[-3.49877313e-01 -2.90505662e-01 -8.90613455e-01 1.57591096e+02] [ 1.86559749e-01 -9.53266426e-01 2.37652227e-01 1.35408759e+02] [-9.18031223e-01 -8.30034997e-02 3.87722959e-01 1.30753660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.0971056809999 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:157.59, Y:135.41, Z:130.76 [[-3.47501562e-01 -2.96560638e-01 -8.89547330e-01 1.57589912e+02] [ 1.88576272e-01 -9.51389325e-01 2.43510456e-01 1.35408473e+02] [-9.18521450e-01 -8.31272556e-02 3.86533576e-01 1.30763458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.12710568099993 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:157.60, Y:135.41, Z:130.77 [[-3.46460553e-01 -2.94746537e-01 -8.90555762e-01 1.57598850e+02] [ 1.95571339e-01 -9.51188794e-01 2.38729407e-01 1.35408620e+02] [-9.17451327e-01 -9.14568609e-02 3.87193370e-01 1.30768253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.1571056809999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:157.59, Y:135.41, Z:130.77 [[-3.47256934e-01 -3.02213309e-01 -8.87738553e-01 1.57594876e+02] [ 1.97096700e-01 -9.49024473e-01 2.45978537e-01 1.35408854e+02] [-9.16823600e-01 -8.95525868e-02 3.89120574e-01 1.30768405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.18710568099993 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:157.60, Y:135.41, Z:130.76 [[-3.51853452e-01 -2.89000753e-01 -8.90324499e-01 1.57601078e+02] [ 1.96462399e-01 -9.52760127e-01 2.31626133e-01 1.35409785e+02] [-9.15205810e-01 -9.34168327e-02 3.92009721e-01 1.30764745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.2171056809999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:157.60, Y:135.41, Z:130.77 [[-3.50483288e-01 -2.85876915e-01 -8.91872107e-01 1.57603565e+02] [ 1.90922732e-01 -9.54087941e-01 2.30791488e-01 1.35410182e+02] [-9.16902381e-01 -8.93901002e-02 3.88972280e-01 1.30769191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.24710568099994 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:157.61, Y:135.41, Z:130.77 [[-3.57470933e-01 -2.72641485e-01 -8.93241934e-01 1.57612773e+02] [ 1.91263628e-01 -9.57539230e-01 2.15724009e-01 1.35410525e+02] [-9.14129508e-01 -9.37296301e-02 3.94438841e-01 1.30771319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.2771056809999 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:157.60, Y:135.41, Z:130.77 [[-3.59511982e-01 -2.87530872e-01 -8.87737085e-01 1.57602153e+02] [ 1.81926377e-01 -9.54685353e-01 2.35539106e-01 1.35409667e+02] [-9.15234357e-01 -7.68236603e-02 3.95530273e-01 1.30770970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.30710568099994 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:157.61, Y:135.41, Z:130.76 [[-3.60399801e-01 -2.81009607e-01 -8.89463650e-01 1.57605851e+02] [ 1.74936521e-01 -9.56986642e-01 2.31460108e-01 1.35411300e+02] [-9.16247345e-01 -7.21814993e-02 3.94056638e-01 1.30763992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3371056809999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:157.61, Y:135.41, Z:130.77 [[-3.65756109e-01 -2.69329793e-01 -8.90889405e-01 1.57611033e+02] [ 1.60806862e-01 -9.61105595e-01 2.24537724e-01 1.35413787e+02] [-9.16713490e-01 -6.11350856e-02 3.94840322e-01 1.30765307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.36710568099994 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:157.61, Y:135.41, Z:130.76 [[-3.67237610e-01 -2.63136157e-01 -8.92129980e-01 1.57607009e+02] [ 1.56131220e-01 -9.62978331e-01 2.19763001e-01 1.35413126e+02] [-9.16929430e-01 -5.85841034e-02 3.94725630e-01 1.30756216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3971056809999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:157.60, Y:135.41, Z:130.76 [[-3.65080356e-01 -2.63270201e-01 -8.92975439e-01 1.57602394e+02] [ 1.38578036e-01 -9.63863819e-01 2.27514099e-01 1.35410850e+02] [-9.20604400e-01 -4.06858544e-02 3.88371214e-01 1.30760581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.42710568099994 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:157.61, Y:135.41, Z:130.74 [[-3.73254037e-01 -2.37015450e-01 -8.96942083e-01 1.57605476e+02] [ 1.25314312e-01 -9.70834592e-01 2.04393047e-01 1.35411387e+02] [-9.19226712e-01 -3.61091497e-02 3.92069359e-01 1.30738611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4571056809999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:157.62, Y:135.41, Z:130.74 [[-3.74270807e-01 -2.19334108e-01 -9.01007165e-01 1.57618009e+02] [ 1.24762443e-01 -9.74701602e-01 1.85448432e-01 1.35412078e+02] [-9.18888293e-01 -4.30039212e-02 3.92167014e-01 1.30736671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4871056809999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:157.61, Y:135.41, Z:130.73 [[-3.73326497e-01 -2.21012329e-01 -9.00988833e-01 1.57612143e+02] [ 1.23972494e-01 -9.74381505e-01 1.87647286e-01 1.35410013e+02] [-9.19379219e-01 -4.16441285e-02 3.91161884e-01 1.30729841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5171056809999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:157.63, Y:135.41, Z:130.72 [[-3.89311106e-01 -2.11472474e-01 -8.96502234e-01 1.57626499e+02] [ 1.14055849e-01 -9.76865681e-01 1.80899710e-01 1.35406631e+02] [-9.14017574e-01 -3.18250572e-02 4.04424331e-01 1.30720189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5471056809999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:157.60, Y:135.41, Z:130.73 [[-3.70768670e-01 -2.45571033e-01 -8.95670398e-01 1.57598190e+02] [ 1.09259747e-01 -9.69244877e-01 2.20514572e-01 1.35410113e+02] [-9.22275935e-01 -1.61008267e-02 3.86196663e-01 1.30733183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5771056809999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:157.61, Y:135.41, Z:130.73 [[-3.72213417e-01 -2.18594810e-01 -9.02038514e-01 1.57612230e+02] [ 1.03724576e-01 -9.75578894e-01 1.93615684e-01 1.35412031e+02] [-9.22333120e-01 -2.14972069e-02 3.85797208e-01 1.30726901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.6071056809999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:157.62, Y:135.41, Z:130.73 [[-3.75535691e-01 -2.07847062e-01 -9.03201275e-01 1.57617438e+02] [ 1.04737046e-01 -9.77803623e-01 1.81466873e-01 1.35411027e+02] [-9.20870836e-01 -2.64513459e-02 3.88969447e-01 1.30726323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.6371056809999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:157.62, Y:135.41, Z:130.74 [[-3.74703721e-01 -2.09936674e-01 -9.03063516e-01 1.57621090e+02] [ 1.09082308e-01 -9.77244063e-01 1.81920562e-01 1.35410875e+02] [-9.20705258e-01 -3.03419413e-02 3.89077364e-01 1.30738342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.6671056809999 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:157.62, Y:135.41, Z:130.74 [[-3.71976849e-01 -2.16830295e-01 -9.02561824e-01 1.57618252e+02] [ 1.15886146e-01 -9.75575221e-01 1.86610263e-01 1.35413251e+02] [-9.20979709e-01 -3.51797138e-02 3.88019024e-01 1.30741499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.6971056809999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:157.64, Y:135.41, Z:130.75 [[-3.70222733e-01 -1.97885835e-01 -9.07621245e-01 1.57636158e+02] [ 1.24104406e-01 -9.78824984e-01 1.62787427e-01 1.35413520e+02] [-9.20615677e-01 -5.23721899e-02 3.86941765e-01 1.30746022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.7271056809999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:157.64, Y:135.41, Z:130.77 [[-3.64513033e-01 -2.21729719e-01 -9.04414828e-01 1.57637431e+02] [ 1.40999847e-01 -9.73181449e-01 1.81760584e-01 1.35411791e+02] [-9.20461456e-01 -6.12682501e-02 3.86001178e-01 1.30774984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.7571056809999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:157.65, Y:135.41, Z:130.78 [[-3.61740227e-01 -2.11617175e-01 -9.07943930e-01 1.57646068e+02] [ 1.46893198e-01 -9.74669911e-01 1.68644460e-01 1.35413145e+02] [-9.20633693e-01 -7.23653019e-02 3.83662438e-01 1.30775710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.7871056809999 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:157.64, Y:135.41, Z:130.78 [[-3.62154236e-01 -2.24616489e-01 -9.04650066e-01 1.57640703e+02] [ 1.54918321e-01 -9.71537644e-01 1.79206363e-01 1.35413180e+02] [-9.19154298e-01 -7.52465257e-02 3.86643683e-01 1.30783769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.81710568099993 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:157.65, Y:135.41, Z:130.79 [[-3.64280928e-01 -2.09000294e-01 -9.07534177e-01 1.57651729e+02] [ 1.60972300e-01 -9.73955460e-01 1.59683065e-01 1.35413996e+02] [-9.17271674e-01 -8.79183692e-02 3.88436657e-01 1.30785127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.8471056809999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:157.64, Y:135.41, Z:130.79 [[-3.60412095e-01 -2.32358504e-01 -9.03389533e-01 1.57643139e+02] [ 1.69494366e-01 -9.68668777e-01 1.81528125e-01 1.35410865e+02] [-9.17264837e-01 -8.76945046e-02 3.88503400e-01 1.30794903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.87710568099993 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:157.65, Y:135.41, Z:130.80 [[-3.62247068e-01 -2.27057197e-01 -9.04003369e-01 1.57652728e+02] [ 1.73754293e-01 -9.69324409e-01 1.73837958e-01 1.35410068e+02] [-9.15743691e-01 -9.41021757e-02 3.90587088e-01 1.30803619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.9071056809999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:157.66, Y:135.41, Z:130.80 [[-3.63115810e-01 -2.20158029e-01 -9.05360343e-01 1.57657571e+02] [ 1.71642259e-01 -9.70859529e-01 1.67244460e-01 1.35411989e+02] [-9.15797927e-01 -9.46689865e-02 3.90322866e-01 1.30802565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93710568099993 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:157.66, Y:135.41, Z:130.80 [[-3.61630993e-01 -2.21368432e-01 -9.05659452e-01 1.57656913e+02] [ 1.68551971e-01 -9.70919426e-01 1.70016769e-01 1.35410675e+02] [-9.16958700e-01 -9.11673524e-02 3.88426641e-01 1.30798374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.9671056809999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:157.66, Y:135.41, Z:130.80 [[-3.67834211e-01 -2.11712222e-01 -9.05470004e-01 1.57662423e+02] [ 1.67788047e-01 -9.72865796e-01 1.59308862e-01 1.35409958e+02] [-9.14628430e-01 -9.33277941e-02 3.93376103e-01 1.30797777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99710568099994 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:157.66, Y:135.41, Z:130.80 [[-3.65501440e-01 -2.17919540e-01 -9.04941861e-01 1.57656273e+02] [ 1.61009398e-01 -9.72354666e-01 1.69122373e-01 1.35409353e+02] [-9.16779511e-01 -8.38896734e-02 3.90484125e-01 1.30802264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0271056809999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:157.66, Y:135.41, Z:130.80 [[-3.68884599e-01 -2.05945280e-01 -9.06372271e-01 1.57659151e+02] [ 1.54091230e-01 -9.75200479e-01 1.58870763e-01 1.35408431e+02] [-9.16613357e-01 -8.10590404e-02 3.91470799e-01 1.30798282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.05710568099994 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:157.66, Y:135.41, Z:130.80 [[-3.70683711e-01 -2.00423224e-01 -9.06876021e-01 1.57660440e+02] [ 1.48985667e-01 -9.76625168e-01 1.54940479e-01 1.35406159e+02] [-9.16731617e-01 -7.76776175e-02 3.91879229e-01 1.30798300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0871056809999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:157.65, Y:135.41, Z:130.80 [[-3.65852456e-01 -2.09198253e-01 -9.06856147e-01 1.57650307e+02] [ 1.41274953e-01 -9.75600593e-01 1.68062103e-01 1.35405312e+02] [-9.19887693e-01 -6.66301264e-02 3.86480347e-01 1.30797468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.11710568099994 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:157.65, Y:135.41, Z:130.79 [[-3.66052679e-01 -2.04328675e-01 -9.07885031e-01 1.57645298e+02] [ 1.26898795e-01 -9.77444043e-01 1.68818955e-01 1.35405369e+02] [-9.21901368e-01 -5.34128856e-02 3.83725073e-01 1.30788497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.1471056809999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:157.67, Y:135.41, Z:130.78 [[-3.72010241e-01 -1.71492609e-01 -9.12249235e-01 1.57666613e+02] [ 1.20015861e-01 -9.83422133e-01 1.35930503e-01 1.35407837e+02] [-9.20437165e-01 -5.89168379e-02 3.86424937e-01 1.30777395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.17710568099994 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:157.66, Y:135.41, Z:130.78 [[-3.71876175e-01 -1.80730800e-01 -9.10518802e-01 1.57657870e+02] [ 1.10283138e-01 -9.82518995e-01 1.49980179e-01 1.35407523e+02] [-9.21708056e-01 -4.46408157e-02 3.85306965e-01 1.30780727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2071056809999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:157.65, Y:135.41, Z:130.79 [[-3.65769458e-01 -1.93653499e-01 -9.10335667e-01 1.57647199e+02] [ 1.05904811e-01 -9.80420691e-01 1.66010360e-01 1.35405648e+02] [-9.24660410e-01 -3.56874073e-02 3.79116782e-01 1.30787078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2371056809999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:157.67, Y:135.40, Z:130.82 [[-3.58320358e-01 -1.80117331e-01 -9.16059097e-01 1.57670794e+02] [ 1.03273517e-01 -9.82838206e-01 1.52851701e-01 1.35400877e+02] [-9.27869119e-01 -3.98347685e-02 3.70772287e-01 1.30815731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2671056809999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:157.65, Y:135.40, Z:130.79 [[-3.66062140e-01 -1.81998357e-01 -9.12619914e-01 1.57651854e+02] [ 9.45436265e-02 -9.82888273e-01 1.58089043e-01 1.35403929e+02] [-9.25775358e-01 -2.84119829e-02 3.77004969e-01 1.30787176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2971056809999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:157.66, Y:135.41, Z:130.79 [[-3.71764275e-01 -1.67822486e-01 -9.13031728e-01 1.57664086e+02] [ 9.28664371e-02 -9.85313268e-01 1.43295457e-01 1.35407048e+02] [-9.23670476e-01 -3.15178718e-02 3.81889350e-01 1.30786624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3271056809999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:157.67, Y:135.41, Z:130.79 [[-3.67280658e-01 -1.61228960e-01 -9.16029552e-01 1.57670948e+02] [ 8.84326178e-02 -9.86452994e-01 1.38167159e-01 1.35406487e+02] [-9.25896641e-01 -3.02607664e-02 3.76563003e-01 1.30789730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3571056809999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:157.66, Y:135.40, Z:130.79 [[-3.67170975e-01 -1.80552439e-01 -9.12461666e-01 1.57655675e+02] [ 8.98537237e-02 -9.83276755e-01 1.58408119e-01 1.35404350e+02] [-9.25803318e-01 -2.38252147e-02 3.77253994e-01 1.30787819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3871056809999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:157.68, Y:135.40, Z:130.79 [[-3.66837405e-01 -1.52416531e-01 -9.17714291e-01 1.57678670e+02] [ 9.19949841e-02 -9.87595311e-01 1.27249462e-01 1.35404755e+02] [-9.25725251e-01 -3.77452491e-02 3.76308458e-01 1.30790746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.4171056809999 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:157.60, Y:135.42, Z:130.63 [[-3.84332246e-01 -1.51106747e-01 -9.10744462e-01 1.57601276e+02] [ 9.71662464e-02 -9.87655443e-01 1.22863530e-01 1.35415885e+02] [-9.18067234e-01 -4.12732044e-02 3.94270310e-01 1.30628959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.4471056809999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:157.66, Y:135.40, Z:130.80 [[-3.62025872e-01 -1.83447654e-01 -9.13938853e-01 1.57655094e+02] [ 1.00080265e-01 -9.82426363e-01 1.57551204e-01 1.35401705e+02] [-9.26780022e-01 -3.44296309e-02 3.74023251e-01 1.30795186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.4771056809999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:157.67, Y:135.40, Z:130.79 [[-3.62881779e-01 -1.65781931e-01 -9.16969556e-01 1.57666794e+02] [ 9.98397447e-02 -9.85299526e-01 1.38624922e-01 1.35403558e+02] [-9.26471176e-01 -4.12455478e-02 3.74098871e-01 1.30794290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.5071056809999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:157.68, Y:135.40, Z:130.81 [[-3.61062166e-01 -1.65737232e-01 -9.17695637e-01 1.57675771e+02] [ 1.04104463e-01 -9.85092378e-01 1.36949873e-01 1.35402951e+02] [-9.26712670e-01 -4.60887940e-02 3.72933573e-01 1.30811051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.5371056809999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:157.67, Y:135.41, Z:130.80 [[-3.64740744e-01 -1.65806901e-01 -9.16227189e-01 1.57672164e+02] [ 1.07459655e-01 -9.84937711e-01 1.35462641e-01 1.35405419e+02] [-9.24887351e-01 -4.90487130e-02 3.77064466e-01 1.30800884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.56710568099993 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:157.67, Y:135.41, Z:130.80 [[-3.64756629e-01 -1.62944875e-01 -9.16734187e-01 1.57670454e+02] [ 1.11452458e-01 -9.85129998e-01 1.30756399e-01 1.35407886e+02] [-9.24408433e-01 -5.44780154e-02 3.77493304e-01 1.30798103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.5971056809999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:157.67, Y:135.41, Z:130.80 [[-3.65129696e-01 -1.61760684e-01 -9.16795389e-01 1.57671892e+02] [ 1.14886182e-01 -9.85090351e-01 1.28055326e-01 1.35407945e+02] [-9.23840609e-01 -5.85703193e-02 3.78269808e-01 1.30799729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.62710568099993 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:157.68, Y:135.41, Z:130.80 [[-3.66549757e-01 -1.62548765e-01 -9.16089065e-01 1.57677745e+02] [ 1.20240336e-01 -9.84639243e-01 1.26601038e-01 1.35409658e+02] [-9.22596086e-01 -6.37452774e-02 3.80464194e-01 1.30796744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.6571056809999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:157.69, Y:135.41, Z:130.80 [[-3.71707516e-01 -1.55755097e-01 -9.15190621e-01 1.57687704e+02] [ 1.25865006e-01 -9.85177706e-01 1.16545644e-01 1.35411114e+02] [-9.19777975e-01 -7.18695814e-02 3.85802075e-01 1.30797009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.68710568099993 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:157.69, Y:135.41, Z:130.81 [[-3.69739614e-01 -1.64127956e-01 -9.14524266e-01 1.57686751e+02] [ 1.32358185e-01 -9.83540437e-01 1.23002113e-01 1.35409016e+02] [-9.19659681e-01 -7.55660180e-02 3.85377539e-01 1.30814909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.7171056809999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:157.68, Y:135.41, Z:130.81 [[-3.71680154e-01 -1.64520263e-01 -9.13666759e-01 1.57683571e+02] [ 1.36791802e-01 -9.83134975e-01 1.21382140e-01 1.35409450e+02] [-9.18227568e-01 -7.98667896e-02 3.87916782e-01 1.30811374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.74710568099994 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:157.68, Y:135.41, Z:130.82 [[-3.66402572e-01 -1.72952048e-01 -9.14241076e-01 1.57683248e+02] [ 1.43148756e-01 -9.81352751e-01 1.28277868e-01 1.35407513e+02] [-9.19378915e-01 -8.38711315e-02 3.84328042e-01 1.30817314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.7771056809999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:157.68, Y:135.41, Z:130.82 [[-3.68241708e-01 -1.73150603e-01 -9.13464237e-01 1.57680137e+02] [ 1.39816616e-01 -9.81644769e-01 1.29710688e-01 1.35408624e+02] [-9.19156874e-01 -7.99525929e-02 3.85691878e-01 1.30816666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.80710568099994 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:157.69, Y:135.41, Z:130.82 [[-3.72788353e-01 -1.60718868e-01 -9.13891837e-01 1.57689105e+02] [ 1.31144247e-01 -9.84125520e-01 1.19574863e-01 1.35410959e+02] [-9.18602216e-01 -7.52755402e-02 3.87947887e-01 1.30818316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8371056809999 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:157.68, Y:135.41, Z:130.81 [[-3.73794696e-01 -1.63286883e-01 -9.13025147e-01 1.57682538e+02] [ 1.21875846e-01 -9.84493212e-01 1.26172082e-01 1.35410134e+02] [-9.19469306e-01 -6.41132572e-02 3.87899068e-01 1.30813236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.86710568099994 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:157.68, Y:135.41, Z:130.81 [[-3.71605387e-01 -1.61678823e-01 -9.14204241e-01 1.57684929e+02] [ 1.16373306e-01 -9.85064372e-01 1.26907200e-01 1.35410782e+02] [-9.21068233e-01 -5.92295705e-02 3.84870326e-01 1.30814812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8971056809999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:157.68, Y:135.41, Z:130.81 [[-3.71120723e-01 -1.64848781e-01 -9.13834935e-01 1.57679771e+02] [ 1.07268225e-01 -9.85138447e-01 1.34148309e-01 1.35411973e+02] [-9.22368114e-01 -4.82402338e-02 3.83288329e-01 1.30814168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.92710568099994 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:157.69, Y:135.42, Z:130.83 [[-3.88094878e-01 -1.40404087e-01 -9.10861712e-01 1.57691337e+02] [ 1.06371495e-01 -9.88546406e-01 1.07056562e-01 1.35415289e+02] [-9.15460251e-01 -5.53416182e-02 3.98584789e-01 1.30829346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9571056809999 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:157.67, Y:135.41, Z:130.81 [[-3.73085308e-01 -1.62957070e-01 -9.13374155e-01 1.57672010e+02] [ 9.14738208e-02 -9.86118915e-01 1.38571372e-01 1.35411423e+02] [-9.23276715e-01 -3.18508806e-02 3.82812785e-01 1.30813737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9871056809999 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:157.68, Y:135.41, Z:130.81 [[-3.73676449e-01 -1.45404010e-01 -9.16091472e-01 1.57681459e+02] [ 8.87693279e-02 -9.88709507e-01 1.20720826e-01 1.35411525e+02] [-9.23301640e-01 -3.62102945e-02 3.82364874e-01 1.30806576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0171056809999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:157.69, Y:135.41, Z:130.81 [[-3.69976703e-01 -1.44853102e-01 -9.17679039e-01 1.57687718e+02] [ 8.42038958e-02 -9.88933030e-01 1.22152226e-01 1.35411123e+02] [-9.25217241e-01 -3.20786724e-02 3.78079377e-01 1.30809664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0471056809999 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:157.63, Y:135.42, Z:130.69 [[-3.74414183e-01 -1.50358686e-01 -9.14989773e-01 1.57631113e+02] [ 8.56013519e-02 -9.88156556e-01 1.27353950e-01 1.35418334e+02] [-9.23301916e-01 -3.06412365e-02 3.82850737e-01 1.30694122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0771056809999 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:157.66, Y:135.41, Z:130.76 [[-3.72783925e-01 -1.42882417e-01 -9.16851548e-01 1.57664680e+02] [ 8.27440721e-02 -9.89256104e-01 1.20522939e-01 1.35414577e+02] [-9.24221599e-01 -3.09350164e-02 3.80601446e-01 1.30761642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.1071056809999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:157.69, Y:135.41, Z:130.84 [[-3.87516975e-01 -1.33716436e-01 -9.12113211e-01 1.57691329e+02] [ 8.78063887e-02 -9.90279743e-01 1.07870613e-01 1.35412131e+02] [-9.17671310e-01 -3.82876734e-02 3.95491367e-01 1.30836309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.1371056809999 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:157.68, Y:135.41, Z:130.85 [[-3.86488092e-01 -1.54593019e-01 -9.09245816e-01 1.57680518e+02] [ 9.01430795e-02 -9.87463659e-01 1.29575258e-01 1.35409904e+02] [-9.17878630e-01 -3.18829236e-02 3.95578437e-01 1.30846891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.1671056809999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:157.68, Y:135.41, Z:130.85 [[-3.86210574e-01 -1.53904272e-01 -9.09480548e-01 1.57682571e+02] [ 9.15423011e-02 -9.87509874e-01 1.28235160e-01 1.35410809e+02] [-9.17856960e-01 -3.37301676e-02 3.95475506e-01 1.30848437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.1971056809999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:157.71, Y:135.40, Z:130.94 [[-3.40952860e-01 -1.96268450e-01 -9.19363825e-01 1.57712428e+02] [ 9.48162313e-02 -9.80155569e-01 1.74083148e-01 1.35396781e+02] [-9.35286603e-01 -2.78164658e-02 3.52796279e-01 1.30942888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.2271056809999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:157.71, Y:135.41, Z:130.85 [[-3.86552372e-01 -1.20949110e-01 -9.14302235e-01 1.57707336e+02] [ 1.04529751e-01 -9.90720977e-01 8.68647086e-02 1.35409829e+02] [-9.16324612e-01 -6.19940254e-02 3.95608324e-01 1.30848107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.2571056809999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:157.72, Y:135.39, Z:130.96 [[-3.36157489e-01 -1.98467995e-01 -9.20656612e-01 1.57719221e+02] [ 1.05525887e-01 -9.79325646e-01 1.72584956e-01 1.35394848e+02] [-9.35875221e-01 -3.91373805e-02 3.50151161e-01 1.30958205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.2871056809999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:157.70, Y:135.41, Z:130.86 [[-3.84298202e-01 -1.27707472e-01 -9.14333469e-01 1.57704830e+02] [ 1.12269602e-01 -9.89500431e-01 9.10188623e-02 1.35410259e+02] [-9.16357151e-01 -6.76734698e-02 3.94600904e-01 1.30856807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.31710568099993 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:157.72, Y:135.40, Z:130.95 [[-3.42548721e-01 -1.88490654e-01 -9.20397548e-01 1.57721393e+02] [ 1.08069900e-01 -9.81069831e-01 1.60695004e-01 1.35397489e+02] [-9.33263773e-01 -4.44214034e-02 3.56434382e-01 1.30951272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.3471056809999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:157.71, Y:135.41, Z:130.83 [[-3.75592076e-01 -1.33281186e-01 -9.17151415e-01 1.57714662e+02] [ 1.18241878e-01 -9.88409404e-01 9.52140116e-02 1.35410808e+02] [-9.19211320e-01 -7.26840778e-02 3.86998158e-01 1.30827810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.37710568099993 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:157.70, Y:135.41, Z:130.84 [[-3.73866375e-01 -1.60023756e-01 -9.13573386e-01 1.57698470e+02] [ 1.17601077e-01 -9.85232149e-01 1.24449182e-01 1.35407948e+02] [-9.19996696e-01 -6.09098500e-02 3.87164139e-01 1.30837403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.4071056809999 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:157.65, Y:135.42, Z:130.74 [[-3.87133639e-01 -1.50819022e-01 -9.09604952e-01 1.57647147e+02] [ 1.17524912e-01 -9.86555788e-01 1.13558675e-01 1.35418001e+02] [-9.14502838e-01 -6.29388588e-02 3.99653925e-01 1.30741437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43710568099993 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:157.69, Y:135.41, Z:130.87 [[-3.58708383e-01 -1.75214122e-01 -9.16857845e-01 1.57692119e+02] [ 1.10779021e-01 -9.83274509e-01 1.44565722e-01 1.35406083e+02] [-9.26852903e-01 -4.97116780e-02 3.72118858e-01 1.30866249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.4671056809999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:157.72, Y:135.41, Z:130.84 [[-3.63817288e-01 -1.24515632e-01 -9.23110415e-01 1.57718578e+02] [ 1.16213337e-01 -9.89349402e-01 8.76482849e-02 1.35414030e+02] [-9.24192318e-01 -7.53897804e-02 3.74412793e-01 1.30840360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49710568099994 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:157.72, Y:135.41, Z:130.86 [[-3.60685993e-01 -1.30948990e-01 -9.23448957e-01 1.57719172e+02] [ 1.27546949e-01 -9.87718420e-01 9.02446543e-02 1.35412488e+02] [-9.23924992e-01 -8.52331147e-02 3.72958343e-01 1.30859534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5271056809999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:157.71, Y:135.41, Z:130.86 [[-3.60977162e-01 -1.41127627e-01 -9.21834303e-01 1.57711979e+02] [ 1.31162873e-01 -9.86340630e-01 9.96416713e-02 1.35412923e+02] [-9.23304819e-01 -8.49420676e-02 3.74557146e-01 1.30860156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.55710568099994 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:157.71, Y:135.41, Z:130.86 [[-3.60464497e-01 -1.47523100e-01 -9.21033268e-01 1.57711252e+02] [ 1.35653530e-01 -9.85207424e-01 1.04711279e-01 1.35413380e+02] [-9.22856146e-01 -8.71967157e-02 3.75144328e-01 1.30864697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5871056809999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:157.72, Y:135.42, Z:130.86 [[-3.64732752e-01 -1.39303742e-01 -9.20632656e-01 1.57719832e+02] [ 1.39008739e-01 -9.85810769e-01 9.40940872e-02 1.35415481e+02] [-9.20677245e-01 -9.36567896e-02 3.78921913e-01 1.30864548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.61710568099994 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:157.73, Y:135.42, Z:130.86 [[-3.68739827e-01 -1.27836469e-01 -9.20700156e-01 1.57731007e+02] [ 1.39727677e-01 -9.86866269e-01 8.10625904e-02 1.35418542e+02] [-9.18970683e-01 -9.87562880e-02 3.81759190e-01 1.30861360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.6471056809999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:157.73, Y:135.42, Z:130.88 [[-3.66829306e-01 -1.39359025e-01 -9.19790912e-01 1.57725682e+02] [ 1.40750182e-01 -9.85648265e-01 9.32034535e-02 1.35417273e+02] [-9.19579059e-01 -9.52709800e-02 3.81179477e-01 1.30875609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.67710568099994 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:157.72, Y:135.42, Z:130.87 [[-3.68113489e-01 -1.40093610e-01 -9.19166057e-01 1.57722256e+02] [ 1.36242727e-01 -9.86040095e-01 9.57227812e-02 1.35417495e+02] [-9.19744736e-01 -8.99928430e-02 3.82061395e-01 1.30872784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7071056809999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:157.72, Y:135.42, Z:130.88 [[-3.73915052e-01 -1.41556459e-01 -9.16596587e-01 1.57720434e+02] [ 1.23908814e-01 -9.87048680e-01 1.01889693e-01 1.35420642e+02] [-9.19148595e-01 -7.54763058e-02 3.86612451e-01 1.30875376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7371056809999 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:157.71, Y:135.42, Z:130.88 [[-3.72325224e-01 -1.52844230e-01 -9.15430264e-01 1.57712093e+02] [ 1.16517463e-01 -9.86240250e-01 1.17276809e-01 1.35420759e+02] [-9.20759256e-01 -6.29984978e-02 3.85011144e-01 1.30877276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7671056809999 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:157.72, Y:135.42, Z:130.87 [[-3.76003830e-01 -1.38299187e-01 -9.16239300e-01 1.57718126e+02] [ 1.03270059e-01 -9.88893652e-01 1.06886106e-01 1.35423692e+02] [-9.20845489e-01 -5.44305014e-02 3.86109966e-01 1.30871818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7971056809999 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:157.72, Y:135.43, Z:130.87 [[-3.79636444e-01 -1.27458787e-01 -9.16313499e-01 1.57722320e+02] [ 9.65562815e-02 -9.90513384e-01 9.77758721e-02 1.35425214e+02] [-9.20083178e-01 -5.13565398e-02 3.88341925e-01 1.30867628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8271056809999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:157.72, Y:135.42, Z:130.87 [[-3.79056022e-01 -1.27855315e-01 -9.16498527e-01 1.57715540e+02] [ 8.57865490e-02 -9.90999209e-01 1.02767877e-01 1.35422742e+02] [-9.21388735e-01 -3.96684629e-02 3.86612484e-01 1.30869792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8571056809999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:157.72, Y:135.42, Z:130.88 [[-3.78187199e-01 -1.25643810e-01 -9.17163058e-01 1.57717255e+02] [ 8.11240059e-02 -9.91433234e-01 1.02367172e-01 1.35421638e+02] [-9.22167739e-01 -3.56899872e-02 3.85140087e-01 1.30881592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8871056809999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:157.72, Y:135.42, Z:130.88 [[-3.77227213e-01 -1.19050004e-01 -9.18437111e-01 1.57715814e+02] [ 7.80753237e-02 -9.92261073e-01 9.65515734e-02 1.35418119e+02] [-9.22823858e-01 -3.52853938e-02 3.83602747e-01 1.30875617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.9171056809999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:157.73, Y:135.41, Z:130.89 [[-3.71155763e-01 -1.18645576e-01 -9.20959623e-01 1.57727440e+02] [ 7.80144667e-02 -9.92281256e-01 9.63932181e-02 1.35413864e+02] [-9.25287600e-01 -3.60712754e-02 3.77546978e-01 1.30887489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.9471056809999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:157.73, Y:135.42, Z:130.88 [[-3.71649535e-01 -1.10557011e-01 -9.21766658e-01 1.57729628e+02] [ 7.10897215e-02 -9.93357677e-01 9.04808095e-02 1.35416442e+02] [-9.25647274e-01 -3.19009843e-02 3.77040385e-01 1.30881425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.9771056809999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:157.73, Y:135.42, Z:130.89 [[-3.67814623e-01 -1.13302030e-01 -9.22970776e-01 1.57731026e+02] [ 6.82530639e-02 -9.93161546e-01 9.47188647e-02 1.35417350e+02] [-9.27390922e-01 -2.81565998e-02 3.73032550e-01 1.30887360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.0071056809999 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:157.73, Y:135.42, Z:130.89 [[-3.64339332e-01 -1.22934370e-01 -9.23116456e-01 1.57725113e+02] [ 6.65078263e-02 -9.92152430e-01 1.05878534e-01 1.35416374e+02] [-9.28888346e-01 -2.28187546e-02 3.69656252e-01 1.30887824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.0371056809999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:157.67, Y:135.43, Z:130.73 [[-3.90650489e-01 -9.76000066e-02 -9.15350443e-01 1.57669160e+02] [ 7.06689848e-02 -9.94608686e-01 7.58910877e-02 1.35432163e+02] [-9.17822472e-01 -3.50399961e-02 3.95441663e-01 1.30729431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.06710568099993 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:157.75, Y:135.41, Z:130.98 [[-3.17077960e-01 -1.72362410e-01 -9.32605365e-01 1.57754451e+02] [ 7.56127356e-02 -9.84810653e-01 1.56303203e-01 1.35414913e+02] [-9.45380496e-01 -2.09565421e-02 3.25294546e-01 1.30977240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.0971056809999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:157.69, Y:135.44, Z:130.76 [[-3.86696541e-01 -8.70490860e-02 -9.18089452e-01 1.57690669e+02] [ 7.53650473e-02 -9.95188115e-01 6.26156990e-02 1.35435707e+02] [-9.19122351e-01 -4.49785808e-02 3.91396260e-01 1.30759028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.12710568099993 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:157.67, Y:135.43, Z:130.75 [[-3.87794425e-01 -1.11998090e-01 -9.14916342e-01 1.57668914e+02] [ 7.91361997e-02 -9.92971100e-01 8.80105486e-02 1.35433764e+02] [-9.18342499e-01 -3.82730022e-02 3.93931760e-01 1.30747385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.1571056809999 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:157.72, Y:135.42, Z:130.88 [[-3.43215178e-01 -1.47150710e-01 -9.27658348e-01 1.57724309e+02] [ 8.18928353e-02 -9.88578470e-01 1.26515500e-01 1.35423956e+02] [-9.35679916e-01 -3.25465325e-02 3.51345724e-01 1.30883020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.18710568099993 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:157.74, Y:135.43, Z:130.89 [[-3.38260600e-01 -1.27725436e-01 -9.32344346e-01 1.57741789e+02] [ 8.36150297e-02 -9.90907068e-01 1.05412091e-01 1.35425337e+02] [-9.37330408e-01 -4.23012430e-02 3.45864586e-01 1.30887332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.2171056809999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:157.74, Y:135.43, Z:130.87 [[-3.49870851e-01 -1.15444583e-01 -9.29657429e-01 1.57741250e+02] [ 8.83112926e-02 -9.92022907e-01 8.99536986e-02 1.35425979e+02] [-9.32626133e-01 -5.06270722e-02 3.57274959e-01 1.30865662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.24710568099994 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:157.73, Y:135.42, Z:130.87 [[-3.48733942e-01 -1.33151621e-01 -9.27715088e-01 1.57727634e+02] [ 7.64231226e-02 -9.90600196e-01 1.13449362e-01 1.35419762e+02] [-9.34100714e-01 -3.13352407e-02 3.55631774e-01 1.30873728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.2771056809999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:157.75, Y:135.42, Z:130.88 [[-3.42683824e-01 -1.18381299e-01 -9.31962266e-01 1.57748148e+02] [ 7.01967223e-02 -9.92482185e-01 1.00257331e-01 1.35422055e+02] [-9.36824539e-01 -3.10641308e-02 3.48417570e-01 1.30882868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.30710568099994 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:157.74, Y:135.43, Z:130.87 [[-3.48642920e-01 -1.09681976e-01 -9.30815760e-01 1.57741753e+02] [ 5.71974729e-02 -9.93767836e-01 9.56762117e-02 1.35428782e+02] [-9.35508719e-01 -1.98834754e-02 3.52743652e-01 1.30865375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3371056809999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:157.74, Y:135.43, Z:130.87 [[-3.50274334e-01 -1.05339314e-01 -9.30704851e-01 1.57743547e+02] [ 5.01469814e-02 -9.94339713e-01 9.36686451e-02 1.35430135e+02] [-9.35303785e-01 -1.38623166e-02 3.53574130e-01 1.30867210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.36710568099994 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:157.71, Y:135.44, Z:130.77 [[-3.78199398e-01 -7.88353915e-02 -9.22361207e-01 1.57707826e+02] [ 4.22911431e-02 -9.96798330e-01 6.78568236e-02 1.35436297e+02] [-9.24757630e-01 -1.33443000e-02 3.80322567e-01 1.30768697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3971056809999 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:157.74, Y:135.43, Z:130.87 [[-3.52205874e-01 -1.07698960e-01 -9.29705306e-01 1.57743644e+02] [ 4.21077216e-02 -9.94174665e-01 9.92153000e-02 1.35431072e+02] [-9.34974846e-01 -4.20356073e-03 3.54689114e-01 1.30866325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.42710568099994 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:157.80, Y:135.43, Z:130.95 [[-3.36618554e-01 -9.54069463e-02 -9.36795316e-01 1.57798660e+02] [ 4.93519849e-02 -9.95274118e-01 8.36290161e-02 1.35430019e+02] [-9.40346920e-01 -1.80816297e-02 3.39736257e-01 1.30953881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4571056809999 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:157.76, Y:135.43, Z:130.89 [[-3.49613469e-01 -9.82377787e-02 -9.31729446e-01 1.57759578e+02] [ 4.74496715e-02 -9.95067907e-01 8.71113572e-02 1.35434168e+02] [-9.35691697e-01 -1.37549524e-02 3.52550493e-01 1.30886936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4871056809999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:157.76, Y:135.44, Z:130.86 [[-3.55279013e-01 -8.13602026e-02 -9.31212833e-01 1.57758869e+02] [ 4.93605349e-02 -9.96447956e-01 6.82276308e-02 1.35438810e+02] [-9.33456137e-01 -2.17253182e-02 3.58033030e-01 1.30859371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5171056809999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:157.76, Y:135.44, Z:130.87 [[-3.57854258e-01 -8.39771539e-02 -9.29993638e-01 1.57763348e+02] [ 5.64504344e-02 -9.96071822e-01 6.82222391e-02 1.35439849e+02] [-9.32069567e-01 -2.80849261e-02 3.61189090e-01 1.30868635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5471056809999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:157.76, Y:135.44, Z:130.87 [[-3.55528056e-01 -9.20799093e-02 -9.30118859e-01 1.57762100e+02] [ 5.78179110e-02 -9.95396261e-01 7.64419593e-02 1.35440519e+02] [-9.32875603e-01 -2.66002683e-02 3.59215165e-01 1.30872842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5771056809999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:157.77, Y:135.44, Z:130.88 [[-3.52796429e-01 -9.19978705e-02 -9.31166511e-01 1.57766467e+02] [ 6.61276903e-02 -9.95117987e-01 7.32620019e-02 1.35442908e+02] [-9.33360492e-01 -3.57293181e-02 3.57157679e-01 1.30877624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.6071056809999 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:157.76, Y:135.44, Z:130.89 [[-3.51019115e-01 -9.84115842e-02 -9.31182443e-01 1.57764049e+02] [ 6.92731040e-02 -9.94465877e-01 7.89864321e-02 1.35442029e+02] [-9.33802344e-01 -3.67801507e-02 3.55893808e-01 1.30885671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.6371056809999 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:157.77, Y:135.44, Z:130.89 [[-3.51635977e-01 -8.58027545e-02 -9.32196346e-01 1.57772663e+02] [ 7.72834782e-02 -9.95052267e-01 6.24359604e-02 1.35441665e+02] [-9.32941265e-01 -5.00886460e-02 3.56527312e-01 1.30886315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.6671056809999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:157.76, Y:135.43, Z:130.90 [[-3.44964806e-01 -1.12800862e-01 -9.31812883e-01 1.57761055e+02] [ 8.61319109e-02 -9.92367966e-01 8.82446312e-02 1.35434861e+02] [-9.34655325e-01 -4.98175321e-02 3.52047776e-01 1.30895580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.6971056809999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:157.78, Y:135.43, Z:130.90 [[-3.43444774e-01 -1.01062699e-01 -9.33719454e-01 1.57775692e+02] [ 8.75145707e-02 -9.93311474e-01 7.53227491e-02 1.35434869e+02] [-9.35086567e-01 -5.58448526e-02 3.49992094e-01 1.30901781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.7271056809999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:157.78, Y:135.43, Z:130.91 [[-3.37797990e-01 -1.08343659e-01 -9.34962122e-01 1.57775281e+02] [ 9.53449489e-02 -9.92181846e-01 8.05265561e-02 1.35429718e+02] [-9.36376985e-01 -6.19422070e-02 3.45487054e-01 1.30914186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.7571056809999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:157.78, Y:135.43, Z:130.91 [[-3.39708558e-01 -1.04507667e-01 -9.34706501e-01 1.57775230e+02] [ 9.44860801e-02 -9.92571943e-01 7.66375836e-02 1.35426355e+02] [-9.35772663e-01 -6.22823102e-02 3.47059704e-01 1.30912514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.7871056809999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:157.71, Y:135.43, Z:130.74 [[-3.41980261e-01 -9.54295028e-02 -9.34849031e-01 1.57713895e+02] [ 9.51922847e-02 -9.93230753e-01 6.65665070e-02 1.35429422e+02] [-9.34873216e-01 -6.62259837e-02 3.48749465e-01 1.30742653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.81710568099993 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:157.73, Y:135.43, Z:130.78 [[-3.45228351e-01 -9.93639585e-02 -9.33243907e-01 1.57727064e+02] [ 1.04586532e-01 -9.92259152e-01 6.69584455e-02 1.35429480e+02] [-9.32673063e-01 -7.44887898e-02 3.52948122e-01 1.30782329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.8471056809999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:157.72, Y:135.43, Z:130.78 [[-3.45440498e-01 -1.11181003e-01 -9.31831340e-01 1.57716974e+02] [ 1.01984198e-01 -9.91523847e-01 8.04964808e-02 1.35429053e+02] [-9.32882675e-01 -6.72253273e-02 3.53851197e-01 1.30776471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.87710568099993 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:157.74, Y:135.42, Z:130.75 [[-3.72949243e-01 -8.99128884e-02 -9.23484994e-01 1.57736515e+02] [ 9.44894233e-02 -9.93799709e-01 5.85993750e-02 1.35419351e+02] [-9.23027958e-01 -6.54049720e-02 3.79132666e-01 1.30751304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.9071056809999 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:157.69, Y:135.43, Z:130.75 [[-3.52150915e-01 -1.28799875e-01 -9.27038470e-01 1.57693108e+02] [ 9.13880024e-02 -9.90484677e-01 1.02899650e-01 1.35428434e+02] [-9.31470862e-01 -4.84839881e-02 3.60570848e-01 1.30747871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93710568099993 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:157.73, Y:135.43, Z:130.79 [[-3.52232132e-01 -1.00239492e-01 -9.30529188e-01 1.57732343e+02] [ 8.87720730e-02 -9.93343586e-01 7.34032640e-02 1.35430681e+02] [-9.31693106e-01 -5.67500169e-02 3.58785996e-01 1.30792224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.9671056809999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:157.72, Y:135.43, Z:130.75 [[-3.72386104e-01 -8.14801084e-02 -9.24494230e-01 1.57723899e+02] [ 7.71703244e-02 -9.95407449e-01 5.66458380e-02 1.35433681e+02] [-9.24863953e-01 -5.02493968e-02 3.76963748e-01 1.30754748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99710568099994 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:157.72, Y:135.43, Z:130.75 [[-3.68493746e-01 -8.54465131e-02 -9.25695010e-01 1.57721383e+02] [ 7.53698562e-02 -9.95234840e-01 6.18627361e-02 1.35433097e+02] [-9.26569881e-01 -4.69734684e-02 3.73177906e-01 1.30753074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0271056809999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:157.73, Y:135.43, Z:130.78 [[-3.59089964e-01 -8.97264854e-02 -9.28979847e-01 1.57728362e+02] [ 6.66181561e-02 -9.95293212e-01 7.03806986e-02 1.35429784e+02] [-9.30922349e-01 -3.66139219e-02 3.63377217e-01 1.30780944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.05710568099994 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:157.73, Y:135.43, Z:130.78 [[-3.57906393e-01 -7.98434144e-02 -9.30337596e-01 1.57729098e+02] [ 6.39159498e-02 -9.96095467e-01 6.08980400e-02 1.35431400e+02] [-9.31567370e-01 -3.76676132e-02 3.61612204e-01 1.30775522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0871056809999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:157.74, Y:135.43, Z:130.79 [[-3.47995900e-01 -7.54497753e-02 -9.34455020e-01 1.57740101e+02] [ 5.52666729e-02 -9.96673749e-01 5.98918446e-02 1.35427620e+02] [-9.35865615e-01 -3.08021036e-02 3.51008236e-01 1.30790163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.11710568099994 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:157.80, Y:135.43, Z:130.92 [[-3.49048066e-01 -6.59974930e-02 -9.34777930e-01 1.57800811e+02] [ 5.78816245e-02 -9.97130675e-01 4.87866200e-02 1.35431473e+02] [-9.35315543e-01 -3.70775898e-02 3.51866576e-01 1.30924226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1471056809999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:157.85, Y:135.43, Z:131.04 [[-3.29253213e-01 -7.90725572e-02 -9.40924998e-01 1.57850720e+02] [ 6.80407547e-02 -9.95883831e-01 5.98819717e-02 1.35427508e+02] [-9.41787013e-01 -4.43049154e-02 3.33278108e-01 1.31036250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1771056809999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:157.77, Y:135.43, Z:130.92 [[-3.51771527e-01 -9.77645241e-02 -9.30966643e-01 1.57771326e+02] [ 5.14145654e-02 -9.95047843e-01 8.50666340e-02 1.35426810e+02] [-9.34672849e-01 -1.79412257e-02 3.55056020e-01 1.30921172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2071056809999 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:157.80, Y:135.43, Z:130.92 [[-3.54140172e-01 -5.11118347e-02 -9.33794581e-01 1.57801591e+02] [ 4.86021623e-02 -9.98161907e-01 3.62027248e-02 1.35431183e+02] [-9.33928567e-01 -3.25635966e-02 3.55973375e-01 1.30918582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2371056809999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:157.80, Y:135.43, Z:130.91 [[-3.56610347e-01 -5.35993648e-02 -9.32714409e-01 1.57797403e+02] [ 4.67985967e-02 -9.98124427e-01 3.94654260e-02 1.35430577e+02] [-9.33080357e-01 -2.95759462e-02 3.58449873e-01 1.30911147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2671056809999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:157.80, Y:135.43, Z:130.91 [[-3.56599984e-01 -5.48311553e-02 -9.32646769e-01 1.57797599e+02] [ 4.61536526e-02 -9.98091297e-01 4.10317265e-02 1.35430326e+02] [-9.33116441e-01 -2.84131419e-02 3.58449999e-01 1.30914178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2971056809999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:157.81, Y:135.43, Z:130.96 [[-3.47038625e-01 -6.73771729e-02 -9.35427448e-01 1.57810522e+02] [ 4.16174683e-02 -9.97539858e-01 5.64111590e-02 1.35429302e+02] [-9.36926987e-01 -1.93532712e-02 3.48988927e-01 1.30958033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3271056809999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:157.80, Y:135.44, Z:130.92 [[-3.61016444e-01 -4.19934014e-02 -9.31613483e-01 1.57803699e+02] [ 3.62665255e-02 -9.98862127e-01 3.09707907e-02 1.35436416e+02] [-9.31853994e-01 -2.26054194e-02 3.62128608e-01 1.30915233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3571056809999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:157.82, Y:135.44, Z:130.94 [[-3.55811149e-01 -4.49414223e-02 -9.33476671e-01 1.57816108e+02] [ 3.86387767e-02 -9.98696444e-01 3.33535182e-02 1.35436031e+02] [-9.33758786e-01 -2.42008430e-02 3.57083811e-01 1.30937640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3871056809999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:157.81, Y:135.44, Z:130.93 [[-3.58487788e-01 -4.74863042e-02 -9.32325885e-01 1.57811729e+02] [ 4.45074311e-02 -9.98439127e-01 3.37401482e-02 1.35437826e+02] [-9.32472838e-01 -2.93999990e-02 3.60041728e-01 1.30930679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.4171056809999 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:157.82, Y:135.44, Z:130.95 [[-3.55909818e-01 -5.38191148e-02 -9.32969294e-01 1.57816370e+02] [ 4.87910461e-02 -9.98048856e-01 3.89604394e-02 1.35438496e+02] [-9.33245753e-01 -3.16541449e-02 3.57841278e-01 1.30945172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.4471056809999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:157.82, Y:135.44, Z:130.95 [[-3.60363941e-01 -5.23686134e-02 -9.31340624e-01 1.57816272e+02] [ 5.19983382e-02 -9.97998191e-01 3.59969859e-02 1.35443134e+02] [-9.31361371e-01 -3.54561491e-02 3.62365642e-01 1.30945048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.4771056809999 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:157.81, Y:135.44, Z:130.95 [[-3.57212680e-01 -5.82794691e-02 -9.32203092e-01 1.57813974e+02] [ 5.38079792e-02 -9.97677955e-01 4.17540442e-02 1.35442592e+02] [-9.32471878e-01 -3.52448906e-02 3.59519116e-01 1.30951767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.5071056809999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:157.82, Y:135.44, Z:130.96 [[-3.57634390e-01 -6.59362404e-02 -9.31531028e-01 1.57815675e+02] [ 6.13897182e-02 -9.97006579e-01 4.70019674e-02 1.35442404e+02] [-9.31841696e-01 -4.03769074e-02 3.60611647e-01 1.30962446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.5371056809999 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:157.82, Y:135.44, Z:130.97 [[-3.53607533e-01 -6.23370721e-02 -9.33314418e-01 1.57823624e+02] [ 5.66994855e-02 -9.97370608e-01 4.51335558e-02 1.35441986e+02] [-9.33673862e-01 -3.69588820e-02 3.56212240e-01 1.30965663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.56710568099993 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:157.84, Y:135.45, Z:130.97 [[-3.51878685e-01 -4.32735650e-02 -9.35044806e-01 1.57840559e+02] [ 6.91011117e-02 -9.97406036e-01 2.01552979e-02 1.35446522e+02] [-9.33491525e-01 -5.75204159e-02 3.53956176e-01 1.30968625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.5971056809999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:157.85, Y:135.44, Z:130.98 [[-3.47574887e-01 -4.53716262e-02 -9.36553850e-01 1.57848951e+02] [ 8.75439012e-02 -9.96035926e-01 1.57638647e-02 1.35444997e+02] [-9.33556513e-01 -7.65104542e-02 3.50169083e-01 1.30984114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.62710568099993 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:157.83, Y:135.44, Z:130.98 [[-3.46929097e-01 -6.57881753e-02 -9.35581166e-01 1.57834489e+02] [ 9.91936157e-02 -9.94515824e-01 3.31496945e-02 1.35443019e+02] [-9.32631132e-01 -8.13030850e-02 3.51552244e-01 1.30982481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.6571056809999 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:157.83, Y:135.44, Z:131.00 [[-3.40855192e-01 -8.02518314e-02 -9.36684249e-01 1.57830696e+02] [ 1.07063698e-01 -9.93181340e-01 4.61323058e-02 1.35438879e+02] [-9.33999520e-01 -8.45604432e-02 3.47123074e-01 1.30995515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.68710568099993 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:157.83, Y:135.44, Z:131.00 [[-3.38286680e-01 -8.01818914e-02 -9.37620918e-01 1.57832765e+02] [ 1.10409767e-01 -9.92863680e-01 4.50710231e-02 1.35439941e+02] [-9.34543635e-01 -8.82755805e-02 3.44725422e-01 1.30996279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.7171056809999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:157.82, Y:135.44, Z:130.98 [[-3.57969482e-01 -6.49949145e-02 -9.31468470e-01 1.57824426e+02] [ 1.03472424e-01 -9.94191591e-01 2.96063994e-02 1.35442784e+02] [-9.27982385e-01 -8.57831126e-02 3.62615430e-01 1.30977273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.74710568099994 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:157.66, Y:135.45, Z:130.60 [[-3.71802972e-01 -6.60555908e-02 -9.25958535e-01 1.57663359e+02] [ 9.93647753e-02 -9.94566456e-01 3.10516669e-02 1.35451145e+02] [-9.22978435e-01 -8.04625597e-02 3.76346363e-01 1.30600780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.7771056809999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:157.66, Y:135.45, Z:130.60 [[-3.71107479e-01 -7.69081236e-02 -9.25399579e-01 1.57656691e+02] [ 9.48251538e-02 -9.94493318e-01 4.46232009e-02 1.35453037e+02] [-9.23735584e-01 -7.11911538e-02 3.76356733e-01 1.30604749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.80710568099994 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:157.65, Y:135.46, Z:130.58 [[-3.75128928e-01 -7.65318071e-02 -9.23807972e-01 1.57648090e+02] [ 8.92030223e-02 -9.94941291e-01 4.62022650e-02 1.35458734e+02] [-9.22670639e-01 -6.50746570e-02 3.80058128e-01 1.30583158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8371056809999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:157.81, Y:135.46, Z:130.94 [[-3.59064502e-01 -6.85520216e-02 -9.30791762e-01 1.57809469e+02] [ 9.38852859e-02 -9.94893177e-01 3.70556193e-02 1.35457068e+02] [-9.28578611e-01 -7.40822931e-02 3.63666850e-01 1.30944208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.86710568099994 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:157.82, Y:135.46, Z:130.99 [[-3.40285096e-01 -9.28651744e-02 -9.35725448e-01 1.57822904e+02] [ 9.70570066e-02 -9.93265112e-01 6.32799772e-02 1.35456879e+02] [-9.35299947e-01 -6.92854778e-02 3.47006529e-01 1.30990099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8971056809999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:157.83, Y:135.46, Z:130.99 [[-3.39419032e-01 -9.04662005e-02 -9.36274846e-01 1.57828068e+02] [ 9.54833187e-02 -9.93536561e-01 6.13843492e-02 1.35459102e+02] [-9.35776499e-01 -6.85636132e-02 3.45863231e-01 1.30992323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9271056809999 meters Centerline goodness : 0.998202 Centerline is valid? [True, True] Translation: X:157.84, Y:135.47, Z:131.00 [[-3.36377593e-01 -8.43714871e-02 -9.37940066e-01 1.57838203e+02] [ 9.21593091e-02 -9.94147074e-01 5.63760334e-02 1.35465775e+02] [-9.37206902e-01 -6.74762740e-02 3.42184418e-01 1.30996665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9571056809999 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:157.83, Y:135.47, Z:130.99 [[-3.35681359e-01 -8.95837892e-02 -9.37706121e-01 1.57832814e+02] [ 9.22910083e-02 -9.93805898e-01 6.19048183e-02 1.35466249e+02] [-9.37443542e-01 -6.57615499e-02 3.41869893e-01 1.30989378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9871056809999 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:157.84, Y:135.47, Z:131.00 [[-3.30282710e-01 -9.06642216e-02 -9.39517605e-01 1.57836248e+02] [ 8.37753935e-02 -9.94263501e-01 6.64964254e-02 1.35469261e+02] [-9.40156910e-01 -5.67458375e-02 3.35983474e-01 1.30995350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0171056809999 meters Centerline goodness : 0.998325 Centerline is valid? [True, True] Translation: X:157.84, Y:135.47, Z:130.99 [[-3.22483265e-01 -8.94893428e-02 -9.42335504e-01 1.57839467e+02] [ 8.21182420e-02 -9.94412680e-01 6.63326153e-02 1.35470608e+02] [-9.43006436e-01 -5.59917766e-02 3.28030156e-01 1.30994849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0471056809999 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:157.84, Y:135.47, Z:130.99 [[-3.21597691e-01 -8.29636005e-02 -9.43234842e-01 1.57840259e+02] [ 7.43810875e-02 -9.95289346e-01 6.21817592e-02 1.35472583e+02] [-9.43950411e-01 -5.01613232e-02 3.26253678e-01 1.30987928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0771056809999 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:157.84, Y:135.47, Z:130.99 [[-3.21259121e-01 -8.16272690e-02 -9.43466781e-01 1.57838709e+02] [ 6.51330752e-02 -9.95823484e-01 6.39786775e-02 1.35473607e+02] [-9.44748781e-01 -4.08971591e-02 3.25234012e-01 1.30985534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.1071056809999 meters Centerline goodness : 0.998032 Centerline is valid? [True, True] Translation: X:157.85, Y:135.48, Z:130.99 [[-3.24151759e-01 -6.96842034e-02 -9.43435079e-01 1.57851634e+02] [ 5.96983620e-02 -9.96802367e-01 5.31144653e-02 1.35476093e+02] [-9.44119559e-01 -3.91043815e-02 3.27275274e-01 1.30986232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.1371056809999 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:157.84, Y:135.47, Z:130.97 [[-3.21061688e-01 -6.67851211e-02 -9.44700556e-01 1.57839659e+02] [ 5.32093839e-02 -9.97206891e-01 5.24135273e-02 1.35474405e+02] [-9.45562348e-01 -3.34389591e-02 3.23718522e-01 1.30973935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.1671056809999 meters Centerline goodness : 0.998348 Centerline is valid? [True, True] Translation: X:157.84, Y:135.47, Z:130.97 [[-3.24413026e-01 -6.47505319e-02 -9.43696751e-01 1.57837169e+02] [ 4.61643134e-02 -9.97549322e-01 5.25757289e-02 1.35472899e+02] [-9.44788360e-01 -2.65088612e-02 3.26607158e-01 1.30972478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.1971056809999 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:157.84, Y:135.47, Z:130.97 [[-3.25318193e-01 -5.75368153e-02 -9.43852525e-01 1.57838153e+02] [ 3.73481163e-02 -9.98150097e-01 4.79739736e-02 1.35471587e+02] [-9.44866759e-01 -1.96443075e-02 3.26865278e-01 1.30968659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.2271056809999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:157.76, Y:135.47, Z:130.80 [[-3.60587202e-01 -3.24738137e-02 -9.32160030e-01 1.57763358e+02] [ 1.80664157e-02 -9.99449414e-01 2.78293586e-02 1.35471569e+02] [-9.32550521e-01 -6.80588007e-03 3.60975353e-01 1.30802409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.2571056809999 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:157.85, Y:135.47, Z:130.96 [[-3.29271780e-01 -2.92957621e-02 -9.43780617e-01 1.57851501e+02] [ 3.01927912e-02 -9.99334131e-01 2.04863509e-02 1.35472765e+02] [-9.43752346e-01 -2.17497939e-02 3.29937049e-01 1.30958562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.2871056809999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:157.77, Y:135.46, Z:130.81 [[-3.39557930e-01 -4.60997821e-02 -9.39454747e-01 1.57774917e+02] [ 1.26641956e-02 -9.98931737e-01 4.44409989e-02 1.35461373e+02] [-9.40499883e-01 3.19285494e-03 3.39779010e-01 1.30812062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.31710568099993 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:157.79, Y:135.46, Z:130.82 [[-3.41949673e-01 -2.42544507e-02 -9.39405207e-01 1.57794329e+02] [ 1.62294835e-02 -9.99670187e-01 1.99027902e-02 1.35460235e+02] [-9.39578110e-01 -8.44030869e-03 3.42230531e-01 1.30817233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.3471056809999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:157.86, Y:135.45, Z:130.97 [[-3.43586522e-01 -2.99094880e-02 -9.38644621e-01 1.57855146e+02] [ 2.70324498e-02 -9.99393536e-01 2.19501216e-02 1.35454596e+02] [-9.38731883e-01 -1.78320977e-02 3.44186676e-01 1.30969527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.37710568099993 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:157.78, Y:135.44, Z:130.82 [[-3.47117671e-01 -5.18441610e-02 -9.36387476e-01 1.57777742e+02] [ 1.80308554e-02 -9.98655187e-01 4.86076682e-02 1.35444417e+02] [-9.37648234e-01 -1.12866332e-05 3.47585658e-01 1.30820151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.4071056809999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:157.86, Y:135.45, Z:130.97 [[-3.42563239e-01 -3.27692086e-02 -9.38923110e-01 1.57857479e+02] [ 3.14599693e-02 -9.99231155e-01 2.33959362e-02 1.35445918e+02] [-9.38967889e-01 -2.15239045e-02 3.43330780e-01 1.30972846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43710568099993 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:157.85, Y:135.43, Z:130.98 [[-3.46064103e-01 -5.82740846e-02 -9.36399364e-01 1.57845465e+02] [ 3.65868339e-02 -9.98148227e-01 4.85954883e-02 1.35433168e+02] [-9.37497222e-01 -1.74427339e-02 3.47555335e-01 1.30983739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.4671056809999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:157.83, Y:135.43, Z:130.98 [[-3.46570400e-01 -7.29158978e-02 -9.35185666e-01 1.57827510e+02] [ 3.65903653e-02 -9.97266256e-01 6.41962650e-02 1.35432445e+02] [-9.37310036e-01 -1.19702599e-02 3.48290985e-01 1.30981696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49710568099994 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:157.85, Y:135.44, Z:130.98 [[-3.45877477e-01 -4.32366128e-02 -9.37282970e-01 1.57850208e+02] [ 4.18987748e-02 -9.98652974e-01 3.06060500e-02 1.35436837e+02] [-9.37343727e-01 -2.86850647e-02 3.47223133e-01 1.30982499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5271056809999 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:157.85, Y:135.44, Z:130.99 [[-3.45449554e-01 -6.16071421e-02 -9.36412925e-01 1.57850001e+02] [ 5.16019060e-02 -9.97580145e-01 4.65950492e-02 1.35437570e+02] [-9.37017529e-01 -3.22244527e-02 3.47792662e-01 1.30993687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.55710568099994 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:157.86, Y:135.44, Z:130.99 [[-3.46168208e-01 -4.87371250e-02 -9.36905686e-01 1.57857509e+02] [ 5.30885716e-02 -9.98067175e-01 3.23035172e-02 1.35442403e+02] [-9.36669192e-01 -3.85565340e-02 3.48086510e-01 1.30986539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5871056809999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:157.85, Y:135.44, Z:130.99 [[-3.43532282e-01 -4.77885326e-02 -9.37924212e-01 1.57854987e+02] [ 5.58683985e-02 -9.97975676e-01 3.03853918e-02 1.35444885e+02] [-9.37477623e-01 -4.19619607e-02 3.45506730e-01 1.30987316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.61710568099994 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:157.86, Y:135.45, Z:130.99 [[-3.42930003e-01 -4.11931309e-02 -9.38457319e-01 1.57860095e+02] [ 6.35380359e-02 -9.97767229e-01 2.05785142e-02 1.35449079e+02] [-9.37209652e-01 -5.25707448e-02 3.44781650e-01 1.30993905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6471056809999 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:157.85, Y:135.45, Z:131.00 [[-3.43762293e-01 -5.88217526e-02 -9.37212616e-01 1.57847949e+02] [ 6.43261198e-02 -9.97166940e-01 3.89903123e-02 1.35446742e+02] [-9.36850915e-01 -4.68838519e-02 3.46572169e-01 1.31002972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6771056809999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:157.85, Y:135.45, Z:131.01 [[-3.41374517e-01 -5.51679795e-02 -9.38306950e-01 1.57852583e+02] [ 6.93458729e-02 -9.97033681e-01 3.33914395e-02 1.35451850e+02] [-9.37365771e-01 -5.36687280e-02 3.44187564e-01 1.31006722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7071056809999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:157.85, Y:135.45, Z:131.01 [[-3.39945211e-01 -6.03989064e-02 -9.38503716e-01 1.57853913e+02] [ 7.11437501e-02 -9.96727560e-01 3.83762758e-02 1.35453318e+02] [-9.37750404e-01 -5.37228427e-02 3.43129766e-01 1.31013712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7371056809999 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:157.86, Y:135.46, Z:131.02 [[-3.42894695e-01 -5.87600226e-02 -9.37534260e-01 1.57861357e+02] [ 7.72425627e-02 -9.96425576e-01 3.42002695e-02 1.35458394e+02] [-9.36192723e-01 -6.06904579e-02 3.46207818e-01 1.31015040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7671056809999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:157.87, Y:135.46, Z:131.02 [[-3.41569836e-01 -5.52463839e-02 -9.38231253e-01 1.57866427e+02] [ 7.94869870e-02 -9.96392367e-01 2.97333073e-02 1.35461160e+02] [-9.36489117e-01 -6.44211745e-02 3.44728946e-01 1.31017324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7971056809999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:157.86, Y:135.46, Z:131.02 [[-3.48129509e-01 -6.47595699e-02 -9.35206952e-01 1.57862838e+02] [ 8.27714595e-02 -9.95838205e-01 3.81464939e-02 1.35462603e+02] [-9.33785163e-01 -6.41285241e-02 3.52040910e-01 1.31022104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8271056809999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:157.86, Y:135.46, Z:131.03 [[-3.44290686e-01 -7.26669737e-02 -9.36046705e-01 1.57860778e+02] [ 8.35612760e-02 -9.95415219e-01 4.65408856e-02 1.35462745e+02] [-9.35137122e-01 -6.21936637e-02 3.48784333e-01 1.31025273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8571056809999 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:157.86, Y:135.46, Z:131.03 [[-3.43215110e-01 -7.56774143e-02 -9.36203139e-01 1.57863027e+02] [ 8.28748536e-02 -9.95301218e-01 5.00723814e-02 1.35464771e+02] [-9.35593473e-01 -6.04021002e-02 3.47874172e-01 1.31033365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8871056809999 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:157.87, Y:135.47, Z:131.03 [[-3.42336833e-01 -5.92086241e-02 -9.37709887e-01 1.57872815e+02] [ 8.05998988e-02 -9.96184241e-01 3.34755820e-02 1.35468972e+02] [-9.36113855e-01 -6.41193972e-02 3.45802767e-01 1.31033463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.9171056809999 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:157.88, Y:135.47, Z:131.04 [[-3.44090885e-01 -6.30390533e-02 -9.36817774e-01 1.57877762e+02] [ 8.09247792e-02 -9.96022053e-01 3.72994722e-02 1.35471562e+02] [-9.35442485e-01 -6.29773631e-02 3.47823531e-01 1.31038053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.9471056809999 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:157.88, Y:135.47, Z:131.04 [[-3.41999294e-01 -6.80505896e-02 -9.37232949e-01 1.57875472e+02] [ 7.42899028e-02 -9.96210711e-01 4.52242231e-02 1.35473549e+02] [-9.36759037e-01 -5.41602923e-02 3.45758831e-01 1.31042226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.9771056809999 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:157.87, Y:135.48, Z:131.05 [[-3.40105752e-01 -7.50816738e-02 -9.37385097e-01 1.57865259e+02] [ 6.38926899e-02 -9.96349132e-01 5.66227149e-02 1.35475483e+02] [-9.38214155e-01 -4.06343442e-02 3.43661241e-01 1.31048757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.0071056809999 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:157.90, Y:135.49, Z:131.03 [[-3.45197016e-01 -1.55623025e-02 -9.38401212e-01 1.57897011e+02] [ 6.49205695e-02 -9.97863491e-01 -7.33303971e-03 1.35487186e+02] [-9.36282190e-01 -6.34528845e-02 3.45469813e-01 1.31028472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.0371056809999 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:157.87, Y:135.48, Z:131.04 [[-3.42163871e-01 -5.75213047e-02 -9.37878023e-01 1.57871767e+02] [ 5.94064298e-02 -9.97451990e-01 3.95019448e-02 1.35480812e+02] [-9.37760503e-01 -4.21998466e-02 3.44709169e-01 1.31036192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.06710568099993 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:157.87, Y:135.49, Z:131.03 [[-3.45035808e-01 -4.52142774e-02 -9.37499846e-01 1.57870648e+02] [ 5.22117126e-02 -9.98217003e-01 2.89266714e-02 1.35486884e+02] [-9.37136185e-01 -3.89677350e-02 3.46781325e-01 1.31029834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.0971056809999 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:157.87, Y:135.49, Z:131.03 [[-3.45244649e-01 -4.50869922e-02 -9.37429088e-01 1.57869070e+02] [ 4.75340004e-02 -9.98403451e-01 3.05134006e-02 1.35490342e+02] [-9.37308194e-01 -3.40251664e-02 3.46836614e-01 1.31025805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.12710568099993 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:157.87, Y:135.49, Z:131.02 [[-3.46429240e-01 -4.41020535e-02 -9.37038841e-01 1.57868529e+02] [ 4.37947589e-02 -9.98565457e-01 3.08066228e-02 1.35492344e+02] [-9.37053254e-01 -3.03650752e-02 3.47863712e-01 1.31024524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.1571056809999 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:157.87, Y:135.50, Z:131.02 [[-3.47577609e-01 -3.57197259e-02 -9.36970601e-01 1.57871941e+02] [ 3.75503629e-02 -9.99002758e-01 2.41549087e-02 1.35496913e+02] [-9.36899021e-01 -2.67878807e-02 3.48572278e-01 1.31020655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.18710568099993 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:157.88, Y:135.50, Z:131.02 [[-3.47691742e-01 -2.92940766e-02 -9.37151167e-01 1.57876383e+02] [ 3.71532366e-02 -9.99157245e-01 1.74481086e-02 1.35498154e+02] [-9.36872505e-01 -2.87516358e-02 3.48487093e-01 1.31021940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.2171056809999 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:157.87, Y:135.50, Z:131.03 [[-3.45889085e-01 -3.27766146e-02 -9.37702743e-01 1.57874675e+02] [ 3.58359124e-02 -9.99121961e-01 2.17047296e-02 1.35498837e+02] [-9.37590811e-01 -2.60960043e-02 3.46759961e-01 1.31028311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.24710568099994 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:157.88, Y:135.50, Z:131.02 [[-3.43924564e-01 -2.47635174e-02 -9.38670689e-01 1.57875663e+02] [ 3.28654572e-02 -9.99357153e-01 1.43227656e-02 1.35502221e+02] [-9.38421950e-01 -2.59238904e-02 3.44517338e-01 1.31024331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.2771056809999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:157.88, Y:135.51, Z:131.03 [[-3.44338169e-01 -2.45406518e-02 -9.38524897e-01 1.57877624e+02] [ 3.09109029e-02 -9.99412688e-01 1.47917600e-02 1.35505407e+02] [-9.38336689e-01 -2.39172844e-02 3.44894509e-01 1.31030570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.30710568099994 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:157.88, Y:135.51, Z:131.04 [[-3.46579106e-01 -2.40838211e-02 -9.37711519e-01 1.57882074e+02] [ 3.25806908e-02 -9.99376224e-01 1.36257380e-02 1.35506789e+02] [-9.37454757e-01 -2.58288929e-02 3.47147586e-01 1.31035241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3371056809999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:157.88, Y:135.51, Z:131.05 [[-3.45766748e-01 -3.45132003e-02 -9.37685552e-01 1.57884010e+02] [ 3.25998484e-02 -9.99161871e-01 2.47549194e-02 1.35508814e+02] [-9.37754022e-01 -2.20089788e-02 3.46602076e-01 1.31051457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.36710568099994 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:157.88, Y:135.51, Z:131.04 [[-3.49280624e-01 -2.94253738e-02 -9.36556028e-01 1.57882566e+02] [ 3.46962155e-02 -9.99227499e-01 1.84547708e-02 1.35509250e+02] [-9.36375576e-01 -2.60490559e-02 3.50031753e-01 1.31035899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3971056809999 meters Centerline goodness : 0.998587 Centerline is valid? [True, True] Translation: X:157.88, Y:135.51, Z:131.04 [[-3.50502429e-01 -4.02433668e-02 -9.35696809e-01 1.57880453e+02] [ 4.32260110e-02 -9.98706835e-01 2.67613434e-02 1.35507175e+02] [-9.35563765e-01 -3.10665247e-02 3.51788732e-01 1.31042686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4271056809999 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:157.89, Y:135.51, Z:131.05 [[-3.52935951e-01 -3.11354721e-02 -9.35129294e-01 1.57887226e+02] [ 4.80369909e-02 -9.98731066e-01 1.51230234e-02 1.35508536e+02] [-9.34413539e-01 -3.95833387e-02 3.53983753e-01 1.31045025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4571056809999 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:157.89, Y:135.51, Z:131.06 [[-3.49980021e-01 -3.71729956e-02 -9.36019312e-01 1.57890024e+02] [ 6.44029310e-02 -9.97802875e-01 1.55462419e-02 1.35506286e+02] [-9.34540661e-01 -5.48415131e-02 3.51605121e-01 1.31057574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4871056809999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:157.89, Y:135.51, Z:131.06 [[-3.51617264e-01 -3.38795189e-02 -9.35530586e-01 1.57891625e+02] [ 6.74647258e-02 -9.97663496e-01 1.07731347e-02 1.35505778e+02] [-9.33709704e-01 -5.93272943e-02 3.53081381e-01 1.31059072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5171056809999 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:157.90, Y:135.51, Z:131.07 [[-3.49225901e-01 -2.56474612e-02 -9.36687503e-01 1.57899785e+02] [ 7.59595213e-02 -9.97110382e-01 -1.01814356e-03 1.35507513e+02] [-9.33954721e-01 -7.15058964e-02 3.50164940e-01 1.31068186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5471056809999 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:157.90, Y:135.51, Z:131.07 [[-3.44581072e-01 -2.92886932e-02 -9.38299556e-01 1.57898626e+02] [ 7.66925542e-02 -9.97050401e-01 2.95801137e-03 1.35511310e+02] [-9.35618585e-01 -7.09413148e-02 3.45810921e-01 1.31067503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5771056809999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:157.90, Y:135.52, Z:131.06 [[-3.47845455e-01 -1.93476158e-02 -9.37352233e-01 1.57902809e+02] [ 7.53608151e-02 -9.97128987e-01 -7.38446895e-03 1.35516594e+02] [-9.34518211e-01 -7.32082823e-02 3.48304839e-01 1.31064741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.6071056809999 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:157.90, Y:135.52, Z:131.06 [[-3.43370497e-01 -2.13841475e-02 -9.38956559e-01 1.57901784e+02] [ 7.30429555e-02 -9.97320782e-01 -3.99799236e-03 1.35524569e+02] [-9.36355397e-01 -6.99569548e-02 3.44012494e-01 1.31063843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.6371056809999 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:157.90, Y:135.53, Z:131.07 [[-3.45780413e-01 -1.49908608e-02 -9.38195705e-01 1.57904286e+02] [ 7.06530552e-02 -9.97449794e-01 -1.01021690e-02 1.35529999e+02] [-9.35651672e-01 -6.97795251e-02 3.45957752e-01 1.31065230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.6671056809999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:157.90, Y:135.54, Z:131.06 [[-3.45484653e-01 -1.58903292e-02 -9.38289855e-01 1.57903093e+02] [ 6.81459842e-02 -9.97641692e-01 -8.19633373e-03 1.35540832e+02] [-9.35946836e-01 -6.67723931e-02 3.45752755e-01 1.31063683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.6971056809999 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:157.90, Y:135.55, Z:131.05 [[-3.52890110e-01 -4.18050344e-03 -9.35655435e-01 1.57902690e+02] [ 6.05944990e-02 -9.97992957e-01 -1.83946844e-02 1.35553227e+02] [-9.33700636e-01 -6.31868745e-02 3.52435160e-01 1.31048752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.7271056809999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:157.81, Y:135.56, Z:130.82 [[-3.54415700e-01 -1.08909372e-02 -9.35024545e-01 1.57809234e+02] [ 6.15985820e-02 -9.98032148e-01 -1.17237555e-02 1.35559333e+02] [-9.33056872e-01 -6.17512691e-02 3.54389129e-01 1.30822019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.7571056809999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:157.80, Y:135.57, Z:130.82 [[-3.52568587e-01 -2.35821215e-02 -9.35488789e-01 1.57802202e+02] [ 6.49899376e-02 -9.97885700e-01 6.61527282e-04 1.35570304e+02] [-9.33526486e-01 -6.05641243e-02 3.53355752e-01 1.30819266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.7871056809999 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:157.79, Y:135.57, Z:130.81 [[-3.56032213e-01 -2.96333111e-02 -9.34003710e-01 1.57794463e+02] [ 6.41731442e-02 -9.97912814e-01 7.19885178e-03 1.35574697e+02] [-9.32267596e-01 -5.73749317e-02 3.57190770e-01 1.30808895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.81710568099993 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:157.79, Y:135.59, Z:130.80 [[-3.61202406e-01 -2.98513645e-02 -9.32009505e-01 1.57789612e+02] [ 6.23685456e-02 -9.98022749e-01 7.79463308e-03 1.35585218e+02] [-9.30399369e-01 -5.53126371e-02 3.62350005e-01 1.30795188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.8471056809999 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:157.79, Y:135.59, Z:130.80 [[-3.62863805e-01 -3.02222868e-02 -9.31351960e-01 1.57791235e+02] [ 5.98984012e-02 -9.98163423e-01 9.05331159e-03 1.35594831e+02] [-9.29915072e-01 -5.25013743e-02 3.64007644e-01 1.30801823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.87710568099993 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:157.79, Y:135.60, Z:130.81 [[-3.83790294e-01 -1.59777705e-02 -9.23282038e-01 1.57789374e+02] [ 6.01167380e-02 -9.98161532e-01 -7.71576219e-03 1.35601799e+02] [-9.21461333e-01 -5.84659390e-02 3.84045240e-01 1.30806096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.9071056809999 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:157.79, Y:135.60, Z:130.83 [[-3.65596528e-01 -3.98644679e-02 -9.29919353e-01 1.57792822e+02] [ 5.09433248e-02 -9.98441856e-01 2.27736422e-02 1.35602211e+02] [-9.29378264e-01 -3.90472191e-02 3.67057704e-01 1.30829587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.93710568099993 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:157.74, Y:135.61, Z:130.67 [[-3.62049914e-01 -2.43866122e-02 -9.31839661e-01 1.57736618e+02] [ 5.27652625e-02 -9.98591058e-01 5.63250778e-03 1.35611156e+02] [-9.30664111e-01 -4.71295153e-02 3.62826573e-01 1.30667612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.9671056809999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:157.72, Y:135.62, Z:130.62 [[-3.58837597e-01 -2.37781874e-02 -9.33097089e-01 1.57715003e+02] [ 4.62734891e-02 -9.98899440e-01 7.65981430e-03 1.35619280e+02] [-9.32252296e-01 -4.04290286e-02 3.59542975e-01 1.30619722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.99710568099994 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:157.80, Y:135.62, Z:130.83 [[-3.59734535e-01 -1.73432785e-02 -9.32893496e-01 1.57800029e+02] [ 3.99002995e-02 -9.99198574e-01 3.18992839e-03 1.35621560e+02] [-9.32201175e-01 -3.60752025e-02 3.60138236e-01 1.30832585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0271056809999 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:157.80, Y:135.63, Z:130.85 [[-3.76176596e-01 -3.84975945e-03 -9.26539987e-01 1.57803633e+02] [ 3.10973568e-02 -9.99480449e-01 -8.47274657e-03 1.35630987e+02] [-9.26025984e-01 -3.20001935e-02 3.76100870e-01 1.30854439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.05710568099994 meters Centerline goodness : 0.998642 Centerline is valid? [True, True] Translation: X:157.80, Y:135.63, Z:130.87 [[-3.75785767e-01 -1.84961723e-02 -9.26521964e-01 1.57802462e+02] [ 2.52703737e-02 -9.99633530e-01 9.70635086e-03 1.35631551e+02] [-9.26361952e-01 -1.97660478e-02 3.76115458e-01 1.30872110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0871056809999 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:157.81, Y:135.64, Z:130.89 [[-3.76185474e-01 -1.33426857e-02 -9.26448305e-01 1.57811005e+02] [ 1.61260117e-02 -9.99839139e-01 7.85167182e-03 1.35640025e+02] [-9.26404038e-01 -1.19862314e-02 3.76340125e-01 1.30885272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.11710568099994 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:157.81, Y:135.65, Z:130.88 [[-3.77153046e-01 -9.54442324e-03 -9.26101768e-01 1.57810587e+02] [ 1.04978286e-02 -9.99926714e-01 6.03004542e-03 1.35646274e+02] [-9.26091451e-01 -7.44780765e-03 3.77225602e-01 1.30881908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1471056809999 meters Centerline goodness : 0.997880 Centerline is valid? [True, True] Translation: X:157.81, Y:135.64, Z:130.88 [[-3.59205289e-01 -1.94909144e-02 -9.33055017e-01 1.57813025e+02] [ 6.26259252e-03 -9.99809720e-01 1.84744190e-02 1.35644442e+02] [-9.33237558e-01 7.92765633e-04 3.59259003e-01 1.30875931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1771056809999 meters Centerline goodness : 0.998045 Centerline is valid? [True, True] Translation: X:157.82, Y:135.65, Z:130.87 [[-3.76873452e-01 1.21183542e-02 -9.26185482e-01 1.57815643e+02] [ 1.57315243e-02 -9.99686449e-01 -1.94813552e-02 1.35653063e+02] [-9.26131157e-01 -2.19123150e-02 3.76564643e-01 1.30872801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2071056809999 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:157.81, Y:135.65, Z:130.88 [[-3.74783625e-01 -9.69911507e-03 -9.27061574e-01 1.57808054e+02] [ 2.05662947e-02 -9.99786189e-01 2.14562967e-03 1.35649107e+02] [-9.26884169e-01 -1.82620746e-02 3.74902967e-01 1.30878349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2371056809999 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:157.81, Y:135.64, Z:130.86 [[-3.50908837e-01 -2.37159473e-02 -9.36109257e-01 1.57806622e+02] [ 2.87888365e-02 -9.99479911e-01 1.45296670e-02 1.35644451e+02] [-9.35966982e-01 -2.18509078e-02 3.51409088e-01 1.30861427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2671056809999 meters Centerline goodness : 0.997928 Centerline is valid? [True, True] Translation: X:157.81, Y:135.65, Z:130.86 [[-3.49937837e-01 -7.42880079e-03 -9.36743467e-01 1.57814531e+02] [ 3.54470882e-02 -9.99357413e-01 -5.31655722e-03 1.35647351e+02] [-9.36102032e-01 -3.50652929e-02 3.49976301e-01 1.30857229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2971056809999 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:157.80, Y:135.64, Z:130.82 [[-3.58669043e-01 -6.40365299e-03 -9.33442827e-01 1.57802964e+02] [ 4.27477550e-02 -9.99040044e-01 -9.57186698e-03 1.35644636e+02] [-9.32485468e-01 -4.33357176e-02 3.58598478e-01 1.30820069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3271056809999 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:157.80, Y:135.65, Z:130.84 [[-3.79981452e-01 5.02416731e-04 -9.24993970e-01 1.57801857e+02] [ 4.84926523e-02 -9.98613906e-01 -2.04628672e-02 1.35645887e+02] [-9.23722122e-01 -5.26309209e-02 3.79430399e-01 1.30835460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3571056809999 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:157.78, Y:135.64, Z:130.81 [[-3.58847718e-01 -2.44130893e-02 -9.33076801e-01 1.57784903e+02] [ 4.73183054e-02 -9.98848336e-01 7.93601095e-03 1.35635520e+02] [-9.32195952e-01 -4.13037936e-02 3.59589632e-01 1.30805744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3871056809999 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:157.80, Y:135.64, Z:130.83 [[-3.78425327e-01 7.19367979e-04 -9.25631543e-01 1.57795248e+02] [ 5.38194389e-02 -9.98290837e-01 -2.27788016e-02 1.35640911e+02] [-9.24065874e-01 -5.84370457e-02 3.77739821e-01 1.30827547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.4171056809999 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:157.79, Y:135.63, Z:130.81 [[-3.57802767e-01 -3.00741537e-02 -9.33312769e-01 1.57785762e+02] [ 5.41683346e-02 -9.98466658e-01 1.14071725e-02 1.35633285e+02] [-9.32224743e-01 -4.64744804e-02 3.58883200e-01 1.30809802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.4471056809999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:157.79, Y:135.64, Z:130.81 [[-3.56359633e-01 -1.38916597e-02 -9.34245596e-01 1.57793899e+02] [ 6.00190214e-02 -9.98164760e-01 -8.05162082e-03 1.35637329e+02] [-9.32419181e-01 -5.89417790e-02 3.56539392e-01 1.30805434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.4771056809999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:157.80, Y:135.64, Z:130.81 [[-3.60686623e-01 -1.07717019e-02 -9.32624861e-01 1.57798333e+02] [ 6.08135451e-02 -9.98077109e-01 -1.19915773e-02 1.35638851e+02] [-9.30702355e-01 -6.10414255e-02 3.60648127e-01 1.30811123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.5071056809999 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:157.80, Y:135.64, Z:130.82 [[-3.80575513e-01 -1.68460926e-03 -9.24748312e-01 1.57796275e+02] [ 6.68069774e-02 -9.97435470e-01 -2.56770522e-02 1.35642437e+02] [-9.22333512e-01 -7.15516969e-02 3.79712059e-01 1.30816266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.5371056809999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:157.78, Y:135.64, Z:130.79 [[-3.56089248e-01 -2.62858857e-02 -9.34082170e-01 1.57784993e+02] [ 6.31207898e-02 -9.97997791e-01 4.02172462e-03 1.35638549e+02] [-9.32317657e-01 -5.75279114e-02 3.57035469e-01 1.30792086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.56710568099993 meters Centerline goodness : 0.998390 Centerline is valid? [True, True] Translation: X:157.80, Y:135.65, Z:130.80 [[-3.59468387e-01 -5.09069458e-03 -9.33143378e-01 1.57800989e+02] [ 6.25816805e-02 -9.97865313e-01 -1.86641289e-02 1.35648138e+02] [-9.31056396e-01 -6.51068451e-02 3.59019619e-01 1.30799117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.5971056809999 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:157.73, Y:135.65, Z:130.62 [[-3.56200695e-01 -1.14195507e-02 -9.34339691e-01 1.57728025e+02] [ 6.17817574e-02 -9.98025086e-01 -1.13552993e-02 1.35649524e+02] [-9.32364778e-01 -6.17699136e-02 3.56202749e-01 1.30616354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.62710568099993 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:157.79, Y:135.65, Z:130.80 [[-3.43108220e-01 -1.72457245e-02 -9.39137548e-01 1.57794279e+02] [ 6.22132449e-02 -9.98053174e-01 -4.40161897e-03 1.35653626e+02] [-9.37233302e-01 -5.99370259e-02 3.43513161e-01 1.30796293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.6571056809999 meters Centerline goodness : 0.998373 Centerline is valid? [True, True] Translation: X:157.81, Y:135.66, Z:130.81 [[-3.50825286e-01 1.35276472e-03 -9.36439955e-01 1.57806922e+02] [ 6.16838880e-02 -9.97793752e-01 -2.45504773e-02 1.35658411e+02] [-9.34407147e-01 -6.63761855e-02 3.49967834e-01 1.30810018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.68710568099993 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:157.79, Y:135.66, Z:130.80 [[-3.52756560e-01 -1.43424084e-02 -9.35605208e-01 1.57793857e+02] [ 5.80529621e-02 -9.98291789e-01 -6.58467335e-03 1.35658009e+02] [-9.33912557e-01 -5.66374404e-02 3.52986596e-01 1.30802448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.7171056809999 meters Centerline goodness : 0.998047 Centerline is valid? [True, True] Translation: X:157.80, Y:135.67, Z:130.81 [[-3.80774133e-01 1.41570832e-02 -9.24559699e-01 1.57800562e+02] [ 5.47485286e-02 -9.97783434e-01 -3.78261422e-02 1.35667292e+02] [-9.23045859e-01 -6.50214996e-02 3.79155043e-01 1.30814609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.74710568099994 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:157.80, Y:135.66, Z:130.83 [[-3.59057974e-01 -2.55840657e-02 -9.32964537e-01 1.57797810e+02] [ 5.05392308e-02 -9.98690545e-01 7.93604736e-03 1.35660920e+02] [-9.31945898e-01 -4.43018090e-02 3.59880803e-01 1.30830938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.7771056809999 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:157.80, Y:135.67, Z:130.83 [[-3.57276916e-01 -1.12520229e-02 -9.33930724e-01 1.57802739e+02] [ 4.52523409e-02 -9.98961656e-01 -5.27584894e-03 1.35667843e+02] [-9.32901619e-01 -4.41474905e-02 3.57415121e-01 1.30827817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.80710568099994 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:157.81, Y:135.67, Z:130.83 [[-3.54609790e-01 -5.99536310e-03 -9.34995162e-01 1.57805824e+02] [ 4.37292526e-02 -9.98991560e-01 -1.01792013e-02 1.35670684e+02] [-9.33991247e-01 -4.44962840e-02 3.54514360e-01 1.30829382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8371056809999 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:157.70, Y:135.67, Z:130.61 [[-3.72394806e-01 -6.85576008e-03 -9.28049087e-01 1.57703247e+02] [ 4.06794566e-02 -9.99132231e-01 -8.94242298e-03 1.35671778e+02] [-9.27182447e-01 -4.10826444e-02 3.72350542e-01 1.30606323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.86710568099994 meters Centerline goodness : 0.997245 Centerline is valid? [True, True] Translation: X:157.80, Y:135.67, Z:130.83 [[-3.55331821e-01 -5.87648438e-03 -9.34721758e-01 1.57802637e+02] [ 4.06695778e-02 -9.99130488e-01 -9.17901007e-03 1.35672472e+02] [-9.33855065e-01 -4.12763336e-02 3.55261849e-01 1.30832785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8971056809999 meters Centerline goodness : 0.997467 Centerline is valid? [True, True] Translation: X:157.72, Y:135.68, Z:130.61 [[-3.60757792e-01 1.61823980e-03 -9.32658135e-01 1.57723526e+02] [ 4.80148797e-02 -9.98640211e-01 -2.03051693e-02 1.35679237e+02] [-9.31422776e-01 -5.21067162e-02 3.60189538e-01 1.30612316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9271056809999 meters Centerline goodness : 0.997829 Centerline is valid? [True, True] Translation: X:157.80, Y:135.68, Z:130.82 [[-3.52395785e-01 -1.85631688e-02 -9.35666939e-01 1.57800105e+02] [ 5.96024471e-02 -9.98218693e-01 -2.64362120e-03 1.35680017e+02] [-9.33951155e-01 -5.66996402e-02 3.52874470e-01 1.30816417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9571056809999 meters Centerline goodness : 0.997606 Centerline is valid? [True, True] Translation: X:157.79, Y:135.68, Z:130.80 [[-3.48929825e-01 -2.47177327e-02 -9.36822828e-01 1.57791409e+02] [ 7.00614313e-02 -9.97542653e-01 2.24663281e-04 1.35680821e+02] [-9.34526283e-01 -6.55567564e-02 3.49804144e-01 1.30802039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9871056809999 meters Centerline goodness : 0.997607 Centerline is valid? [True, True] Translation: X:157.78, Y:135.68, Z:130.79 [[-3.81484861e-01 -5.84847734e-03 -9.24356585e-01 1.57779288e+02] [ 7.32808330e-02 -9.97024090e-01 -2.39349792e-02 1.35684696e+02] [-9.21465800e-01 -7.68684528e-02 3.80778178e-01 1.30787389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0171056809999 meters Centerline goodness : 0.997483 Centerline is valid? [True, True] Translation: X:157.77, Y:135.69, Z:130.78 [[-3.79585970e-01 -2.75075976e-02 -9.24747438e-01 1.57769026e+02] [ 7.90175495e-02 -9.96869344e-01 -2.78181078e-03 1.35685330e+02] [-9.21775850e-01 -7.41272127e-02 3.80571200e-01 1.30777820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0471056809999 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:157.79, Y:135.69, Z:130.80 [[-3.43303497e-01 -4.79839555e-02 -9.37998001e-01 1.57786401e+02] [ 8.15569866e-02 -9.96444791e-01 2.11243135e-02 1.35685045e+02] [-9.35676850e-01 -6.92482397e-02 3.45996408e-01 1.30799774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0771056809999 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:157.79, Y:135.69, Z:130.79 [[-3.45142524e-01 -2.71566604e-02 -9.38157319e-01 1.57792829e+02] [ 8.30835834e-02 -9.96541099e-01 -1.71927393e-03 1.35689187e+02] [-9.34865636e-01 -7.85388664e-02 3.46204982e-01 1.30794111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.1071056809999 meters Centerline goodness : 0.996999 Centerline is valid? [True, True] Translation: X:157.80, Y:135.69, Z:130.80 [[-3.47321861e-01 -2.83888569e-02 -9.37316168e-01 1.57795948e+02] [ 8.09615430e-02 -9.96717208e-01 1.87715112e-04 1.35693273e+02] [-9.34244483e-01 -7.58213657e-02 3.48480081e-01 1.30796483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.1371056809999 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:157.78, Y:135.70, Z:130.77 [[-3.83357832e-01 -1.01867581e-02 -9.23543720e-01 1.57776640e+02] [ 7.79078305e-02 -9.96732039e-01 -2.13450737e-02 1.35698709e+02] [-9.20308178e-01 -8.01340887e-02 3.82898662e-01 1.30770073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.1671056809999 meters Centerline goodness : 0.996286 Centerline is valid? [True, True] Translation: X:157.77, Y:135.70, Z:130.78 [[-3.81087697e-01 -2.83632417e-02 -9.24103725e-01 1.57773014e+02] [ 7.09626445e-02 -9.97478059e-01 1.35127746e-03 1.35700665e+02] [-9.21811516e-01 -6.50618889e-02 3.82139347e-01 1.30780261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.1971056809999 meters Centerline goodness : 0.996604 Centerline is valid? [True, True] Translation: X:157.79, Y:135.70, Z:130.80 [[-3.44601989e-01 -4.57794090e-02 -9.37631972e-01 1.57788836e+02] [ 6.47851336e-02 -9.97588613e-01 2.48966886e-02 1.35699192e+02] [-9.36510734e-01 -5.21651641e-02 3.46736846e-01 1.30796712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.2271056809999 meters Centerline goodness : 0.995263 Centerline is valid? [True, True] Translation: X:157.78, Y:135.71, Z:130.78 [[-3.81947373e-01 1.05809838e-03 -9.24183469e-01 1.57783189e+02] [ 5.62036367e-02 -9.98121848e-01 -2.43706399e-02 1.35712060e+02] [-9.22473498e-01 -6.12507739e-02 3.81170549e-01 1.30782076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.2571056809999 meters Centerline goodness : 0.995341 Centerline is valid? [True, True] Translation: X:157.80, Y:135.71, Z:130.82 [[-3.40936100e-01 -4.50018671e-02 -9.39008737e-01 1.57798793e+02] [ 4.82417988e-02 -9.98375050e-01 3.03313158e-02 1.35707057e+02] [-9.38847860e-01 -3.49584301e-02 3.42553067e-01 1.30823508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.2871056809999 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:157.79, Y:135.72, Z:130.81 [[-3.80995541e-01 4.48389864e-03 -9.24566002e-01 1.57793195e+02] [ 4.50647238e-02 -9.98709651e-01 -2.34137656e-02 1.35717647e+02] [-9.23477974e-01 -5.05858518e-02 3.80301858e-01 1.30807650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.31710568099993 meters Centerline goodness : 0.994981 Centerline is valid? [True, True] Translation: X:157.78, Y:135.72, Z:130.80 [[-3.81458899e-01 -2.16367953e-02 -9.24132543e-01 1.57783017e+02] [ 4.53952373e-02 -9.98958279e-01 4.65067336e-03 1.35715085e+02] [-9.23270481e-01 -4.01771753e-02 3.82043733e-01 1.30803219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.3471056809999 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:157.78, Y:135.72, Z:130.80 [[-3.81222189e-01 -2.28559580e-02 -9.24200870e-01 1.57782241e+02] [ 4.67487970e-02 -9.98891974e-01 5.41976797e-03 1.35715487e+02] [-9.23300705e-01 -4.11391430e-02 3.81868274e-01 1.30800816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.37710568099993 meters Centerline goodness : 0.995243 Centerline is valid? [True, True] Translation: X:157.78, Y:135.72, Z:130.79 [[-3.81533210e-01 -2.53872500e-02 -9.24006438e-01 1.57776783e+02] [ 5.14593844e-02 -9.98655904e-01 6.19006831e-03 1.35715503e+02] [-9.22921633e-01 -4.51870858e-02 3.82326805e-01 1.30793319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.4071056809999 meters Centerline goodness : 0.995087 Centerline is valid? [True, True] Translation: X:157.77, Y:135.72, Z:130.78 [[-3.82286645e-01 -2.78275415e-02 -9.23624680e-01 1.57770700e+02] [ 5.58567081e-02 -9.98414523e-01 6.96186246e-03 1.35715501e+02] [-9.22354026e-01 -4.89292071e-02 3.83234893e-01 1.30781428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.43710568099993 meters Centerline goodness : 0.995671 Centerline is valid? [True, True] Translation: X:157.78, Y:135.71, Z:130.79 [[-3.39298932e-01 -5.95348831e-02 -9.38792753e-01 1.57784426e+02] [ 6.70843728e-02 -9.96985596e-01 3.89795987e-02 1.35711942e+02] [-9.38283497e-01 -4.97525868e-02 3.42270008e-01 1.30788606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.4671056809999 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:157.80, Y:135.72, Z:130.78 [[-3.31881533e-01 -3.26130798e-02 -9.42757145e-01 1.57795997e+02] [ 7.10880187e-02 -9.97425007e-01 9.47890005e-03 1.35719855e+02] [-9.40638688e-01 -6.38728657e-02 3.33345339e-01 1.30783106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.49710568099994 meters Centerline goodness : 0.994994 Centerline is valid? [True, True] Translation: X:157.77, Y:135.73, Z:130.75 [[-3.85387803e-01 -1.07257716e-02 -9.22692364e-01 1.57769093e+02] [ 7.34299568e-02 -9.97117861e-01 -1.90791124e-02 1.35726149e+02] [-9.19828398e-01 -7.51061177e-02 3.85064655e-01 1.30753173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5271056809999 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:157.76, Y:135.73, Z:130.75 [[-3.82719739e-01 -3.93266913e-02 -9.23027092e-01 1.57758596e+02] [ 7.80305049e-02 -9.96899608e-01 1.01199074e-02 1.35725096e+02] [-9.20563329e-01 -6.81511817e-02 3.84601839e-01 1.30754074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.55710568099994 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:157.78, Y:135.72, Z:130.77 [[-3.40935659e-01 -6.47353830e-02 -9.37855110e-01 1.57777326e+02] [ 8.15718348e-02 -9.95900664e-01 3.90884084e-02 1.35723311e+02] [-9.36540929e-01 -6.31759297e-02 3.44818633e-01 1.30773048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5871056809999 meters Centerline goodness : 0.994995 Centerline is valid? [True, True] Translation: X:157.79, Y:135.73, Z:130.78 [[-3.30711396e-01 -4.57671803e-02 -9.42621524e-01 1.57786034e+02] [ 8.16132498e-02 -9.96468406e-01 1.97482414e-02 1.35731896e+02] [-9.40196389e-01 -7.03994375e-02 3.33278666e-01 1.30776820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.61710568099994 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:157.76, Y:135.74, Z:130.73 [[-3.85484459e-01 -1.34116603e-02 -9.22616854e-01 1.57759122e+02] [ 8.17093242e-02 -9.96462389e-01 -1.96543770e-02 1.35739230e+02] [-9.19089396e-01 -8.29628565e-02 3.85216622e-01 1.30733375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6471056809999 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:157.78, Y:135.73, Z:130.78 [[-3.23446486e-01 -7.09718153e-02 -9.43581142e-01 1.57779847e+02] [ 7.81443560e-02 -9.95780483e-01 4.81112108e-02 1.35733796e+02] [-9.43014226e-01 -5.81741387e-02 3.27627745e-01 1.30783867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6771056809999 meters Centerline goodness : 0.994628 Centerline is valid? [True, True] Translation: X:157.79, Y:135.74, Z:130.78 [[-3.41036650e-01 -3.21173483e-02 -9.39501186e-01 1.57788810e+02] [ 8.33626024e-02 -9.96512013e-01 3.80587140e-03 1.35743364e+02] [-9.36346453e-01 -7.70213222e-02 3.42524505e-01 1.30777926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7071056809999 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:157.78, Y:135.74, Z:130.78 [[-3.38821386e-01 -5.20357144e-02 -9.39410641e-01 1.57780709e+02] [ 8.04320149e-02 -9.96416133e-01 2.61835852e-02 1.35743060e+02] [-9.37406401e-01 -6.66871321e-02 3.41792432e-01 1.30777968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7371056809999 meters Centerline goodness : 0.994202 Centerline is valid? [True, True] Translation: X:157.74, Y:135.75, Z:130.70 [[-3.83279507e-01 -2.27025842e-02 -9.23353352e-01 1.57738960e+02] [ 7.85186162e-02 -9.96879884e-01 -8.08230882e-03 1.35752035e+02] [-9.20288893e-01 -7.55982108e-02 3.83866206e-01 1.30696000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7671056809999 meters Centerline goodness : 0.994230 Centerline is valid? [True, True] Translation: X:157.75, Y:135.75, Z:130.73 [[-3.79871277e-01 -4.54114104e-02 -9.23924032e-01 1.57746855e+02] [ 7.73932445e-02 -9.96852688e-01 1.71756717e-02 1.35753671e+02] [-9.21796126e-01 -6.49809342e-02 3.82190240e-01 1.30733602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7971056809999 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:157.74, Y:135.76, Z:130.71 [[-3.76453526e-01 -5.08719912e-02 -9.25037720e-01 1.57735075e+02] [ 7.20284081e-02 -9.97076019e-01 2.55210071e-02 1.35757929e+02] [-9.23631231e-01 -5.70215213e-02 3.79017011e-01 1.30706132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8271056809999 meters Centerline goodness : 0.994429 Centerline is valid? [True, True] Translation: X:157.78, Y:135.76, Z:130.78 [[-3.30905460e-01 -6.58708143e-02 -9.41362105e-01 1.57783443e+02] [ 7.11289301e-02 -9.96463993e-01 4.47234312e-02 1.35758391e+02] [-9.40979411e-01 -5.21588518e-02 3.34420696e-01 1.30783027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8571056809999 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:157.74, Y:135.77, Z:130.69 [[-3.78453700e-01 -2.23261318e-02 -9.25350929e-01 1.57738028e+02] [ 6.58017685e-02 -9.97828682e-01 -2.83705135e-03 1.35773169e+02] [-9.23278357e-01 -6.19634202e-02 3.79101055e-01 1.30686294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8871056809999 meters Centerline goodness : 0.994856 Centerline is valid? [True, True] Translation: X:157.79, Y:135.77, Z:130.79 [[-3.31671358e-01 -6.55235700e-02 -9.41116769e-01 1.57792487e+02] [ 6.09779607e-02 -9.96987979e-01 4.79234566e-02 1.35770290e+02] [-9.41422221e-01 -4.14925434e-02 3.34667850e-01 1.30794870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.9171056809999 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:157.80, Y:135.78, Z:130.79 [[-3.35357359e-01 -3.85221804e-02 -9.41303077e-01 1.57799054e+02] [ 6.02359005e-02 -9.97995977e-01 1.93820981e-02 1.35778157e+02] [-9.40163325e-01 -5.02003092e-02 3.37005714e-01 1.30790841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.9471056809999 meters Centerline goodness : 0.995961 Centerline is valid? [True, True] Translation: X:157.80, Y:135.78, Z:130.80 [[-3.32266655e-01 -4.77635412e-02 -9.41975326e-01 1.57797108e+02] [ 5.52207627e-02 -9.97988913e-01 3.11255143e-02 1.35781583e+02] [-9.41567596e-01 -4.16746254e-02 3.34235977e-01 1.30797068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.9771056809999 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:157.80, Y:135.79, Z:130.79 [[-3.34420779e-01 -4.37383501e-02 -9.41408360e-01 1.57795424e+02] [ 5.09781199e-02 -9.98299507e-01 2.82723544e-02 1.35785347e+02] [-9.41044087e-01 -3.85363655e-02 3.36081797e-01 1.30787841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.0071056809999 meters Centerline goodness : 0.996600 Centerline is valid? [True, True] Translation: X:157.80, Y:135.79, Z:130.80 [[-3.33961220e-01 -4.28955515e-02 -9.41610257e-01 1.57798795e+02] [ 4.45109702e-02 -9.98567210e-01 2.97035351e-02 1.35790665e+02] [-9.41535277e-01 -3.19921572e-02 3.35392046e-01 1.30799858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.0371056809999 meters Centerline goodness : 0.996462 Centerline is valid? [True, True] Translation: X:157.80, Y:135.79, Z:130.80 [[-3.35112405e-01 -3.91245177e-02 -9.41365470e-01 1.57798568e+02] [ 4.31703938e-02 -9.98725685e-01 2.61404598e-02 1.35793172e+02] [-9.41188607e-01 -3.18791257e-02 3.36374387e-01 1.30798860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.06710568099993 meters Centerline goodness : 0.997014 Centerline is valid? [True, True] Translation: X:157.80, Y:135.80, Z:130.81 [[-3.37928666e-01 -3.70509827e-02 -9.40442152e-01 1.57796830e+02] [ 4.05223364e-02 -9.98871010e-01 2.47920548e-02 1.35795884e+02] [-9.40298972e-01 -2.97309672e-02 3.39048540e-01 1.30806008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.0971056809999 meters Centerline goodness : 0.996756 Centerline is valid? [True, True] Translation: X:157.72, Y:135.80, Z:130.66 [[-3.85741577e-01 -1.60564992e-02 -9.22467140e-01 1.57722812e+02] [ 3.62107826e-02 -9.99341636e-01 2.25257215e-03 1.35801445e+02] [-9.21895989e-01 -3.25343463e-02 3.86069037e-01 1.30657972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.12710568099993 meters Centerline goodness : 0.997735 Centerline is valid? [True, True] Translation: X:157.79, Y:135.79, Z:130.79 [[-3.41774473e-01 -6.00428044e-02 -9.37861968e-01 1.57785407e+02] [ 4.10900663e-02 -9.97957321e-01 4.89161753e-02 1.35794034e+02] [-9.38883281e-01 -2.18185104e-02 3.43543500e-01 1.30794021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.1571056809999 meters Centerline goodness : 0.996846 Centerline is valid? [True, True] Translation: X:157.79, Y:135.80, Z:130.79 [[-3.43640199e-01 -4.31964913e-02 -9.38107391e-01 1.57787491e+02] [ 4.08255655e-02 -9.98684312e-01 3.10309385e-02 1.35796637e+02] [-9.38213562e-01 -2.76352869e-02 3.44951596e-01 1.30787636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.18710568099993 meters Centerline goodness : 0.996967 Centerline is valid? [True, True] Translation: X:157.76, Y:135.80, Z:130.75 [[-3.82356878e-01 -1.54059655e-02 -9.23886289e-01 1.57762424e+02] [ 4.04378276e-02 -9.99182054e-01 -7.39455329e-05 1.35802435e+02] [-9.23129460e-01 -3.73882280e-02 3.82667114e-01 1.30753159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.2171056809999 meters Centerline goodness : 0.997221 Centerline is valid? [True, True] Translation: X:157.76, Y:135.80, Z:130.76 [[-3.79730864e-01 -4.39250967e-02 -9.24053601e-01 1.57759051e+02] [ 3.83585005e-02 -9.98760679e-01 3.17132608e-02 1.35798943e+02] [-9.24301410e-01 -2.34028066e-02 3.80945156e-01 1.30764636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.24710568099994 meters Centerline goodness : 0.997261 Centerline is valid? [True, True] Translation: X:157.74, Y:135.80, Z:130.71 [[-3.76646539e-01 -4.27060175e-02 -9.25372131e-01 1.57738877e+02] [ 3.18788183e-02 -9.98942648e-01 3.31259334e-02 1.35799869e+02] [-9.25808363e-01 -1.70230019e-02 3.77609708e-01 1.30712343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.2771056809999 meters Centerline goodness : 0.997159 Centerline is valid? [True, True] Translation: X:157.76, Y:135.80, Z:130.76 [[-3.75536341e-01 -3.08982902e-02 -9.26292477e-01 1.57763320e+02] [ 2.63212622e-02 -9.99396547e-01 2.26656855e-02 1.35801117e+02] [-9.26433833e-01 -1.58693985e-02 3.76123005e-01 1.30764119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.30710568099994 meters Centerline goodness : 0.996925 Centerline is valid? [True, True] Translation: X:157.77, Y:135.80, Z:130.77 [[-3.78987223e-01 -2.83694804e-02 -9.24966950e-01 1.57766099e+02] [ 2.85800361e-02 -9.99412006e-01 1.89426561e-02 1.35801881e+02] [-9.24960468e-01 -1.92565642e-02 3.79575181e-01 1.30771381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3371056809999 meters Centerline goodness : 0.997130 Centerline is valid? [True, True] Translation: X:157.79, Y:135.79, Z:130.82 [[-3.48568013e-01 -6.13477657e-02 -9.35273645e-01 1.57789931e+02] [ 1.51281248e-02 -9.98093924e-01 5.98302455e-02 1.35792270e+02] [-9.37161395e-01 6.70597341e-03 3.48831693e-01 1.30822623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.36710568099994 meters Centerline goodness : 0.996965 Centerline is valid? [True, True] Translation: X:157.75, Y:135.80, Z:130.74 [[-3.76541072e-01 -8.87323217e-03 -9.26357429e-01 1.57754380e+02] [ 1.46004119e-02 -9.99886772e-01 3.64284088e-03 1.35804646e+02] [-9.26284864e-01 -1.21535209e-02 3.76627990e-01 1.30735643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3971056809999 meters Centerline goodness : 0.997488 Centerline is valid? [True, True] Translation: X:157.80, Y:135.80, Z:130.83 [[-3.50785067e-01 -3.34824880e-02 -9.35857233e-01 1.57800119e+02] [ 1.85234553e-03 -9.99383458e-01 3.50609776e-02 1.35795215e+02] [-9.36454166e-01 1.05653364e-02 3.50630814e-01 1.30832327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4271056809999 meters Centerline goodness : 0.997388 Centerline is valid? [True, True] Translation: X:157.81, Y:135.80, Z:130.86 [[-3.46881332e-01 -1.65901614e-02 -9.37762288e-01 1.57813922e+02] [-3.00598478e-03 -9.99818747e-01 1.87999396e-02 1.35797249e+02] [-9.37904209e-01 9.34024724e-03 3.46768589e-01 1.30856111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4571056809999 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:157.79, Y:135.80, Z:130.82 [[-3.68416521e-01 9.72742028e-03 -9.29609942e-01 1.57791070e+02] [ 1.11223990e-03 -9.99939929e-01 -1.09041470e-02 1.35801592e+02] [-9.29660169e-01 -5.05121719e-03 3.68383571e-01 1.30819271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4871056809999 meters Centerline goodness : 0.997077 Centerline is valid? [True, True] Translation: X:157.80, Y:135.78, Z:130.87 [[-3.48962354e-01 -4.96966295e-02 -9.35818102e-01 1.57802812e+02] [-1.56065049e-02 -9.98146242e-01 5.88261613e-02 1.35781505e+02] [-9.37006784e-01 3.51329655e-02 3.47539871e-01 1.30868579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5171056809999 meters Centerline goodness : 0.996884 Centerline is valid? [True, True] Translation: X:157.82, Y:135.79, Z:130.87 [[-3.48083664e-01 8.07860790e-03 -9.37428663e-01 1.57821176e+02] [-1.29104780e-02 -9.99909347e-01 -3.82316991e-03 1.35789555e+02] [-9.37374569e-01 1.07718692e-02 3.48156408e-01 1.30868308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5471056809999 meters Centerline goodness : 0.996814 Centerline is valid? [True, True] Translation: X:157.79, Y:135.79, Z:130.80 [[-3.71011411e-01 1.46794830e-02 -9.28512275e-01 1.57785227e+02] [-3.01824582e-03 -9.99888831e-01 -1.46019044e-02 1.35790461e+02] [-9.28623402e-01 -2.61499487e-03 3.71014473e-01 1.30795320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5771056809999 meters Centerline goodness : 0.996815 Centerline is valid? [True, True] Translation: X:157.81, Y:135.77, Z:130.86 [[-3.51441016e-01 -3.23179617e-02 -9.35652052e-01 1.57809763e+02] [-9.42753183e-03 -9.99231170e-01 3.80551039e-02 1.35773770e+02] [-9.36162557e-01 2.21950139e-02 3.50866139e-01 1.30861697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.6071056809999 meters Centerline goodness : 0.996916 Centerline is valid? [True, True] Translation: X:157.79, Y:135.78, Z:130.81 [[-3.71394937e-01 4.80265689e-03 -9.28462566e-01 1.57786910e+02] [ 9.28183607e-03 -9.99917448e-01 -8.88510495e-03 1.35779383e+02] [-9.28428591e-01 -1.19177203e-02 3.71319700e-01 1.30806457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.6371056809999 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:157.80, Y:135.76, Z:130.85 [[-3.50241085e-01 -6.00188247e-02 -9.34734681e-01 1.57797134e+02] [-1.20855065e-03 -9.97915136e-01 6.45284474e-02 1.35758679e+02] [-9.36658808e-01 2.37301877e-02 3.49438344e-01 1.30854413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.6671056809999 meters Centerline goodness : 0.996910 Centerline is valid? [True, True] Translation: X:157.80, Y:135.76, Z:130.83 [[-3.51464092e-01 -1.71109004e-02 -9.36044982e-01 1.57804104e+02] [ 6.28678381e-03 -9.99853556e-01 1.59167734e-02 1.35761412e+02] [-9.36180254e-01 -2.90538130e-04 3.51520195e-01 1.30834376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.6971056809999 meters Centerline goodness : 0.996162 Centerline is valid? [True, True] Translation: X:157.80, Y:135.76, Z:130.82 [[-3.53388962e-01 -1.23329088e-02 -9.35395179e-01 1.57804411e+02] [ 1.75999452e-02 -9.99823764e-01 6.53318408e-03 1.35760272e+02] [-9.35310902e-01 -1.41541487e-02 3.53543741e-01 1.30822000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.7271056809999 meters Centerline goodness : 0.996612 Centerline is valid? [True, True] Translation: X:157.79, Y:135.76, Z:130.77 [[-3.63009609e-01 -4.94689758e-04 -9.31785264e-01 1.57790333e+02] [ 1.64271318e-02 -9.99847841e-01 -5.86894041e-03 1.35759739e+02] [-9.31640582e-01 -1.74370411e-02 3.62962500e-01 1.30771599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.7571056809999 meters Centerline goodness : 0.996065 Centerline is valid? [True, True] Translation: X:157.78, Y:135.75, Z:130.75 [[-3.58137926e-01 -2.20627606e-02 -9.33407982e-01 1.57776668e+02] [ 2.71701651e-02 -9.99543652e-01 1.32011147e-02 1.35752445e+02] [-9.33273276e-01 -2.06330291e-02 3.58573939e-01 1.30753513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.7871056809999 meters Centerline goodness : 0.995714 Centerline is valid? [True, True] Translation: X:157.78, Y:135.75, Z:130.77 [[-3.57124151e-01 -3.29781624e-02 -9.33474575e-01 1.57777789e+02] [ 3.12188079e-02 -9.99239606e-01 2.33579963e-02 1.35747787e+02] [-9.33535070e-01 -2.08002588e-02 3.57882135e-01 1.30772665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.81710568099993 meters Centerline goodness : 0.995970 Centerline is valid? [True, True] Translation: X:157.80, Y:135.75, Z:130.81 [[-3.57519085e-01 -1.53656014e-02 -9.33779419e-01 1.57798246e+02] [ 3.24515408e-02 -9.99465219e-01 4.02165535e-03 1.35750287e+02] [-9.33341846e-01 -2.88647624e-02 3.57826528e-01 1.30809669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.8471056809999 meters Centerline goodness : 0.995516 Centerline is valid? [True, True] Translation: X:157.76, Y:135.76, Z:130.74 [[-3.79004425e-01 -1.58178191e-02 -9.25259662e-01 1.57758801e+02] [ 5.57857235e-02 -9.98426020e-01 -5.78228373e-03 1.35760299e+02] [-9.23711859e-01 -5.38077908e-02 3.79290289e-01 1.30735470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87710568099993 meters Centerline goodness : 0.995943 Centerline is valid? [True, True] Translation: X:157.77, Y:135.74, Z:130.81 [[-3.46485376e-01 -9.00100502e-02 -9.33726981e-01 1.57771854e+02] [ 2.65251229e-02 -9.95927865e-01 8.61632486e-02 1.35743282e+02] [-9.37680277e-01 5.08708268e-03 3.47461968e-01 1.30806290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.9071056809999 meters Centerline goodness : 0.996224 Centerline is valid? [True, True] Translation: X:157.78, Y:135.77, Z:130.74 [[-3.48305828e-01 2.16562990e-03 -9.37378451e-01 1.57779748e+02] [ 4.65944577e-02 -9.98721175e-01 -1.96206576e-02 1.35766035e+02] [-9.36222199e-01 -5.05106299e-02 3.47759500e-01 1.30737112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.93710568099993 meters Centerline goodness : 0.996074 Centerline is valid? [True, True] Translation: X:157.75, Y:135.76, Z:130.74 [[-3.75414450e-01 -3.51409379e-02 -9.26190642e-01 1.57754932e+02] [ 5.11776421e-02 -9.98542436e-01 1.71421419e-02 1.35764653e+02] [-9.25443050e-01 -4.09648454e-02 3.76665690e-01 1.30743929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.9671056809999 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:157.78, Y:135.76, Z:130.80 [[-3.45687868e-01 -7.70230945e-02 -9.35183052e-01 1.57776662e+02] [ 2.23113078e-02 -9.97018370e-01 7.38686309e-02 1.35755898e+02] [-9.38084273e-01 4.67033260e-03 3.46375641e-01 1.30803899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.99710568099994 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:157.80, Y:135.77, Z:130.79 [[-3.45801320e-01 -5.29409876e-03 -9.38292822e-01 1.57795677e+02] [ 2.55008979e-02 -9.99667736e-01 -3.75778685e-03 1.35769948e+02] [-9.37961167e-01 -2.52267571e-02 3.45821427e-01 1.30793569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0271056809999 meters Centerline goodness : 0.997244 Centerline is valid? [True, True] Translation: X:157.80, Y:135.77, Z:130.80 [[-3.47654471e-01 -1.58635866e-02 -9.37488515e-01 1.57795500e+02] [ 2.02272971e-02 -9.99751065e-01 9.41614458e-03 1.35770083e+02] [-9.37404516e-01 -1.56892939e-02 3.47888805e-01 1.30803347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.05710568099994 meters Centerline goodness : 0.997346 Centerline is valid? [True, True] Translation: X:157.79, Y:135.78, Z:130.77 [[-3.43897300e-01 1.83774722e-03 -9.39005469e-01 1.57788178e+02] [ 8.80677299e-03 -9.99947791e-01 -5.18237315e-03 1.35778904e+02] [-9.38965968e-01 -1.00518121e-02 3.43863160e-01 1.30773008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0871056809999 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:157.79, Y:135.79, Z:130.76 [[-3.63510939e-01 1.87942770e-02 -9.31400329e-01 1.57791905e+02] [ 7.69765167e-03 -9.99701747e-01 -2.31767711e-02 1.35787321e+02] [-9.31558127e-01 -1.55946051e-02 3.63257849e-01 1.30763474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.11710568099994 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:157.77, Y:135.78, Z:130.77 [[-3.65302206e-01 -2.07897173e-03 -9.30886661e-01 1.57769459e+02] [ 8.19744367e-03 -9.99965917e-01 -9.83624993e-04 1.35783228e+02] [-9.30852889e-01 -7.99021135e-03 3.65306798e-01 1.30766938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1471056809999 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:157.81, Y:135.79, Z:130.82 [[-3.64108584e-01 1.44631444e-03 -9.31355382e-01 1.57811950e+02] [ 1.06307656e-03 -9.99997497e-01 -1.96851402e-03 1.35785669e+02] [-9.31355898e-01 -1.70685493e-03 3.64106135e-01 1.30824381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1771056809999 meters Centerline goodness : 0.997907 Centerline is valid? [True, True] Translation: X:157.78, Y:135.79, Z:130.77 [[-3.49025297e-01 -5.01457059e-03 -9.37099886e-01 1.57782599e+02] [ 3.32383541e-03 -9.99986017e-01 4.11311311e-03 1.35786181e+02] [-9.37107408e-01 -1.67918526e-03 3.49037084e-01 1.30770628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2071056809999 meters Centerline goodness : 0.997920 Centerline is valid? [True, True] Translation: X:157.77, Y:135.79, Z:130.76 [[-3.71908019e-01 6.42728206e-03 -9.28247335e-01 1.57768116e+02] [ 1.89734541e-03 -9.99968677e-01 -7.68407130e-03 1.35790013e+02] [-9.28267648e-01 -4.61897356e-03 3.71884175e-01 1.30760386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2371056809999 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:157.75, Y:135.79, Z:130.73 [[-3.72636551e-01 -1.10932380e-02 -9.27911063e-01 1.57752498e+02] [-3.60098684e-03 -9.99903732e-01 1.34000228e-02 1.35791054e+02] [-9.27970384e-01 8.33473382e-03 3.72560731e-01 1.30734586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2671056809999 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:157.77, Y:135.79, Z:130.77 [[-3.79625090e-01 -1.37993561e-02 -9.25037496e-01 1.57766693e+02] [ 1.27605749e-02 -9.99871735e-01 9.67890683e-03 1.35793122e+02] [-9.25052409e-01 -8.12965441e-03 3.79752485e-01 1.30772183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2971056809999 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:157.75, Y:135.78, Z:130.78 [[-3.80540508e-01 -7.02115205e-02 -9.22095041e-01 1.57752885e+02] [ 9.26792097e-03 -9.97353109e-01 7.21171419e-02 1.35781532e+02] [-9.24717810e-01 1.88975899e-02 3.80183974e-01 1.30782795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3271056809999 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:157.75, Y:135.78, Z:130.76 [[-3.53214316e-01 -8.27379415e-02 -9.31876644e-01 1.57752622e+02] [-9.45951589e-03 -9.95714869e-01 9.19913977e-02 1.35777297e+02] [-9.35494610e-01 4.13077805e-02 3.50918085e-01 1.30761966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3571056809999 meters Centerline goodness : 0.998105 Centerline is valid? [True, True] Translation: X:157.76, Y:135.79, Z:130.76 [[-3.77182269e-01 -2.51819411e-03 -9.26135625e-01 1.57761191e+02] [ 1.56519547e-02 -9.99870817e-01 -3.65580470e-03 1.35790616e+02] [-9.26006778e-01 -1.58747375e-02 3.77172958e-01 1.30757715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3871056809999 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:157.74, Y:135.78, Z:130.76 [[-3.77936092e-01 -7.90028724e-02 -9.22454799e-01 1.57741124e+02] [ 2.12151226e-02 -9.96829971e-01 7.66806900e-02 1.35775651e+02] [-9.25588585e-01 9.41040864e-03 3.78414079e-01 1.30763675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.4171056809999 meters Centerline goodness : 0.997764 Centerline is valid? [True, True] Translation: X:157.73, Y:135.77, Z:130.72 [[-3.46590047e-01 -9.48553519e-02 -9.33208338e-01 1.57732631e+02] [ 1.04810518e-02 -9.95203410e-01 9.72641775e-02 1.35770579e+02] [-9.37958148e-01 2.39297909e-02 3.45921780e-01 1.30716887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.4471056809999 meters Centerline goodness : 0.997456 Centerline is valid? [True, True] Translation: X:157.75, Y:135.78, Z:130.74 [[-3.74514406e-01 -1.83751670e-02 -9.27039003e-01 1.57753876e+02] [ 3.70516200e-02 -9.99301637e-01 4.83902940e-03 1.35780232e+02] [-9.26480511e-01 -3.25360107e-02 3.74933688e-01 1.30741412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.4771056809999 meters Centerline goodness : 0.997658 Centerline is valid? [True, True] Translation: X:157.73, Y:135.77, Z:130.74 [[-3.72345740e-01 -9.12750084e-02 -9.23594891e-01 1.57730876e+02] [ 4.31424705e-02 -9.95778673e-01 8.10158137e-02 1.35766080e+02] [-9.27090814e-01 -9.68027222e-03 3.74711777e-01 1.30738893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.5071056809999 meters Centerline goodness : 0.997174 Centerline is valid? [True, True] Translation: X:157.72, Y:135.76, Z:130.72 [[-3.70899139e-01 -9.76172726e-02 -9.23528395e-01 1.57720524e+02] [ 5.54164800e-02 -9.95014423e-01 8.29175040e-02 1.35762085e+02] [-9.27018254e-01 -2.04246620e-02 3.74459598e-01 1.30716415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.5371056809999 meters Centerline goodness : 0.997180 Centerline is valid? [True, True] Translation: X:157.72, Y:135.76, Z:130.71 [[-3.71533449e-01 -1.01738389e-01 -9.22828368e-01 1.57718916e+02] [ 6.16910608e-02 -9.94486267e-01 8.48014005e-02 1.35761362e+02] [-9.26367697e-01 -2.54237041e-02 3.75761262e-01 1.30710028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.56710568099993 meters Centerline goodness : 0.996845 Centerline is valid? [True, True] Translation: X:157.72, Y:135.76, Z:130.69 [[-3.73936879e-01 -1.06432583e-01 -9.21326932e-01 1.57715383e+02] [ 6.93858539e-02 -9.93819978e-01 8.66455707e-02 1.35762889e+02] [-9.24855023e-01 -3.15270816e-02 3.79010857e-01 1.30693869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.5971056809999 meters Centerline goodness : 0.996722 Centerline is valid? [True, True] Translation: X:157.72, Y:135.76, Z:130.70 [[-3.73770063e-01 -1.08917807e-01 -9.21104148e-01 1.57717564e+02] [ 7.10852113e-02 -9.93524311e-01 8.86359761e-02 1.35763862e+02] [-9.24793400e-01 -3.23474086e-02 3.79092090e-01 1.30698806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.62710568099993 meters Centerline goodness : 0.997040 Centerline is valid? [True, True] Translation: X:157.72, Y:135.77, Z:130.69 [[-3.72819917e-01 -1.10839335e-01 -9.21259980e-01 1.57715648e+02] [ 7.12563446e-02 -9.93328150e-01 9.06736958e-02 1.35767634e+02] [-9.25163684e-01 -3.18406588e-02 3.78230524e-01 1.30689633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.6571056809999 meters Centerline goodness : 0.997660 Centerline is valid? [True, True] Translation: X:157.72, Y:135.77, Z:130.69 [[-3.73798855e-01 -1.11754673e-01 -9.20752578e-01 1.57718144e+02] [ 6.87750880e-02 -9.93321432e-01 9.26418944e-02 1.35772523e+02] [-9.24956433e-01 -2.86954055e-02 3.78988351e-01 1.30689805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.68710568099993 meters Centerline goodness : 0.997517 Centerline is valid? [True, True] Translation: X:157.71, Y:135.78, Z:130.68 [[-3.75276684e-01 -1.13724935e-01 -9.19909805e-01 1.57713977e+02] [ 6.91192445e-02 -9.93115078e-01 9.45778660e-02 1.35775163e+02] [-9.24332159e-01 -2.80906029e-02 3.80553514e-01 1.30680126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.7171056809999 meters Centerline goodness : 0.997811 Centerline is valid? [True, True] Translation: X:157.69, Y:135.78, Z:130.60 [[-3.54934451e-01 -1.26260208e-01 -9.26326020e-01 1.57690001e+02] [ 6.23704697e-02 -9.91828815e-01 1.11290282e-01 1.35778317e+02] [-9.32808373e-01 -1.82746337e-02 3.59909124e-01 1.30599874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.74710568099994 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:157.72, Y:135.78, Z:130.69 [[-3.79035577e-01 -1.00267628e-01 -9.19933929e-01 1.57721710e+02] [ 6.33304266e-02 -9.94592434e-01 8.23112802e-02 1.35782938e+02] [-9.23212483e-01 -2.70609046e-02 3.83335909e-01 1.30686445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.7771056809999 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:157.72, Y:135.79, Z:130.68 [[-3.79587411e-01 -1.13886619e-01 -9.18119401e-01 1.57715154e+02] [ 5.90438351e-02 -9.93353333e-01 9.88077972e-02 1.35789022e+02] [-9.23269854e-01 -1.67030946e-02 3.83788723e-01 1.30677080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.80710568099994 meters Centerline goodness : 0.997749 Centerline is valid? [True, True] Translation: X:157.71, Y:135.79, Z:130.68 [[-3.80265417e-01 -1.15132756e-01 -9.17683312e-01 1.57714124e+02] [ 5.75227530e-02 -9.93244778e-01 1.00776699e-01 1.35792480e+02] [-9.23086857e-01 -1.44657771e-02 3.84319393e-01 1.30675332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8371056809999 meters Centerline goodness : 0.998042 Centerline is valid? [True, True] Translation: X:157.72, Y:135.80, Z:130.69 [[-3.81747157e-01 -1.15178150e-01 -9.17062213e-01 1.57718110e+02] [ 5.28920200e-02 -9.93301446e-01 1.02735936e-01 1.35796245e+02] [-9.22752156e-01 -9.28612137e-03 3.85282008e-01 1.30688403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.86710568099994 meters Centerline goodness : 0.997756 Centerline is valid? [True, True] Translation: X:157.71, Y:135.80, Z:130.67 [[-3.81645435e-01 -1.16358760e-01 -9.16955507e-01 1.57710985e+02] [ 5.11850844e-02 -9.93182824e-01 1.04728056e-01 1.35797866e+02] [-9.22890486e-01 -6.96546038e-03 3.84999524e-01 1.30673184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8971056809999 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:157.72, Y:135.80, Z:130.69 [[-3.82418859e-01 -1.16693029e-01 -9.16590723e-01 1.57716874e+02] [ 4.73480667e-02 -9.93164628e-01 1.06687307e-01 1.35799192e+02] [-9.22775150e-01 -2.59956061e-03 3.85330073e-01 1.30693205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9271056809999 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:157.72, Y:135.80, Z:130.69 [[-3.82895392e-01 -1.17825825e-01 -9.16246797e-01 1.57716374e+02] [ 4.56270007e-02 -9.93034255e-01 1.08633081e-01 1.35801137e+02] [-9.22664238e-01 -2.10487236e-04 3.85604279e-01 1.30689954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9571056809999 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:157.72, Y:135.81, Z:130.69 [[-3.84809544e-01 -1.18309244e-01 -9.15382181e-01 1.57719802e+02] [ 4.24766868e-02 -9.92970158e-01 1.10480755e-01 1.35805368e+02] [-9.22018083e-01 3.63164660e-03 3.87129778e-01 1.30692928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9871056809999 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:157.72, Y:135.81, Z:130.70 [[-3.86343864e-01 -1.19163610e-01 -9.14624761e-01 1.57720689e+02] [ 4.03053980e-02 -9.92853132e-01 1.12330461e-01 1.35805514e+02] [-9.21473762e-01 6.53386920e-03 3.88385652e-01 1.30696550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0171056809999 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:157.72, Y:135.81, Z:130.70 [[-3.86204099e-01 -1.19475788e-01 -9.14643061e-01 1.57720886e+02] [ 3.65295175e-02 -9.92779289e-01 1.14257947e-01 1.35805070e+02] [-9.21689746e-01 1.07154179e-02 3.87779824e-01 1.30700998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0471056809999 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:157.72, Y:135.81, Z:130.70 [[-3.85750167e-01 -1.20845364e-01 -9.14654693e-01 1.57718245e+02] [ 3.55130602e-02 -9.92594782e-01 1.16165488e-01 1.35805356e+02] [-9.21919536e-01 1.23286693e-02 3.87185192e-01 1.30700414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0771056809999 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:157.72, Y:135.80, Z:130.70 [[-3.82560987e-01 -1.23281945e-01 -9.15668419e-01 1.57716543e+02] [ 3.68749093e-02 -9.92305614e-01 1.18193946e-01 1.35804477e+02] [-9.23194092e-01 1.14512030e-02 3.84163426e-01 1.30703250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.1071056809999 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:157.71, Y:135.80, Z:130.70 [[-3.78415282e-01 -1.26781007e-01 -9.16912455e-01 1.57712290e+02] [ 4.09444491e-02 -9.91898773e-01 1.20251306e-01 1.35803014e+02] [-9.24729921e-01 7.96245652e-03 3.80540632e-01 1.30696308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.1371056809999 meters Centerline goodness : 0.998398 Centerline is valid? [True, True] Translation: X:157.71, Y:135.80, Z:130.70 [[-3.76983109e-01 -1.29870533e-01 -9.17069997e-01 1.57713552e+02] [ 4.43847330e-02 -9.91516519e-01 1.22167866e-01 1.35801766e+02] [-9.25156058e-01 5.35131487e-03 3.79549249e-01 1.30699869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.1671056809999 meters Centerline goodness : 0.998373 Centerline is valid? [True, True] Translation: X:157.71, Y:135.80, Z:130.68 [[-3.73381746e-01 -1.34083039e-01 -9.17936714e-01 1.57705786e+02] [ 5.05670854e-02 -9.90970099e-01 1.24182260e-01 1.35799814e+02] [-9.26298570e-01 -4.99952386e-05 3.76790334e-01 1.30682860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.1971056809999 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:157.71, Y:135.80, Z:130.69 [[-3.70619729e-01 -1.37045348e-01 -9.18618304e-01 1.57706874e+02] [ 5.35131946e-02 -9.90561891e-01 1.26188269e-01 1.35797694e+02] [-9.27241799e-01 -2.39033815e-03 3.74455514e-01 1.30687348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.2271056809999 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:157.70, Y:135.80, Z:130.67 [[-3.68817540e-01 -1.40932632e-01 -9.18755471e-01 1.57700100e+02] [ 5.91040004e-02 -9.89994129e-01 1.28134079e-01 1.35795624e+02] [-9.27620795e-01 -7.04402787e-03 3.73456881e-01 1.30671716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.2571056809999 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:157.70, Y:135.79, Z:130.67 [[-3.68245403e-01 -1.45469385e-01 -9.18277725e-01 1.57698692e+02] [ 6.66133885e-02 -9.89273400e-01 1.30003065e-01 1.35791121e+02] [-9.27339193e-01 -1.32965599e-02 3.73985591e-01 1.30667779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.2871056809999 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:157.68, Y:135.79, Z:130.62 [[-3.67933452e-01 -1.48948946e-01 -9.17844860e-01 1.57677628e+02] [ 6.56906526e-02 -9.88784328e-01 1.34127891e-01 1.35792097e+02] [-9.27528821e-01 -1.09436900e-02 3.73591384e-01 1.30616467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.31710568099993 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:157.70, Y:135.79, Z:130.65 [[-3.70576844e-01 -1.36391316e-01 -9.18732938e-01 1.57696172e+02] [ 7.88050995e-02 -9.90209600e-01 1.15215903e-01 1.35791635e+02] [-9.25452624e-01 -2.97044949e-02 3.77697079e-01 1.30647069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.3471056809999 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:157.69, Y:135.79, Z:130.64 [[-3.71130251e-01 -1.56168767e-01 -9.15354386e-01 1.57689238e+02] [ 8.39397180e-02 -9.87362738e-01 1.34420783e-01 1.35789362e+02] [-9.24779141e-01 -2.69469702e-02 3.79548943e-01 1.30639739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37710568099993 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:157.68, Y:135.79, Z:130.61 [[-3.54139731e-01 -1.65894157e-01 -9.20360897e-01 1.57678429e+02] [ 8.12544806e-02 -9.85877083e-01 1.46437999e-01 1.35790609e+02] [-9.31655924e-01 -2.29239331e-02 3.62617888e-01 1.30607394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.4071056809999 meters Centerline goodness : 0.997924 Centerline is valid? [True, True] Translation: X:157.67, Y:135.80, Z:130.57 [[-3.65622148e-01 -1.33818624e-01 -9.21093383e-01 1.57671969e+02] [ 8.84441295e-02 -9.90127810e-01 1.08740775e-01 1.35798804e+02] [-9.26551715e-01 -4.17072668e-02 3.73848128e-01 1.30565832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.43710568099993 meters Centerline goodness : 0.997955 Centerline is valid? [True, True] Translation: X:157.67, Y:135.79, Z:130.59 [[-3.55823358e-01 -1.65999221e-01 -9.19692338e-01 1.57671536e+02] [ 8.59452439e-02 -9.85740503e-01 1.44668847e-01 1.35793452e+02] [-9.30592904e-01 -2.75666273e-02 3.65016340e-01 1.30591917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.4671056809999 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:157.68, Y:135.80, Z:130.60 [[-3.76012700e-01 -1.38248168e-01 -9.16243360e-01 1.57682024e+02] [ 9.70562037e-02 -9.89244462e-01 1.09432574e-01 1.35799878e+02] [-9.21517522e-01 -4.77790646e-02 3.85386323e-01 1.30599679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.49710568099994 meters Centerline goodness : 0.997581 Centerline is valid? [True, True] Translation: X:157.68, Y:135.80, Z:130.62 [[-3.77743544e-01 -1.66791947e-01 -9.10763560e-01 1.57684057e+02] [ 9.43758354e-02 -9.85454077e-01 1.41327505e-01 1.35798213e+02] [-9.21087953e-01 -3.25685190e-02 3.87990045e-01 1.30616919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5271056809999 meters Centerline goodness : 0.997949 Centerline is valid? [True, True] Translation: X:157.66, Y:135.80, Z:130.53 [[-3.66114548e-01 -1.67656909e-01 -9.15342176e-01 1.57655964e+02] [ 8.36478834e-02 -9.85583480e-01 1.47065410e-01 1.35804919e+02] [-9.26802659e-01 -2.27236494e-02 3.74860596e-01 1.30534573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.55710568099994 meters Centerline goodness : 0.998241 Centerline is valid? [True, True] Translation: X:157.70, Y:135.81, Z:130.62 [[-3.79059550e-01 -1.37458741e-01 -9.15105979e-01 1.57698463e+02] [ 7.81570197e-02 -9.90127969e-01 1.16353277e-01 1.35809627e+02] [-9.22065799e-01 -2.74171352e-02 3.86060828e-01 1.30616593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5871056809999 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:157.66, Y:135.81, Z:130.54 [[-3.77956774e-01 -1.50351925e-01 -9.13533237e-01 1.57664293e+02] [ 7.37173806e-02 -9.88479723e-01 1.32187687e-01 1.35813202e+02] [-9.22883755e-01 -1.73820456e-02 3.84686157e-01 1.30542457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.61710568099994 meters Centerline goodness : 0.997957 Centerline is valid? [True, True] Translation: X:157.69, Y:135.81, Z:130.58 [[-3.38613520e-01 -1.77622309e-01 -9.24008225e-01 1.57693316e+02] [ 6.19750920e-02 -9.84098322e-01 1.66461951e-01 1.35808848e+02] [-9.38882300e-01 -8.99227640e-04 3.44237155e-01 1.30579981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6471056809999 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:157.72, Y:135.82, Z:130.65 [[-3.29205942e-01 -1.56001261e-01 -9.31282478e-01 1.57722609e+02] [ 6.06521169e-02 -9.87715176e-01 1.44014065e-01 1.35815855e+02] [-9.42308213e-01 -9.07396784e-03 3.34623512e-01 1.30645124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6771056809999 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:157.69, Y:135.83, Z:130.60 [[-3.70731160e-01 -1.31735208e-01 -9.19349902e-01 1.57688184e+02] [ 6.24242405e-02 -9.91185117e-01 1.16855798e-01 1.35826033e+02] [-9.26639963e-01 -1.40676339e-02 3.75686678e-01 1.30598372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7071056809999 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:157.64, Y:135.83, Z:130.47 [[-3.42103357e-01 -1.69631330e-01 -9.24224272e-01 1.57641506e+02] [ 6.17058120e-02 -9.85503132e-01 1.58037877e-01 1.35829981e+02] [-9.37634089e-01 -2.96472093e-03 3.47611169e-01 1.30467914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7371056809999 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:157.72, Y:135.83, Z:130.63 [[-3.43270542e-01 -1.45657675e-01 -9.27873470e-01 1.57717611e+02] [ 6.80978761e-02 -9.89161473e-01 1.30085588e-01 1.35827188e+02] [-9.36764653e-01 -1.85316624e-02 3.49468973e-01 1.30626914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7671056809999 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:157.71, Y:135.83, Z:130.63 [[-3.25127606e-01 -1.78167099e-01 -9.28734905e-01 1.57708105e+02] [ 6.40695366e-02 -9.83985304e-01 1.66337058e-01 1.35825211e+02] [-9.43497289e-01 -5.42284535e-03 3.31335870e-01 1.30628973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7971056809999 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:157.70, Y:135.83, Z:130.59 [[-3.31553042e-01 -1.59514333e-01 -9.29853622e-01 1.57696695e+02] [ 6.42185112e-02 -9.87132526e-01 1.46442344e-01 1.35832851e+02] [-9.41248407e-01 -1.11604108e-02 3.37530564e-01 1.30590767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8271056809999 meters Centerline goodness : 0.998266 Centerline is valid? [True, True] Translation: X:157.68, Y:135.84, Z:130.61 [[-3.79118590e-01 -1.50301825e-01 -9.13059941e-01 1.57682818e+02] [ 6.72790531e-02 -9.88586241e-01 1.34799011e-01 1.35838104e+02] [-9.22899032e-01 -1.03249974e-02 3.84903586e-01 1.30612130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8571056809999 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:157.68, Y:135.83, Z:130.58 [[-3.37654987e-01 -1.92448928e-01 -9.21386195e-01 1.57681962e+02] [ 5.73506814e-02 -9.81263247e-01 1.83938415e-01 1.35833517e+02] [-9.39521159e-01 9.26559690e-03 3.42365506e-01 1.30577288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8871056809999 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:157.69, Y:135.84, Z:130.57 [[-3.37358544e-01 -1.65862144e-01 -9.26649320e-01 1.57686824e+02] [ 5.92445069e-02 -9.86145448e-01 1.54942711e-01 1.35838658e+02] [-9.39510139e-01 -2.62763468e-03 3.42511014e-01 1.30572792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.9171056809999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:157.72, Y:135.83, Z:130.65 [[-3.32052366e-01 -1.68198020e-01 -9.28143659e-01 1.57715718e+02] [ 5.72734104e-02 -9.85753017e-01 1.58147861e-01 1.35832898e+02] [-9.41520570e-01 -6.44581256e-04 3.36954896e-01 1.30645047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.9471056809999 meters Centerline goodness : 0.998276 Centerline is valid? [True, True] Translation: X:157.69, Y:135.84, Z:130.62 [[-3.78094791e-01 -1.49383028e-01 -9.13635070e-01 1.57686100e+02] [ 6.75644409e-02 -9.88716214e-01 1.33698522e-01 1.35840404e+02] [-9.23298097e-01 -1.11785278e-02 3.83921431e-01 1.30622145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.9771056809999 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:157.70, Y:135.83, Z:130.58 [[-3.45460537e-01 -1.79857582e-01 -9.21036518e-01 1.57697325e+02] [ 6.40444673e-02 -9.83692225e-01 1.68071153e-01 1.35832432e+02] [-9.36245333e-01 -9.25342425e-04 3.51345727e-01 1.30579553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.0071056809999 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:157.72, Y:135.83, Z:130.65 [[-3.44896331e-01 -1.79394103e-01 -9.21338307e-01 1.57715116e+02] [ 4.31682508e-02 -9.83559386e-01 1.75349469e-01 1.35825802e+02] [-9.37647601e-01 2.07048252e-02 3.46970153e-01 1.30647799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.0371056809999 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:157.72, Y:135.84, Z:130.66 [[-3.33541141e-01 -1.37677460e-01 -9.32628127e-01 1.57719059e+02] [ 6.60086308e-02 -9.90261277e-01 1.22578400e-01 1.35839234e+02] [-9.40421803e-01 -2.06765663e-02 3.39380777e-01 1.30656978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.06710568099993 meters Centerline goodness : 0.997567 Centerline is valid? [True, True] Translation: X:157.70, Y:135.85, Z:130.56 [[-3.41373332e-01 -1.56599795e-01 -9.26790566e-01 1.57702051e+02] [ 9.02729709e-02 -9.86927483e-01 1.33510052e-01 1.35848403e+02] [-9.35582727e-01 -3.80873666e-02 3.51047452e-01 1.30564291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.0971056809999 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:157.67, Y:135.83, Z:130.60 [[-3.33591469e-01 -2.03778445e-01 -9.20429833e-01 1.57674567e+02] [ 7.68956089e-02 -9.78986192e-01 1.88873240e-01 1.35833069e+02] [-9.39576392e-01 -7.77051097e-03 3.42251109e-01 1.30595426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.12710568099993 meters Centerline goodness : 0.997978 Centerline is valid? [True, True] Translation: X:157.68, Y:135.84, Z:130.60 [[-3.37303523e-01 -1.71314292e-01 -9.25676913e-01 1.57684314e+02] [ 8.79134169e-02 -9.84737592e-01 1.50210204e-01 1.35836767e+02] [-9.37282009e-01 -3.07129894e-02 3.47216284e-01 1.30603826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.1571056809999 meters Centerline goodness : 0.997859 Centerline is valid? [True, True] Translation: X:157.65, Y:135.84, Z:130.52 [[-3.39132708e-01 -1.80718989e-01 -9.23217013e-01 1.57648541e+02] [ 9.22176851e-02 -9.83034484e-01 1.58553149e-01 1.35841553e+02] [-9.36207725e-01 -3.13663770e-02 3.50044634e-01 1.30521043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.18710568099993 meters Centerline goodness : 0.997529 Centerline is valid? [True, True] Translation: X:157.58, Y:135.85, Z:130.36 [[-3.42564382e-01 -1.91034402e-01 -9.19867111e-01 1.57580879e+02] [ 9.98854701e-02 -9.80964995e-01 1.66524985e-01 1.35852908e+02] [-9.34169437e-01 -3.48358301e-02 3.55125228e-01 1.30358736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.2171056809999 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:157.58, Y:135.85, Z:130.35 [[-3.44050485e-01 -1.95070966e-01 -9.18464252e-01 1.57578109e+02] [ 1.04857297e-01 -9.80044644e-01 1.68871082e-01 1.35854977e+02] [-9.33077816e-01 -3.82075008e-02 3.57639449e-01 1.30351915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.24710568099994 meters Centerline goodness : 0.997811 Centerline is valid? [True, True] Translation: X:157.63, Y:135.85, Z:130.47 [[-3.44189880e-01 -1.94450689e-01 -9.18543552e-01 1.57631443e+02] [ 1.11438292e-01 -9.79863995e-01 1.65674557e-01 1.35848875e+02] [-9.32263286e-01 -4.53374187e-02 3.58928523e-01 1.30472961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.2771056809999 meters Centerline goodness : 0.997959 Centerline is valid? [True, True] Translation: X:157.57, Y:135.86, Z:130.33 [[-3.47065412e-01 -2.08802352e-01 -9.14301470e-01 1.57570791e+02] [ 1.10863795e-01 -9.77199136e-01 1.81083040e-01 1.35863219e+02] [-9.31265171e-01 -3.85152710e-02 3.62300642e-01 1.30332388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.30710568099994 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:157.62, Y:135.86, Z:130.46 [[-3.50108049e-01 -2.05984648e-01 -9.13780433e-01 1.57619687e+02] [ 1.14703926e-01 -9.77607961e-01 1.76424728e-01 1.35857266e+02] [-9.29659811e-01 -4.30464858e-02 3.65895663e-01 1.30460091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3371056809999 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:157.53, Y:135.88, Z:130.26 [[-3.67296693e-01 -2.14972564e-01 -9.04919851e-01 1.57533349e+02] [ 1.09482944e-01 -9.76152387e-01 1.87456666e-01 1.35877572e+02] [-9.23637713e-01 -3.02210761e-02 3.82073373e-01 1.30261738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.36710568099994 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:157.56, Y:135.87, Z:130.33 [[-3.63439809e-01 -2.21839637e-01 -9.04819695e-01 1.57561896e+02] [ 1.07486870e-01 -9.74733997e-01 1.95806556e-01 1.35873171e+02] [-9.25396174e-01 -2.60923398e-02 3.78101986e-01 1.30329489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3971056809999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:157.65, Y:135.86, Z:130.52 [[-3.41133913e-01 -2.24142224e-01 -9.12900826e-01 1.57645179e+02] [ 9.95562922e-02 -9.74308770e-01 2.02017242e-01 1.35859078e+02] [-9.34727874e-01 -2.19700892e-02 3.54684531e-01 1.30520474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4271056809999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:157.55, Y:135.88, Z:130.30 [[-3.63816528e-01 -2.12875635e-01 -9.06819440e-01 1.57549004e+02] [ 9.96284342e-02 -9.76843630e-01 1.89342806e-01 1.35884402e+02] [-9.26127264e-01 -2.14589586e-02 3.76600324e-01 1.30300299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4571056809999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:157.54, Y:135.89, Z:130.29 [[-3.71771253e-01 -2.20048744e-01 -9.01867333e-01 1.57540773e+02] [ 9.63430875e-02 -9.75399894e-01 1.98275206e-01 1.35890420e+02] [-9.23311510e-01 -1.31756615e-02 3.83825816e-01 1.30290698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4871056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:157.65, Y:135.87, Z:130.54 [[-3.41146671e-01 -2.27652358e-01 -9.12027057e-01 1.57654733e+02] [ 8.99008601e-02 -9.73685312e-01 2.09415254e-01 1.35866061e+02] [-9.35701226e-01 -1.05507001e-02 3.52635645e-01 1.30543356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5171056809999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:157.66, Y:135.87, Z:130.55 [[-3.42164175e-01 -2.19405390e-01 -9.13665668e-01 1.57659382e+02] [ 8.70109057e-02 -9.75577400e-01 2.01687479e-01 1.35869421e+02] [-9.35602896e-01 -1.04886474e-02 3.52898298e-01 1.30547407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5471056809999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:157.53, Y:135.90, Z:130.25 [[-3.79918310e-01 -2.15806018e-01 -8.99494213e-01 1.57529971e+02] [ 9.36752711e-02 -9.76381982e-01 1.94687363e-01 1.35902877e+02] [-9.20264647e-01 -1.02950702e-02 3.91161080e-01 1.30253938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5771056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:157.53, Y:135.90, Z:130.25 [[-3.88634475e-01 -2.28338859e-01 -8.92650329e-01 1.57525600e+02] [ 9.91164520e-02 -9.73544922e-01 2.05879122e-01 1.35903165e+02] [-9.16045399e-01 -8.46460871e-03 4.00985258e-01 1.30251217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.6071056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:157.56, Y:135.89, Z:130.32 [[-3.51130284e-01 -2.50347064e-01 -9.02238256e-01 1.57563560e+02] [ 9.20455496e-02 -9.68155288e-01 2.32815282e-01 1.35890607e+02] [-9.31791361e-01 -1.29852005e-03 3.62991974e-01 1.30319511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.6371056809999 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:157.68, Y:136.14, Z:130.43 [[-4.31416349e-01 7.73856639e-01 -4.63708783e-01 1.57675083e+02] [ 1.16123910e-01 -4.62092348e-01 -8.79196167e-01 1.36137464e+02] [-8.94648071e-01 -4.33147277e-01 1.09490935e-01 1.30431530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.6671056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:157.63, Y:136.20, Z:130.39 [[-4.91868510e-01 8.45105073e-01 -2.09434440e-01 1.57626608e+02] [ 1.31493209e-01 -1.65681557e-01 -9.77373602e-01 1.36196720e+02] [-8.60682813e-01 -5.08278504e-01 -2.96320368e-02 1.30390441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.6971056809999 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:157.26, Y:136.26, Z:130.33 [[-4.98713904e-01 2.65975693e-01 8.24949315e-01 1.57264590e+02] [ 4.39676151e-02 9.58292366e-01 -2.82387307e-01 1.36260584e+02] [-8.65650790e-01 -1.04559422e-01 -4.89608044e-01 1.30326623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.7271056809999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:157.37, Y:136.28, Z:130.49 [[-5.55771287e-01 2.99672185e-01 7.75444942e-01 1.57369184e+02] [-7.16809994e-03 9.31008369e-01 -3.64927438e-01 1.36280922e+02] [-8.31304334e-01 -2.08374659e-01 -5.15279639e-01 1.30490915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.7571056809999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:157.16, Y:136.19, Z:130.27 [[-5.03047505e-01 -2.06113934e-01 8.39321305e-01 1.57157117e+02] [-9.43593729e-02 9.78438646e-01 1.83722956e-01 1.36188865e+02] [-8.59092263e-01 1.32235428e-02 -5.11649901e-01 1.30271173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.7871056809999 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:157.26, Y:136.00, Z:130.49 [[-4.59386409e-01 -8.33808089e-01 3.06150614e-01 1.57259171e+02] [-1.46653859e-01 4.11142091e-01 8.99697075e-01 1.36002785e+02] [-8.76046102e-01 3.68410439e-01 -3.11154262e-01 1.30490822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.81710568099993 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:157.62, Y:136.03, Z:130.30 [[-4.34821637e-01 2.19607065e-01 -8.73328621e-01 1.57615089e+02] [-9.72044069e-02 -9.75588128e-01 -1.96924116e-01 1.36027190e+02] [-8.95254962e-01 -7.35475803e-04 4.45553602e-01 1.30298527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.8471056809999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:157.49, Y:136.00, Z:130.08 [[-4.70934473e-01 2.53393804e-01 -8.44992487e-01 1.57487056e+02] [-1.08948038e-01 -9.67231878e-01 -2.29331244e-01 1.36002662e+02] [-8.75414786e-01 -1.59397152e-02 4.83109592e-01 1.30080396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87710568099993 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:157.54, Y:136.01, Z:130.18 [[-4.70236987e-01 2.36927839e-01 -8.50142562e-01 1.57535625e+02] [-1.04362178e-01 -9.71459852e-01 -2.13012424e-01 1.36009965e+02] [-8.76347940e-01 -1.14435914e-02 4.81542659e-01 1.30179601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.9071056809999 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:157.49, Y:136.00, Z:130.10 [[-4.68805216e-01 2.29994353e-01 -8.52833083e-01 1.57494069e+02] [-1.03703238e-01 -9.73160149e-01 -2.05438466e-01 1.35997801e+02] [-8.77192857e-01 -7.86907235e-03 4.80073713e-01 1.30103276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.93710568099993 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:157.57, Y:136.01, Z:130.24 [[-4.67935044e-01 2.32747472e-01 -8.52564020e-01 1.57565212e+02] [-1.08441507e-01 -9.72529259e-01 -2.05978836e-01 1.36014915e+02] [-8.77084508e-01 -3.93138845e-03 4.80320008e-01 1.30240720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.9671056809999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:157.57, Y:136.02, Z:130.24 [[-4.67998264e-01 2.35912222e-01 -8.51658998e-01 1.57566837e+02] [-1.08474254e-01 -9.71757674e-01 -2.09571847e-01 1.36015951e+02] [-8.77046727e-01 -5.69618580e-03 4.80371307e-01 1.30242754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.99710568099994 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:157.58, Y:136.02, Z:130.27 [[-4.68202190e-01 2.33930928e-01 -8.52093322e-01 1.57581380e+02] [-1.09841857e-01 -9.72248220e-01 -2.06562739e-01 1.36020844e+02] [-8.76767629e-01 -3.11761393e-03 4.80904154e-01 1.30267338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0271056809999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:157.51, Y:136.00, Z:130.14 [[-4.66934494e-01 2.29002725e-01 -8.54125242e-01 1.57512242e+02] [-1.11026586e-01 -9.73424904e-01 -2.00292421e-01 1.36004091e+02] [-8.77294292e-01 1.30716929e-03 4.79951056e-01 1.30136272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.05710568099994 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:157.52, Y:136.01, Z:130.14 [[-4.73284513e-01 2.32552831e-01 -8.49659314e-01 1.57515521e+02] [-1.05725784e-01 -9.72548529e-01 -2.07295482e-01 1.36006465e+02] [-8.74542068e-01 -8.27884456e-03 4.84878987e-01 1.30144037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0871056809999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:157.61, Y:136.02, Z:130.29 [[-4.33934967e-01 1.97843403e-01 -8.78953032e-01 1.57607864e+02] [-9.49898792e-02 -9.80200164e-01 -1.73737049e-01 1.36021584e+02] [-8.95922635e-01 8.10106163e-03 4.44136247e-01 1.30290830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.11710568099994 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:157.58, Y:136.02, Z:130.26 [[-4.67235808e-01 2.36108368e-01 -8.52023203e-01 1.57578639e+02] [-1.02768985e-01 -9.71653687e-01 -2.12902907e-01 1.36022869e+02] [-8.78139645e-01 -1.19143017e-02 4.78256013e-01 1.30260537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1471056809999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:157.59, Y:136.02, Z:130.27 [[-4.43944098e-01 2.05399456e-01 -8.72195335e-01 1.57589478e+02] [-9.70428908e-02 -9.78668989e-01 -1.81079229e-01 1.36020181e+02] [-8.90784102e-01 4.25130145e-03 4.54406878e-01 1.30265842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1771056809999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:157.61, Y:136.03, Z:130.28 [[-4.25940590e-01 2.10671879e-01 -8.79881795e-01 1.57608590e+02] [-9.25607453e-02 -9.77556477e-01 -1.89250741e-01 1.36026382e+02] [-9.00003957e-01 8.32942455e-04 4.35880929e-01 1.30283816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2071056809999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:157.60, Y:136.03, Z:130.26 [[-4.31028036e-01 2.22616413e-01 -8.74446548e-01 1.57597907e+02] [-9.20845160e-02 -9.74881785e-01 -2.02795332e-01 1.36025990e+02] [-8.97627581e-01 -6.88748627e-03 4.40700905e-01 1.30259624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2371056809999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:157.57, Y:136.02, Z:130.22 [[-4.26473574e-01 2.08109193e-01 -8.80233409e-01 1.57574398e+02] [-9.06434157e-02 -9.78105594e-01 -1.87331840e-01 1.36017116e+02] [-8.99946699e-01 -1.04716661e-04 4.35999917e-01 1.30220552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2671056809999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:157.59, Y:136.02, Z:130.27 [[-4.46871332e-01 2.33852473e-01 -8.63492347e-01 1.57590238e+02] [-9.69291146e-02 -9.72203548e-01 -2.13131433e-01 1.36024566e+02] [-8.89331636e-01 -1.15447786e-02 4.57117008e-01 1.30269280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2971056809999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:157.55, Y:136.01, Z:130.20 [[-4.45993736e-01 2.18719208e-01 -8.67900625e-01 1.57551767e+02] [-8.90591186e-02 -9.75714547e-01 -2.00123953e-01 1.36009542e+02] [-8.90594218e-01 -1.19595647e-02 4.54641516e-01 1.30198908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3271056809999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:157.49, Y:135.99, Z:130.08 [[-4.49205933e-01 2.12976263e-01 -8.67672255e-01 1.57485503e+02] [-8.60298320e-02 -9.76969970e-01 -1.95265322e-01 1.35989754e+02] [-8.89276615e-01 -1.30686430e-02 4.57183019e-01 1.30077334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3571056809999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:157.57, Y:136.01, Z:130.24 [[-4.71131164e-01 2.28793590e-01 -8.51873770e-01 1.57566641e+02] [-8.56724793e-02 -9.73077262e-01 -2.13964641e-01 1.36010816e+02] [-8.77892734e-01 -2.78232726e-02 4.78048337e-01 1.30244550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3871056809999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:157.52, Y:136.00, Z:130.14 [[-4.61094608e-01 2.06012085e-01 -8.63105314e-01 1.57518723e+02] [-7.56192287e-02 -9.78260702e-01 -1.93100315e-01 1.35996057e+02] [-8.84123009e-01 -2.37701561e-02 4.66649210e-01 1.30138104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.4171056809999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:157.45, Y:135.98, Z:130.02 [[-4.83075999e-01 2.10678575e-01 -8.49854174e-01 1.57450281e+02] [-7.54377139e-02 -9.77025662e-01 -1.99323873e-01 1.35981726e+02] [-8.72322607e-01 -3.21775229e-02 4.87870758e-01 1.30023034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.4471056809999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:157.47, Y:135.98, Z:130.05 [[-4.76273386e-01 2.02430517e-01 -8.55678414e-01 1.57465388e+02] [-6.90574184e-02 -9.78744470e-01 -1.93107055e-01 1.35984058e+02] [-8.76581277e-01 -3.28808088e-02 4.80129272e-01 1.30051366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.4771056809999 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:157.47, Y:136.28, Z:130.17 [[-5.61877390e-01 8.14621542e-01 1.43824695e-01 1.57466238e+02] [-1.26614284e-01 8.71252766e-02 -9.88118419e-01 1.36280804e+02] [-8.17473316e-01 -5.73411659e-01 5.41890002e-02 1.30171805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.5071056809999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:157.24, Y:135.92, Z:130.31 [[-4.26410596e-01 -9.00855889e-01 -8.14412100e-02 1.57240775e+02] [-1.48836623e-01 -1.89306965e-02 9.88680580e-01 1.35917080e+02] [-8.92200461e-01 4.33705310e-01 -1.26008099e-01 1.30308504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.5371056809999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:157.40, Y:135.99, Z:129.90 [[-4.77126359e-01 2.12967688e-01 -8.52640136e-01 1.57404245e+02] [-4.74883698e-02 -9.75024229e-01 -2.16962228e-01 1.35988380e+02] [-8.77550735e-01 -6.30279075e-02 4.75323248e-01 1.29903759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.56710568099993 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:157.32, Y:136.31, Z:130.13 [[ -0.53623936 0.64143395 0.54864363 157.32236558] [ -0.16677957 0.55666645 -0.81382249 136.3080256 ] [ -0.82742488 -0.5279062 -0.19152838 130.13437642] [ 0. 0. 0. 1. ]] SLAMing on 404.5971056809999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:157.36, Y:135.98, Z:129.85 [[-5.12891459e-01 2.41889713e-01 -8.23669666e-01 1.57364851e+02] [-1.13606201e-01 -9.70167294e-01 -2.14170615e-01 1.35975615e+02] [-8.50903040e-01 -1.62722977e-02 5.25070690e-01 1.29849072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.62710568099993 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:157.38, Y:135.99, Z:129.88 [[-5.10506574e-01 2.58329600e-01 -8.20151728e-01 1.57381065e+02] [-1.21737508e-01 -9.65910935e-01 -2.28464540e-01 1.35988088e+02] [-8.51212675e-01 -1.67894218e-02 5.24552283e-01 1.29875441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.6571056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.41, Y:136.26, Z:130.03 [[-5.91573132e-01 8.06209340e-01 8.22979158e-03 1.57414193e+02] [-1.05424099e-01 -6.72292617e-02 -9.92152199e-01 1.36264014e+02] [-7.99329087e-01 -5.87798202e-01 1.24764918e-01 1.30029964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.68710568099993 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:157.13, Y:136.17, Z:130.18 [[-5.45016117e-01 -2.94019206e-01 7.85181596e-01 1.57131332e+02] [-2.06069737e-01 9.54743843e-01 2.14474843e-01 1.36174119e+02] [-8.12707017e-01 -4.49099188e-02 -5.80939242e-01 1.30181543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.7171056809999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:156.97, Y:136.10, Z:129.95 [[-5.17644330e-01 -3.91236287e-01 7.60906378e-01 1.56968369e+02] [-2.77969072e-01 9.17987203e-01 2.82900495e-01 1.36103046e+02] [-8.09183257e-01 -6.50666021e-02 -5.83942458e-01 1.29954419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.74710568099994 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:157.21, Y:135.90, Z:130.13 [[-4.46342729e-01 -8.16616377e-01 -3.65945161e-01 1.57213380e+02] [-2.76301117e-01 -2.63194756e-01 9.24330143e-01 1.35901722e+02] [-8.51137980e-01 5.13679095e-01 -1.08156952e-01 1.30128413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.7771056809999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:157.43, Y:136.07, Z:129.96 [[-4.59628197e-01 4.83038769e-01 -7.45262013e-01 1.57431228e+02] [-2.30488143e-01 -8.75279750e-01 -4.25159471e-01 1.36073639e+02] [-8.57681256e-01 -2.36412238e-02 5.13637962e-01 1.29957977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.80710568099994 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:157.43, Y:136.07, Z:129.96 [[-4.59592697e-01 4.66823397e-01 -7.55546471e-01 1.57430036e+02] [-2.30100101e-01 -8.84256207e-01 -4.06380246e-01 1.36068533e+02] [-8.57804463e-01 -1.29180736e-02 5.13813806e-01 1.29957070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8371056809999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:157.42, Y:136.06, Z:129.95 [[-4.62541449e-01 4.65448025e-01 -7.54594954e-01 1.57424695e+02] [-2.28767861e-01 -8.84948243e-01 -4.05625286e-01 1.36064183e+02] [-8.56574967e-01 -1.49914339e-02 5.15804791e-01 1.29945718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.86710568099994 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:157.35, Y:136.02, Z:129.82 [[-4.86110672e-01 4.77528176e-01 -7.31890194e-01 1.57347257e+02] [-2.47908034e-01 -8.78449385e-01 -4.08495146e-01 1.36019528e+02] [-8.37996433e-01 -1.71323916e-02 5.45406692e-01 1.29824224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8971056809999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:157.37, Y:136.03, Z:129.87 [[-4.86923602e-01 4.70114439e-01 -7.36137093e-01 1.57371765e+02] [-2.48554097e-01 -8.82531730e-01 -3.99197453e-01 1.36030673e+02] [-8.37332829e-01 -1.14087709e-02 5.46574399e-01 1.29870230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9271056809999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:157.40, Y:136.05, Z:129.93 [[-4.84497559e-01 4.70488114e-01 -7.37497831e-01 1.57402374e+02] [-2.52353843e-01 -8.82383838e-01 -3.97135116e-01 1.36049299e+02] [-8.37603518e-01 -6.30058266e-03 5.46242299e-01 1.29925875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9571056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:157.34, Y:136.02, Z:129.83 [[-4.83196545e-01 4.68508792e-01 -7.39608417e-01 1.57343498e+02] [-2.53651261e-01 -8.83454598e-01 -3.93914979e-01 1.36018006e+02] [-8.37963088e-01 -2.73574924e-03 5.45720056e-01 1.29825581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9871056809999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:157.41, Y:136.06, Z:129.95 [[-4.89504271e-01 4.75636292e-01 -7.30859553e-01 1.57413644e+02] [-2.64339506e-01 -8.79641965e-01 -3.95417046e-01 1.36061077e+02] [-8.30969431e-01 -3.63279526e-04 5.56317961e-01 1.29948672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0171056809999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:157.40, Y:136.05, Z:129.94 [[-4.82193617e-01 4.71166898e-01 -7.38573672e-01 1.57404778e+02] [-2.59009173e-01 -8.82042785e-01 -3.93592141e-01 1.36049349e+02] [-8.36901167e-01 1.50973757e-03 5.47351950e-01 1.29939166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.38, Y:136.03, Z:129.90 [[-4.71950696e-01 4.61198767e-01 -7.51370906e-01 1.57384653e+02] [-2.57327371e-01 -8.87207131e-01 -3.82944030e-01 1.36034030e+02] [-8.43234940e-01 1.26175984e-02 5.37397089e-01 1.29903029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0771056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:157.30, Y:135.99, Z:129.75 [[-4.73331032e-01 4.76953378e-01 -7.40589771e-01 1.57302595e+02] [-2.63216434e-01 -8.78903485e-01 -3.97801172e-01 1.35991952e+02] [-8.40639544e-01 6.64375933e-03 5.41554261e-01 1.29752217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.1071056809999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:157.38, Y:136.03, Z:129.89 [[-4.77902146e-01 4.79532842e-01 -7.35974043e-01 1.57378438e+02] [-2.68309081e-01 -8.77491923e-01 -3.97514984e-01 1.36032096e+02] [-8.36432768e-01 7.49525517e-03 5.48018289e-01 1.29885858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.1371056809999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:157.29, Y:135.98, Z:129.72 [[-4.61049773e-01 4.70213755e-01 -7.52550418e-01 1.57294574e+02] [-2.67009017e-01 -8.82273416e-01 -3.87685187e-01 1.35980880e+02] [-8.46250136e-01 2.21955798e-02 5.32323271e-01 1.29723872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.1671056809999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:157.19, Y:136.29, Z:129.90 [[-5.17024283e-01 6.32737443e-01 5.76480025e-01 1.57194255e+02] [-2.79274945e-01 5.11931677e-01 -8.12361658e-01 1.36287435e+02] [-8.09130024e-01 -5.81007131e-01 -8.79733941e-02 1.29898776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.1971056809999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:156.99, Y:136.12, Z:130.02 [[-4.85654037e-01 -5.54733275e-01 6.75582083e-01 1.56994498e+02] [-3.42106208e-01 8.31814768e-01 4.37089847e-01 1.36122412e+02] [-8.04427435e-01 -1.88463755e-02 -5.93751897e-01 1.30018176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.2271056809999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:157.37, Y:136.05, Z:129.84 [[-4.74494381e-01 6.08096825e-01 -6.36453717e-01 1.57372929e+02] [-3.78686335e-01 -7.93718461e-01 -4.76033260e-01 1.36048635e+02] [-7.94639378e-01 1.51412182e-02 6.06892908e-01 1.29836172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.2571056809999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:157.43, Y:136.08, Z:129.93 [[-4.71604038e-01 6.06754448e-01 -6.39873950e-01 1.57429500e+02] [-3.84508506e-01 -7.94515245e-01 -4.69998653e-01 1.36083980e+02] [-7.93563381e-01 2.43837133e-02 6.07998844e-01 1.29929603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.2871056809999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:157.43, Y:136.08, Z:129.93 [[-4.70100633e-01 6.10154385e-01 -6.37743696e-01 1.57432850e+02] [-3.85944652e-01 -7.91928197e-01 -4.73176982e-01 1.36083099e+02] [-7.93758226e-01 2.36929697e-02 6.07771768e-01 1.29931682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.31710568099993 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:157.48, Y:136.10, Z:129.97 [[-4.43656085e-01 5.96647329e-01 -6.68716115e-01 1.57475090e+02] [-3.73845871e-01 -8.01360211e-01 -4.66970103e-01 1.36100051e+02] [-8.14498952e-01 4.28226307e-02 5.78582474e-01 1.29974521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.3471056809999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:157.48, Y:136.10, Z:129.98 [[-4.44382139e-01 6.09093797e-01 -6.56908868e-01 1.57482986e+02] [-3.69110962e-01 -7.92644122e-01 -4.85254978e-01 1.36104535e+02] [-8.16260750e-01 2.68336195e-02 5.77060088e-01 1.29980829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37710568099993 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:157.44, Y:136.07, Z:129.91 [[-4.63245554e-01 6.22172266e-01 -6.31114276e-01 1.57437140e+02] [-3.84578720e-01 -7.82716277e-01 -4.89340820e-01 1.36065444e+02] [-7.98437703e-01 1.60281613e-02 6.01864049e-01 1.29913607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.4071056809999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:157.50, Y:136.10, Z:129.99 [[-4.39109512e-01 5.83391516e-01 -6.83254839e-01 1.57500251e+02] [-3.61335962e-01 -8.10954350e-01 -4.60205785e-01 1.36096594e+02] [-8.22568635e-01 4.48038066e-02 5.66898103e-01 1.29992071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.43710568099993 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:157.50, Y:136.10, Z:129.97 [[-4.40872114e-01 6.07357079e-01 -6.60870000e-01 1.57501423e+02] [-3.58206971e-01 -7.94169452e-01 -4.90899835e-01 1.36095906e+02] [-8.22994256e-01 2.03041928e-02 5.67686705e-01 1.29973183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.4671056809999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:157.32, Y:135.96, Z:129.70 [[-4.76996502e-01 6.20265950e-01 -6.22691327e-01 1.57318428e+02] [-3.84926595e-01 -7.84354157e-01 -4.86436093e-01 1.35957658e+02] [-7.90130276e-01 7.66213767e-03 6.12891049e-01 1.29696099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.49710568099994 meters Centerline goodness : 0.998443 Centerline is valid? [True, True] Translation: X:157.51, Y:136.07, Z:129.97 [[-4.38749270e-01 5.80054075e-01 -6.86320878e-01 1.57508747e+02] [-3.53994324e-01 -8.13567571e-01 -4.61297979e-01 1.36073511e+02] [-8.25946182e-01 4.05595442e-02 5.62288029e-01 1.29972182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5271056809999 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:157.52, Y:136.08, Z:129.96 [[-4.40939479e-01 6.09849121e-01 -6.58525950e-01 1.57517635e+02] [-3.51860605e-01 -7.92426523e-01 -4.98251263e-01 1.36079269e+02] [-8.25691523e-01 1.20106867e-02 5.63994018e-01 1.29964949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.55710568099994 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:157.48, Y:136.05, Z:129.93 [[-4.73430756e-01 6.25839170e-01 -6.19829535e-01 1.57481219e+02] [-3.82348299e-01 -7.79948380e-01 -4.95469780e-01 1.36049597e+02] [-7.93519437e-01 2.42013587e-03 6.08540094e-01 1.29933964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5871056809999 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:157.52, Y:136.06, Z:129.97 [[-4.46878107e-01 5.87709672e-01 -6.74460747e-01 1.57520923e+02] [-3.58031088e-01 -8.08411142e-01 -4.67209980e-01 1.36063044e+02] [-8.19825407e-01 3.26920031e-02 5.71679574e-01 1.29966217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.61710568099994 meters Centerline goodness : 0.997928 Centerline is valid? [True, True] Translation: X:157.52, Y:136.06, Z:129.96 [[-4.47169385e-01 6.04302131e-01 -6.59438000e-01 1.57523250e+02] [-3.54576582e-01 -7.96615908e-01 -4.89569753e-01 1.36058613e+02] [-8.21166846e-01 1.49006667e-02 5.70493629e-01 1.29958704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6471056809999 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:157.52, Y:136.05, Z:129.95 [[-4.48686750e-01 5.95663722e-01 -6.66231889e-01 1.57517079e+02] [-3.53637686e-01 -8.02976276e-01 -4.79759823e-01 1.36045294e+02] [-8.20743923e-01 2.03428280e-02 5.70933956e-01 1.29951771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6771056809999 meters Centerline goodness : 0.997550 Centerline is valid? [True, True] Translation: X:157.52, Y:136.04, Z:129.95 [[-4.46021619e-01 6.01124537e-01 -6.63109348e-01 1.57521685e+02] [-3.40291222e-01 -7.99141993e-01 -4.95554194e-01 1.36043190e+02] [-8.27808311e-01 4.62240627e-03 5.60992008e-01 1.29948858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7071056809999 meters Centerline goodness : 0.997271 Centerline is valid? [True, True] Translation: X:157.52, Y:136.04, Z:129.94 [[-4.58030012e-01 6.05644076e-01 -6.50694830e-01 1.57521347e+02] [-3.35057841e-01 -7.95627112e-01 -5.04691730e-01 1.36038299e+02] [-8.23374005e-01 -1.31435542e-02 5.67346892e-01 1.29936384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7371056809999 meters Centerline goodness : 0.996843 Centerline is valid? [True, True] Translation: X:157.52, Y:136.03, Z:129.94 [[-4.58524887e-01 5.93768188e-01 -6.61206675e-01 1.57522938e+02] [-3.29591788e-01 -8.04590536e-01 -4.93966924e-01 1.36032507e+02] [-8.25302479e-01 -8.56783821e-03 5.64625904e-01 1.29939385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7671056809999 meters Centerline goodness : 0.997102 Centerline is valid? [True, True] Translation: X:157.52, Y:136.03, Z:129.94 [[-4.58020508e-01 5.82238509e-01 -6.71725788e-01 1.57524420e+02] [-3.12203390e-01 -8.12870370e-01 -4.91701946e-01 1.36029220e+02] [-8.32313798e-01 -1.54945068e-02 5.54088136e-01 1.29941052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7971056809999 meters Centerline goodness : 0.997146 Centerline is valid? [True, True] Translation: X:157.52, Y:136.03, Z:129.94 [[-4.60746469e-01 5.74588541e-01 -6.76432333e-01 1.57524829e+02] [-3.11043062e-01 -8.18350483e-01 -4.83274974e-01 1.36027138e+02] [-8.31242988e-01 -1.22676535e-02 5.55773874e-01 1.29942267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8271056809999 meters Centerline goodness : 0.996658 Centerline is valid? [True, True] Translation: X:157.52, Y:136.03, Z:129.94 [[-4.65524929e-01 5.80549057e-01 -6.68018962e-01 1.57523705e+02] [-3.06644318e-01 -8.13843441e-01 -4.93586989e-01 1.36029140e+02] [-8.30214312e-01 -2.49328285e-02 5.56886480e-01 1.29938174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8571056809999 meters Centerline goodness : 0.997019 Centerline is valid? [True, True] Translation: X:157.52, Y:136.03, Z:129.93 [[-4.69974285e-01 5.83119021e-01 -6.62643478e-01 1.57517476e+02] [-3.09135676e-01 -8.11907745e-01 -4.95218080e-01 1.36026662e+02] [-8.26776454e-01 -2.78930232e-02 5.61838655e-01 1.29929214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8871056809999 meters Centerline goodness : 0.995764 Centerline is valid? [True, True] Translation: X:157.51, Y:136.02, Z:129.92 [[-4.74112825e-01 5.73245215e-01 -6.68286580e-01 1.57508035e+02] [-3.04465303e-01 -8.18933289e-01 -4.86465978e-01 1.36021125e+02] [-8.26146421e-01 -2.71696834e-02 5.62800053e-01 1.29920763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.9171056809999 meters Centerline goodness : 0.996732 Centerline is valid? [True, True] Translation: X:157.50, Y:136.02, Z:129.91 [[-4.80907446e-01 5.80172217e-01 -6.57364608e-01 1.57498827e+02] [-3.05228116e-01 -8.13638977e-01 -4.94800377e-01 1.36020212e+02] [-8.21926898e-01 -3.73070246e-02 5.68369914e-01 1.29905909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.9471056809999 meters Centerline goodness : 0.996429 Centerline is valid? [True, True] Translation: X:157.50, Y:136.02, Z:129.91 [[-4.83244633e-01 5.70728680e-01 -6.63885079e-01 1.57497557e+02] [-2.99167892e-01 -8.20307482e-01 -4.87436363e-01 1.36022978e+02] [-8.22783809e-01 -3.69379066e-02 5.67152884e-01 1.29907643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.9771056809999 meters Centerline goodness : 0.996292 Centerline is valid? [True, True] Translation: X:157.50, Y:136.03, Z:129.91 [[-4.79308566e-01 5.75844274e-01 -6.62319160e-01 1.57497929e+02] [-3.05042869e-01 -8.16909808e-01 -4.89496899e-01 1.36026570e+02] [-8.22929004e-01 -3.25843199e-02 5.67209059e-01 1.29911956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.0071056809999 meters Centerline goodness : 0.996354 Centerline is valid? [True, True] Translation: X:157.44, Y:135.99, Z:129.83 [[-5.06322038e-01 6.02057081e-01 -6.17385831e-01 1.57436626e+02] [-3.31358348e-01 -7.96806232e-01 -5.05273662e-01 1.35994899e+02] [-7.96140464e-01 -5.12552413e-02 6.02937196e-01 1.29832711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.0371056809999 meters Centerline goodness : 0.996297 Centerline is valid? [True, True] Translation: X:157.34, Y:135.92, Z:129.68 [[-4.94789732e-01 5.78871766e-01 -6.48143965e-01 1.57338281e+02] [-3.27905675e-01 -8.15071196e-01 -4.77636696e-01 1.35918042e+02] [-8.04773875e-01 -2.37996489e-02 5.93104196e-01 1.29677312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.06710568099993 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:157.43, Y:136.00, Z:129.84 [[-5.01803535e-01 5.95703445e-01 -6.27160759e-01 1.57433197e+02] [-3.35003305e-01 -8.02314293e-01 -4.94028908e-01 1.36002540e+02] [-7.97474763e-01 -3.78045253e-02 6.02166771e-01 1.29839257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.0971056809999 meters Centerline goodness : 0.997173 Centerline is valid? [True, True] Translation: X:157.34, Y:135.94, Z:129.69 [[-4.90349837e-01 5.87494073e-01 -6.43745099e-01 1.57335849e+02] [-3.39116435e-01 -8.09048106e-01 -4.80042921e-01 1.35936654e+02] [-8.02843123e-01 -1.70844250e-02 5.95945502e-01 1.29689822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.12710568099993 meters Centerline goodness : 0.997551 Centerline is valid? [True, True] Translation: X:157.43, Y:136.03, Z:129.86 [[-4.90117178e-01 6.01016135e-01 -6.31319854e-01 1.57431797e+02] [-3.45682412e-01 -7.98906009e-01 -4.92191892e-01 1.36025202e+02] [-8.00180493e-01 -2.29955312e-02 5.99318266e-01 1.29859031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.1571056809999 meters Centerline goodness : 0.997430 Centerline is valid? [True, True] Translation: X:157.46, Y:136.05, Z:129.91 [[-4.89837597e-01 5.97949409e-01 -6.34441197e-01 1.57462589e+02] [-3.47858081e-01 -8.01338486e-01 -4.86673798e-01 1.36050762e+02] [-7.99408459e-01 -1.76956269e-02 6.00527253e-01 1.29914129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.18710568099993 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:157.43, Y:136.03, Z:129.87 [[-4.85803320e-01 5.91743057e-01 -6.43300311e-01 1.57430990e+02] [-3.47342907e-01 -8.06072591e-01 -4.79165821e-01 1.36030514e+02] [-8.02089795e-01 -9.33454671e-03 5.97130494e-01 1.29867297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.2171056809999 meters Centerline goodness : 0.997977 Centerline is valid? [True, True] Translation: X:157.44, Y:136.04, Z:129.88 [[-4.84206733e-01 6.00308151e-01 -6.36532768e-01 1.57440131e+02] [-3.49293763e-01 -7.99643354e-01 -4.88430521e-01 1.36042347e+02] [-8.02208020e-01 -1.41644207e-02 5.96876589e-01 1.29875987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.24710568099994 meters Centerline goodness : 0.998123 Centerline is valid? [True, True] Translation: X:157.48, Y:136.08, Z:129.94 [[-4.71987993e-01 5.87559416e-01 -6.57268033e-01 1.57480140e+02] [-3.39498525e-01 -8.09174680e-01 -4.79559266e-01 1.36076217e+02] [-8.13614212e-01 -3.20468776e-03 5.81396288e-01 1.29935809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.2771056809999 meters Centerline goodness : 0.998042 Centerline is valid? [True, True] Translation: X:157.32, Y:135.96, Z:129.68 [[-4.78615417e-01 5.95564659e-01 -6.45158911e-01 1.57317471e+02] [-3.49741634e-01 -8.03291227e-01 -4.82082975e-01 1.35958894e+02] [-8.05362075e-01 -5.09341261e-03 5.92761322e-01 1.29679183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.30710568099994 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:157.45, Y:136.07, Z:129.91 [[-4.88919302e-01 6.09548364e-01 -6.24026208e-01 1.57452851e+02] [-3.56093366e-01 -7.92500057e-01 -4.95117335e-01 1.36071857e+02] [-7.96338766e-01 -1.98608293e-02 6.04524703e-01 1.29905310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3371056809999 meters Centerline goodness : 0.998266 Centerline is valid? [True, True] Translation: X:157.45, Y:136.07, Z:129.91 [[-4.91410788e-01 5.97048976e-01 -6.34072517e-01 1.57452594e+02] [-3.56401465e-01 -8.02149130e-01 -4.79097870e-01 1.36069823e+02] [-7.94665611e-01 -9.44948795e-03 6.06973866e-01 1.29909725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.36710568099994 meters Centerline goodness : 0.998271 Centerline is valid? [True, True] Translation: X:157.44, Y:136.07, Z:129.89 [[-4.93708641e-01 5.95111756e-01 -6.34108647e-01 1.57441887e+02] [-3.53666007e-01 -8.03551670e-01 -4.78774550e-01 1.36065421e+02] [-7.94463425e-01 -1.21124593e-02 6.07191201e-01 1.29892232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3971056809999 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:157.44, Y:136.07, Z:129.89 [[-4.95314938e-01 5.94247212e-01 -6.33666603e-01 1.57440662e+02] [-3.50886624e-01 -8.04136426e-01 -4.79836623e-01 1.36066607e+02] [-7.94695973e-01 -1.53251123e-02 6.06814182e-01 1.29894243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4271056809999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:157.43, Y:136.07, Z:129.89 [[-4.97519421e-01 5.91526393e-01 -6.34484792e-01 1.57434890e+02] [-3.46088734e-01 -8.06055286e-01 -4.80101515e-01 1.36067660e+02] [-7.95422538e-01 -1.92717893e-02 6.05748780e-01 1.29889283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4571056809999 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:157.43, Y:136.07, Z:129.88 [[-4.98762662e-01 5.90128595e-01 -6.34810246e-01 1.57428591e+02] [-3.43949599e-01 -8.07034515e-01 -4.79993713e-01 1.36065491e+02] [-7.95571795e-01 -2.10602127e-02 6.05493177e-01 1.29880957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4871056809999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:157.43, Y:136.07, Z:129.88 [[-5.01573459e-01 5.87282023e-01 -6.35235304e-01 1.57427242e+02] [-3.39373350e-01 -8.08991483e-01 -4.79956778e-01 1.36066766e+02] [-7.95769938e-01 -2.51516480e-02 6.05076524e-01 1.29881673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5171056809999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:157.42, Y:136.06, Z:129.88 [[-5.03458151e-01 5.85523229e-01 -6.35367956e-01 1.57424811e+02] [-3.37115144e-01 -8.10198435e-01 -4.79512122e-01 1.36064108e+02] [-7.95539610e-01 -2.72221265e-02 6.05289753e-01 1.29877015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5471056809999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:157.42, Y:136.06, Z:129.87 [[-5.04761957e-01 5.83889157e-01 -6.35837101e-01 1.57422947e+02] [-3.34703156e-01 -8.11310735e-01 -4.79321071e-01 1.36061494e+02] [-7.95731842e-01 -2.91263576e-02 6.04948338e-01 1.29873185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5771056809999 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:157.42, Y:136.06, Z:129.87 [[-5.06154321e-01 5.81793375e-01 -6.36650825e-01 1.57418959e+02] [-3.31185615e-01 -8.12714985e-01 -4.79385484e-01 1.36058773e+02] [-7.96318964e-01 -3.17934392e-02 6.04040798e-01 1.29866568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.6071056809999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:157.42, Y:136.06, Z:129.87 [[-5.05684689e-01 5.81347186e-01 -6.37431129e-01 1.57419367e+02] [-3.30108668e-01 -8.13021814e-01 -4.79607962e-01 1.36059397e+02] [-7.97064152e-01 -3.21088625e-02 6.03040428e-01 1.29867791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.6371056809999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:157.42, Y:136.06, Z:129.87 [[-5.04298223e-01 5.81509820e-01 -6.38380476e-01 1.57417959e+02] [-3.30079084e-01 -8.12939745e-01 -4.79767412e-01 1.36056758e+02] [-7.97954322e-01 -3.12298108e-02 6.01908298e-01 1.29865724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.6671056809999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:157.43, Y:136.06, Z:129.88 [[-5.01235136e-01 5.83463223e-01 -6.39010177e-01 1.57426403e+02] [-3.33042151e-01 -8.11666592e-01 -4.79875265e-01 1.36060197e+02] [-7.98652781e-01 -2.77130197e-02 6.01153661e-01 1.29876091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.6971056809999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:157.43, Y:136.06, Z:129.87 [[-5.01350424e-01 5.83077105e-01 -6.39272119e-01 1.57425568e+02] [-3.32861099e-01 -8.11947119e-01 -4.79526188e-01 1.36059504e+02] [-7.98655897e-01 -2.76218379e-02 6.01153718e-01 1.29874772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.7271056809999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:157.42, Y:136.06, Z:129.87 [[-4.98058031e-01 5.84664458e-01 -6.40394933e-01 1.57423367e+02] [-3.34713347e-01 -8.10898366e-01 -4.80011267e-01 1.36056911e+02] [-7.99940731e-01 -2.47247349e-02 5.99569440e-01 1.29870415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.7571056809999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:157.42, Y:136.05, Z:129.86 [[-4.86865699e-01 5.86068827e-01 -6.47676711e-01 1.57415844e+02] [-3.41357404e-01 -8.10187795e-01 -4.76519527e-01 1.36050251e+02] [-8.04013006e-01 -1.09117716e-02 5.94511580e-01 1.29860541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.7871056809999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:157.43, Y:136.06, Z:129.88 [[-4.84774147e-01 5.90858025e-01 -6.44888224e-01 1.57428211e+02] [-3.41153281e-01 -8.06654834e-01 -4.82620367e-01 1.36062246e+02] [-8.05362320e-01 -1.39561429e-02 5.92618562e-01 1.29881310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.81710568099993 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:157.43, Y:136.07, Z:129.89 [[-4.84587407e-01 5.99283345e-01 -6.37208378e-01 1.57432791e+02] [-3.52220487e-01 -8.00467192e-01 -4.84967013e-01 1.36069198e+02] [-8.00697055e-01 -1.05710621e-02 5.98976193e-01 1.29887634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.8471056809999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:157.44, Y:136.08, Z:129.90 [[-4.79812299e-01 5.99383310e-01 -6.40718194e-01 1.57440741e+02] [-3.60018328e-01 -8.00461807e-01 -4.79215713e-01 1.36077610e+02] [-8.00104344e-01 7.36700020e-04 5.99860397e-01 1.29898983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87710568099993 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:157.44, Y:136.08, Z:129.90 [[-4.76243142e-01 6.02071956e-01 -6.40860226e-01 1.57440921e+02] [-3.66169277e-01 -7.98410875e-01 -4.77975036e-01 1.36078201e+02] [-7.99445139e-01 7.03099216e-03 6.00697957e-01 1.29899986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.9071056809999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:157.44, Y:136.08, Z:129.90 [[-4.75715072e-01 6.02870800e-01 -6.40501342e-01 1.57439121e+02] [-3.68523731e-01 -7.97787770e-01 -4.77205336e-01 1.36076761e+02] [-7.98677300e-01 9.02617386e-03 6.01691863e-01 1.29899273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.93710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.44, Y:136.08, Z:129.91 [[-4.73149027e-01 6.05298486e-01 -6.40112288e-01 1.57444718e+02] [-3.73635772e-01 -7.95879758e-01 -4.76415492e-01 1.36080958e+02] [-7.97825989e-01 1.37533228e-02 6.02730900e-01 1.29905868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.9671056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:157.44, Y:136.08, Z:129.90 [[-4.70984397e-01 6.06616207e-01 -6.40461143e-01 1.57443387e+02] [-3.76183488e-01 -7.94820289e-01 -4.76179264e-01 1.36079963e+02] [-7.97909569e-01 1.66579030e-02 6.02546955e-01 1.29901548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.99710568099994 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:157.45, Y:136.08, Z:129.91 [[-4.68164500e-01 6.09376177e-01 -6.39908334e-01 1.57448174e+02] [-3.82010522e-01 -7.92577537e-01 -4.75277613e-01 1.36082813e+02] [-7.96799826e-01 2.19436107e-02 6.03844777e-01 1.29906435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0271056809999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:157.46, Y:136.09, Z:129.92 [[-4.64582358e-01 6.11924351e-01 -6.40087355e-01 1.57457727e+02] [-3.86815233e-01 -7.90456853e-01 -4.74923088e-01 1.36085081e+02] [-7.96578438e-01 2.69546518e-02 6.03933969e-01 1.29917228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.05710568099994 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:157.45, Y:136.08, Z:129.91 [[-4.63635766e-01 6.12227941e-01 -6.40483274e-01 1.57453923e+02] [-3.87607713e-01 -7.90180026e-01 -4.74737598e-01 1.36078532e+02] [-7.96744713e-01 2.81509268e-02 6.03659994e-01 1.29910355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0871056809999 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:157.46, Y:136.07, Z:129.91 [[-4.63381510e-01 6.11290274e-01 -6.41561982e-01 1.57458014e+02] [-3.85451446e-01 -7.90942971e-01 -4.75222474e-01 1.36071306e+02] [-7.97937817e-01 2.70816860e-02 6.02131068e-01 1.29911258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.11710568099994 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:157.46, Y:136.07, Z:129.91 [[-4.64724298e-01 6.10225054e-01 -6.41604793e-01 1.57459277e+02] [-3.84014365e-01 -7.91812121e-01 -4.74938452e-01 1.36065872e+02] [-7.97849794e-01 2.56700187e-02 6.02309519e-01 1.29908836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1471056809999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:157.47, Y:136.06, Z:129.92 [[-4.66570290e-01 6.07947197e-01 -6.42426937e-01 1.57469583e+02] [-3.79384189e-01 -7.93676734e-01 -4.75546926e-01 1.36061561e+02] [-7.98986734e-01 2.18505550e-02 6.00951539e-01 1.29916689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1771056809999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:157.46, Y:136.05, Z:129.89 [[-4.60581015e-01 6.07429554e-01 -6.47220569e-01 1.57456632e+02] [-3.78263877e-01 -7.93960947e-01 -4.75964761e-01 1.36045415e+02] [-8.02982919e-01 2.55998287e-02 5.95451997e-01 1.29890283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2071056809999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:157.48, Y:136.06, Z:129.92 [[-4.66493002e-01 6.12750815e-01 -6.37903377e-01 1.57480338e+02] [-3.75558945e-01 -7.90158807e-01 -4.84359927e-01 1.36056879e+02] [-8.00836911e-01 1.36198032e-02 5.98727603e-01 1.29920315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2371056809999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:157.48, Y:136.05, Z:129.92 [[-4.65501247e-01 6.07142544e-01 -6.43961583e-01 1.57483847e+02] [-3.75674385e-01 -7.94348566e-01 -4.77366853e-01 1.36053789e+02] [-8.01359686e-01 1.97050068e-02 5.97858150e-01 1.29924166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2671056809999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:157.49, Y:136.05, Z:129.93 [[-4.62528393e-01 6.08860019e-01 -6.44481933e-01 1.57490412e+02] [-3.76453629e-01 -7.92997857e-01 -4.78995892e-01 1.36048940e+02] [-8.02714240e-01 2.10683617e-02 5.95991588e-01 1.29930330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2971056809999 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:157.48, Y:136.03, Z:129.89 [[-4.43065145e-01 5.92620724e-01 -6.72676709e-01 1.57476296e+02] [-3.59765623e-01 -8.04811520e-01 -4.72066853e-01 1.36026653e+02] [-8.21134565e-01 3.28495865e-02 5.69788496e-01 1.29885800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3271056809999 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:157.48, Y:136.03, Z:129.88 [[-4.41300255e-01 6.05485007e-01 -6.62300530e-01 1.57477304e+02] [-3.60408280e-01 -7.95502722e-01 -4.87115275e-01 1.36029657e+02] [-8.21802870e-01 2.37344997e-02 5.69277364e-01 1.29879428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3571056809999 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:157.49, Y:136.04, Z:129.90 [[-4.38628367e-01 6.04765977e-01 -6.64727966e-01 1.57493412e+02] [-3.60030319e-01 -7.95982592e-01 -4.86610606e-01 1.36038073e+02] [-8.23397428e-01 2.58810060e-02 5.66874633e-01 1.29899390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3871056809999 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:157.51, Y:136.05, Z:129.94 [[-4.58418661e-01 6.26565265e-01 -6.30292234e-01 1.57508787e+02] [-3.81054634e-01 -7.79274982e-01 -4.97521726e-01 1.36050934e+02] [-8.02900802e-01 1.21025328e-02 5.95989792e-01 1.29936312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.4171056809999 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:157.51, Y:136.03, Z:129.91 [[-4.40174719e-01 5.87162316e-01 -6.79328074e-01 1.57505846e+02] [-3.54436166e-01 -8.08747426e-01 -4.69364043e-01 1.36031959e+02] [-8.24997710e-01 3.41762522e-02 5.64101731e-01 1.29907298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.4471056809999 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:157.51, Y:136.04, Z:129.93 [[-4.64511078e-01 6.26613027e-01 -6.25767986e-01 1.57509936e+02] [-3.78285801e-01 -7.79316590e-01 -4.99565317e-01 1.36039983e+02] [-8.00705508e-01 4.66551975e-03 5.99040001e-01 1.29927106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.4771056809999 meters Centerline goodness : 0.997589 Centerline is valid? [True, True] Translation: X:157.52, Y:136.03, Z:129.93 [[-4.68221476e-01 6.09751419e-01 -6.39509075e-01 1.57515444e+02] [-3.76164160e-01 -7.92436342e-01 -4.80151193e-01 1.36033972e+02] [-7.99543103e-01 1.57432936e-02 6.00402344e-01 1.29934988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.5071056809999 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:157.52, Y:136.03, Z:129.93 [[-4.69837006e-01 6.10036947e-01 -6.38050241e-01 1.57515380e+02] [-3.76401708e-01 -7.92240181e-01 -4.80288714e-01 1.36032586e+02] [-7.98482900e-01 1.45057889e-02 6.01842704e-01 1.29933145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.5371056809999 meters Centerline goodness : 0.997384 Centerline is valid? [True, True] Translation: X:157.46, Y:135.99, Z:129.84 [[-4.68516257e-01 6.04937315e-01 -6.43850419e-01 1.57461730e+02] [-3.74379417e-01 -7.96063841e-01 -4.75523305e-01 1.35985153e+02] [-8.00207829e-01 1.82539453e-02 5.99444930e-01 1.29839421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.56710568099993 meters Centerline goodness : 0.997060 Centerline is valid? [True, True] Translation: X:157.51, Y:136.02, Z:129.91 [[-4.75779663e-01 6.14926241e-01 -6.28887455e-01 1.57511487e+02] [-3.75233789e-01 -7.88573520e-01 -4.87187241e-01 1.36020781e+02] [-7.95508212e-01 4.18604099e-03 6.05928347e-01 1.29911995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.5971056809999 meters Centerline goodness : 0.996636 Centerline is valid? [True, True] Translation: X:157.51, Y:136.02, Z:129.92 [[-4.78345856e-01 6.07820956e-01 -6.33828784e-01 1.57514380e+02] [-3.74061323e-01 -7.94034902e-01 -4.79152064e-01 1.36016419e+02] [-7.94520842e-01 7.89042890e-03 6.07185616e-01 1.29917845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.62710568099993 meters Centerline goodness : 0.996962 Centerline is valid? [True, True] Translation: X:157.51, Y:136.01, Z:129.91 [[-4.84530510e-01 6.03542640e-01 -6.33219130e-01 1.57511431e+02] [-3.65917630e-01 -7.97330267e-01 -4.79967430e-01 1.36006355e+02] [-7.94565587e-01 -8.52820066e-04 6.07177733e-01 1.29906635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.6571056809999 meters Centerline goodness : 0.996978 Centerline is valid? [True, True] Translation: X:157.53, Y:136.01, Z:129.92 [[-4.65398809e-01 5.85014245e-01 -6.64200483e-01 1.57530318e+02] [-3.42785473e-01 -8.10992602e-01 -4.74119309e-01 1.36013190e+02] [-8.16028227e-01 7.02371500e-03 5.77969376e-01 1.29916004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.68710568099993 meters Centerline goodness : 0.997012 Centerline is valid? [True, True] Translation: X:157.53, Y:136.02, Z:129.91 [[-4.72024794e-01 5.99592022e-01 -6.46283221e-01 1.57531988e+02] [-3.38076545e-01 -8.00158369e-01 -4.95429949e-01 1.36017352e+02] [-8.14184773e-01 -1.53620214e-02 5.80402588e-01 1.29908504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.7171056809999 meters Centerline goodness : 0.997076 Centerline is valid? [True, True] Translation: X:157.50, Y:135.99, Z:129.85 [[-4.73149477e-01 5.94700175e-01 -6.49970211e-01 1.57498157e+02] [-3.34024894e-01 -8.03791930e-01 -4.92286404e-01 1.35989447e+02] [-8.15203621e-01 -1.58188238e-02 5.78958394e-01 1.29849058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.74710568099994 meters Centerline goodness : 0.997021 Centerline is valid? [True, True] Translation: X:157.52, Y:136.01, Z:129.90 [[-4.95164174e-01 6.09171494e-01 -6.19453414e-01 1.57516192e+02] [-3.51465736e-01 -7.92505337e-01 -4.98404581e-01 1.36007103e+02] [-7.94534000e-01 -2.90754423e-02 6.06523158e-01 1.29895726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.7771056809999 meters Centerline goodness : 0.997618 Centerline is valid? [True, True] Translation: X:157.53, Y:136.01, Z:129.91 [[-4.77480768e-01 5.87857489e-01 -6.53020435e-01 1.57530496e+02] [-3.39683020e-01 -8.08931625e-01 -4.79838589e-01 1.36010248e+02] [-8.10325590e-01 -7.29374406e-03 5.85934501e-01 1.29906929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.80710568099994 meters Centerline goodness : 0.997707 Centerline is valid? [True, True] Translation: X:157.54, Y:136.02, Z:129.92 [[-4.72803765e-01 5.97156038e-01 -6.47967026e-01 1.57537396e+02] [-3.40064467e-01 -8.02038284e-01 -4.91009929e-01 1.36022030e+02] [-8.12903904e-01 -1.18007820e-02 5.82278270e-01 1.29920059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8371056809999 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:157.54, Y:136.02, Z:129.92 [[-4.66387553e-01 5.95576232e-01 -6.54042508e-01 1.57536699e+02] [-3.37959609e-01 -8.03261833e-01 -4.90462772e-01 1.36024903e+02] [-8.17475353e-01 -7.70578156e-03 5.75912031e-01 1.29921454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.86710568099994 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:157.52, Y:136.02, Z:129.91 [[-4.87602526e-01 6.24282082e-01 -6.10340609e-01 1.57516818e+02] [-3.62944562e-01 -7.80749818e-01 -5.08626549e-01 1.36022386e+02] [-7.94049760e-01 -2.64877848e-02 6.07275370e-01 1.29907093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8971056809999 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:157.49, Y:135.99, Z:129.86 [[-4.61149134e-01 5.85125893e-01 -6.67060091e-01 1.57493330e+02] [-3.41613593e-01 -8.10895040e-01 -4.75130916e-01 1.35994707e+02] [-8.18927121e-01 8.77058409e-03 5.73830504e-01 1.29858066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9271056809999 meters Centerline goodness : 0.998243 Centerline is valid? [True, True] Translation: X:157.43, Y:135.96, Z:129.76 [[-4.66190533e-01 6.10915346e-01 -6.39881885e-01 1.57431557e+02] [-3.54291952e-01 -7.91678009e-01 -4.97717935e-01 1.35958906e+02] [-8.10643941e-01 -5.32638760e-03 5.85515183e-01 1.29758380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9571056809999 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:157.49, Y:136.00, Z:129.84 [[-4.58985018e-01 6.11424752e-01 -6.44587097e-01 1.57485643e+02] [-3.53262811e-01 -7.91301434e-01 -4.99046517e-01 1.36001333e+02] [-8.15192088e-01 -1.34622431e-03 5.79189130e-01 1.29844403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9871056809999 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:157.52, Y:136.03, Z:129.92 [[-4.76108451e-01 6.25113920e-01 -6.18508957e-01 1.57517979e+02] [-3.80274366e-01 -7.80532866e-01 -4.96144991e-01 1.36033176e+02] [-7.92913709e-01 -1.01572170e-03 6.09333093e-01 1.29923428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0171056809999 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:157.50, Y:136.02, Z:129.87 [[-4.44739968e-01 6.03914718e-01 -6.61432819e-01 1.57498994e+02] [-3.64127467e-01 -7.96616384e-01 -4.82507538e-01 1.36016505e+02] [-8.18301625e-01 2.62554697e-02 5.74189082e-01 1.29874693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0471056809999 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:157.52, Y:136.03, Z:129.91 [[-4.41399378e-01 6.14218457e-01 -6.54142398e-01 1.57516948e+02] [-3.68297191e-01 -7.88780162e-01 -4.92120957e-01 1.36033223e+02] [-8.18244321e-01 2.36969231e-02 5.74382005e-01 1.29907141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0771056809999 meters Centerline goodness : 0.997943 Centerline is valid? [True, True] Translation: X:157.53, Y:136.05, Z:129.95 [[-4.55757065e-01 6.43684826e-01 -6.14780727e-01 1.57532788e+02] [-3.99993518e-01 -7.65124513e-01 -5.04568791e-01 1.36051465e+02] [-7.95167079e-01 1.59475144e-02 6.06180661e-01 1.29954476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.1071056809999 meters Centerline goodness : 0.998174 Centerline is valid? [True, True] Translation: X:157.54, Y:136.05, Z:129.97 [[-4.52782617e-01 6.30840832e-01 -6.30101378e-01 1.57541202e+02] [-4.03743251e-01 -7.75150393e-01 -4.85935444e-01 1.36052349e+02] [-7.94971250e-01 3.43760564e-02 6.05672352e-01 1.29974014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.1371056809999 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:157.54, Y:136.05, Z:129.98 [[-4.49856449e-01 6.33275068e-01 -6.29755400e-01 1.57544556e+02] [-4.06643269e-01 -7.73038979e-01 -4.86879851e-01 1.36054558e+02] [-7.95154342e-01 3.70597539e-02 6.05273614e-01 1.29978348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.1671056809999 meters Centerline goodness : 0.998046 Centerline is valid? [True, True] Translation: X:157.55, Y:136.05, Z:129.98 [[-4.47840619e-01 6.35144998e-01 -6.29308836e-01 1.57545167e+02] [-4.08695645e-01 -7.71419256e-01 -4.87729639e-01 1.36052478e+02] [-7.95239995e-01 3.87706374e-02 6.05053872e-01 1.29977191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.1971056809999 meters Centerline goodness : 0.997793 Centerline is valid? [True, True] Translation: X:157.55, Y:136.05, Z:129.98 [[-4.48099728e-01 6.34756312e-01 -6.29516528e-01 1.57551140e+02] [-4.06256966e-01 -7.71845849e-01 -4.89090239e-01 1.36052939e+02] [-7.96342835e-01 3.65842719e-02 6.03738089e-01 1.29983635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.2271056809999 meters Centerline goodness : 0.997402 Centerline is valid? [True, True] Translation: X:157.55, Y:136.05, Z:129.98 [[-4.48240471e-01 6.34477580e-01 -6.29697293e-01 1.57552759e+02] [-4.04022232e-01 -7.72167346e-01 -4.90432081e-01 1.36051259e+02] [-7.97399847e-01 3.45801991e-02 6.02459703e-01 1.29983761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.2571056809999 meters Centerline goodness : 0.997296 Centerline is valid? [True, True] Translation: X:157.56, Y:136.05, Z:129.98 [[-4.50331235e-01 6.32871204e-01 -6.29822052e-01 1.57555142e+02] [-3.99548522e-01 -7.73667780e-01 -4.91730765e-01 1.36047195e+02] [-7.98475270e-01 3.02027477e-02 6.01269521e-01 1.29983481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.2871056809999 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:157.55, Y:136.04, Z:129.98 [[-4.51630027e-01 6.32837803e-01 -6.28924982e-01 1.57554457e+02] [-3.98747545e-01 -7.73760638e-01 -4.92234569e-01 1.36044047e+02] [-7.98142039e-01 2.84743810e-02 6.01796058e-01 1.29979874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.31710568099993 meters Centerline goodness : 0.997354 Centerline is valid? [True, True] Translation: X:157.49, Y:135.99, Z:129.87 [[-4.56867081e-01 6.36440851e-01 -6.21462399e-01 1.57494484e+02] [-3.97416802e-01 -7.71074176e-01 -4.97498241e-01 1.35994352e+02] [-7.95821812e-01 1.96890296e-02 6.05210696e-01 1.29871841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.3471056809999 meters Centerline goodness : 0.996757 Centerline is valid? [True, True] Translation: X:157.56, Y:136.04, Z:129.98 [[-4.54586595e-01 6.24841016e-01 -6.34763525e-01 1.57557776e+02] [-3.94602168e-01 -7.80182083e-01 -4.85391642e-01 1.36038490e+02] [-7.98523736e-01 2.98265295e-02 6.01223936e-01 1.29978761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37710568099993 meters Centerline goodness : 0.997056 Centerline is valid? [True, True] Translation: X:157.57, Y:136.04, Z:129.97 [[-4.44151280e-01 6.15442552e-01 -6.51122189e-01 1.57566568e+02] [-3.77327902e-01 -7.87635245e-01 -4.87087646e-01 1.36043656e+02] [-8.12621249e-01 2.93459681e-02 5.82052849e-01 1.29970622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.4071056809999 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:157.56, Y:136.04, Z:129.97 [[-4.61092757e-01 6.37377000e-01 -6.17368634e-01 1.57560831e+02] [-3.91544327e-01 -7.70489994e-01 -5.03029034e-01 1.36038672e+02] [-7.96295492e-01 9.78414257e-03 6.04828704e-01 1.29965082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.43710568099993 meters Centerline goodness : 0.996313 Centerline is valid? [True, True] Translation: X:157.53, Y:136.01, Z:129.90 [[-4.49741402e-01 6.11680777e-01 -6.50829699e-01 1.57532409e+02] [-3.72468938e-01 -7.90742573e-01 -4.85791183e-01 1.36006829e+02] [-8.11787880e-01 2.39334390e-02 5.83461763e-01 1.29901995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.4671056809999 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:157.51, Y:135.99, Z:129.86 [[-4.62341499e-01 6.22369201e-01 -6.31582866e-01 1.57513261e+02] [-3.70091276e-01 -7.82720152e-01 -5.00381466e-01 1.35989963e+02] [-8.05774649e-01 2.39619189e-03 5.92217420e-01 1.29857525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.49710568099994 meters Centerline goodness : 0.995631 Centerline is valid? [True, True] Translation: X:157.56, Y:136.02, Z:129.93 [[-4.60217323e-01 6.13300437e-01 -6.41921015e-01 1.57558914e+02] [-3.62684074e-01 -7.89832644e-01 -4.94595449e-01 1.36017835e+02] [-8.10345777e-01 5.19313519e-03 5.85928966e-01 1.29929144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5271056809999 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:157.54, Y:135.99, Z:129.88 [[-4.75241371e-01 6.15023623e-01 -6.29199159e-01 1.57535583e+02] [-3.54803984e-01 -7.88354025e-01 -5.02605276e-01 1.35993311e+02] [-8.05145808e-01 -1.56164519e-02 5.92871280e-01 1.29879433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.55710568099994 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:157.53, Y:135.98, Z:129.87 [[-4.76333102e-01 6.07603130e-01 -6.35551109e-01 1.57529779e+02] [-3.50977624e-01 -7.94129894e-01 -4.96157656e-01 1.35981089e+02] [-8.06177079e-01 -1.32720977e-02 5.91525459e-01 1.29867892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5871056809999 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:157.50, Y:135.96, Z:129.82 [[-5.01279284e-01 6.14132822e-01 -6.09557181e-01 1.57499016e+02] [-3.51623823e-01 -7.88247754e-01 -5.05001153e-01 1.35958184e+02] [-7.90619862e-01 -3.88117904e-02 6.11076001e-01 1.29824487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.61710568099994 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:157.50, Y:135.95, Z:129.83 [[-5.00371761e-01 6.03183283e-01 -6.21126418e-01 1.57499141e+02] [-3.51943729e-01 -7.97149516e-01 -4.90599900e-01 1.35953740e+02] [-7.91052282e-01 -2.68807883e-02 6.11157681e-01 1.29830030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6471056809999 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:157.57, Y:136.01, Z:129.94 [[-4.82443988e-01 5.95747831e-01 -6.42131077e-01 1.57571533e+02] [-3.41583413e-01 -8.03006777e-01 -4.88365527e-01 1.36005422e+02] [-8.06578310e-01 -1.62676877e-02 5.90903369e-01 1.29940171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6771056809999 meters Centerline goodness : 0.994872 Centerline is valid? [True, True] Translation: X:157.57, Y:136.02, Z:129.93 [[-4.91601213e-01 6.16508203e-01 -6.15016978e-01 1.57574503e+02] [-3.40910485e-01 -7.86130758e-01 -5.15537073e-01 1.36020100e+02] [-8.01316597e-01 -4.37729141e-02 5.96636945e-01 1.29933637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7071056809999 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:157.54, Y:135.99, Z:129.89 [[-4.73932037e-01 5.92244772e-01 -6.51639897e-01 1.57538615e+02] [-3.32241079e-01 -8.05599655e-01 -4.90535485e-01 1.35988498e+02] [-8.15477952e-01 -1.59789389e-02 5.78567527e-01 1.29885232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7371056809999 meters Centerline goodness : 0.995444 Centerline is valid? [True, True] Translation: X:157.54, Y:136.00, Z:129.88 [[-4.78606975e-01 6.12234913e-01 -6.29367758e-01 1.57538382e+02] [-3.34603128e-01 -7.89883862e-01 -5.13930182e-01 1.36000805e+02] [-8.11773435e-01 -3.53821495e-02 5.82899642e-01 1.29879489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7671056809999 meters Centerline goodness : 0.995320 Centerline is valid? [True, True] Translation: X:157.53, Y:136.00, Z:129.87 [[-4.67349274e-01 6.01612335e-01 -6.47801864e-01 1.57528707e+02] [-3.31919540e-01 -7.98546212e-01 -5.02148749e-01 1.35998593e+02] [-8.19398606e-01 -1.96607571e-02 5.72886882e-01 1.29872861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7971056809999 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:157.50, Y:135.99, Z:129.85 [[-4.92487216e-01 6.22983387e-01 -6.07740110e-01 1.57499615e+02] [-3.51527024e-01 -7.81188686e-01 -5.15919557e-01 1.35990113e+02] [-7.96169011e-01 -4.04467140e-02 6.03720937e-01 1.29846706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8271056809999 meters Centerline goodness : 0.995951 Centerline is valid? [True, True] Translation: X:157.53, Y:136.02, Z:129.89 [[-4.79134576e-01 6.09803566e-01 -6.31323743e-01 1.57534850e+02] [-3.45863738e-01 -7.92232367e-01 -5.02738652e-01 1.36022660e+02] [-8.06726926e-01 -2.25274814e-02 5.90494860e-01 1.29893857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8571056809999 meters Centerline goodness : 0.996758 Centerline is valid? [True, True] Translation: X:157.54, Y:136.03, Z:129.91 [[-4.59819990e-01 5.97698960e-01 -6.56750737e-01 1.57541151e+02] [-3.39670030e-01 -8.01714759e-01 -4.91810651e-01 1.36029773e+02] [-8.20481473e-01 -3.06582652e-03 5.71664896e-01 1.29913285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8871056809999 meters Centerline goodness : 0.996772 Centerline is valid? [True, True] Translation: X:157.53, Y:136.04, Z:129.91 [[-4.88634802e-01 6.35060267e-01 -5.98276264e-01 1.57531596e+02] [-3.62098678e-01 -7.71477234e-01 -5.23170551e-01 1.36041011e+02] [-7.93801347e-01 -3.90042945e-02 6.06925108e-01 1.29914682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.9171056809999 meters Centerline goodness : 0.996674 Centerline is valid? [True, True] Translation: X:157.53, Y:136.04, Z:129.92 [[-4.87961199e-01 6.16407600e-01 -6.18009336e-01 1.57530991e+02] [-3.63121764e-01 -7.87202483e-01 -4.98452441e-01 1.36035032e+02] [-7.93748356e-01 -1.88128101e-02 6.07955282e-01 1.29920975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.9471056809999 meters Centerline goodness : 0.997974 Centerline is valid? [True, True] Translation: X:157.56, Y:136.06, Z:129.94 [[-4.62687733e-01 6.08448502e-01 -6.44756142e-01 1.57559619e+02] [-3.48626197e-01 -7.93570942e-01 -4.98703254e-01 1.36059642e+02] [-8.15094986e-01 -5.96499637e-03 5.79296627e-01 1.29942858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.9771056809999 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:157.52, Y:136.04, Z:129.91 [[-4.87025341e-01 6.32095902e-01 -6.02711447e-01 1.57522637e+02] [-3.67443152e-01 -7.74330818e-01 -5.15167269e-01 1.36043950e+02] [-7.92333167e-01 -2.94373208e-02 6.09378041e-01 1.29906883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.0071056809999 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:157.52, Y:136.04, Z:129.92 [[-4.84138704e-01 6.23278436e-01 -6.14112129e-01 1.57523223e+02] [-3.74268396e-01 -7.81915214e-01 -4.98529603e-01 1.36044535e+02] [-7.90906368e-01 -1.15147142e-02 6.11828839e-01 1.29916191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.0371056809999 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:157.53, Y:136.05, Z:129.94 [[-4.79693855e-01 6.23545476e-01 -6.17320699e-01 1.57532405e+02] [-3.76869836e-01 -7.81766575e-01 -4.96799909e-01 1.36053536e+02] [-7.92378024e-01 -5.66231279e-03 6.10004103e-01 1.29935604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.06710568099993 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:157.51, Y:136.04, Z:129.90 [[-4.73984689e-01 6.27434896e-01 -6.17789581e-01 1.57508892e+02] [-3.80948978e-01 -7.78668435e-01 -4.98551246e-01 1.36040213e+02] [-7.93861695e-01 -9.59347928e-04 6.08097598e-01 1.29898820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.0971056809999 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:157.50, Y:136.04, Z:129.89 [[-4.71761414e-01 6.33620722e-01 -6.13160623e-01 1.57500540e+02] [-3.84312182e-01 -7.73641212e-01 -5.03769214e-01 1.36043095e+02] [-7.93564941e-01 -2.01377971e-03 6.08482234e-01 1.29885813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.12710568099993 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:157.54, Y:136.08, Z:129.95 [[-4.72103938e-01 6.36132022e-01 -6.10290031e-01 1.57535513e+02] [-3.84938088e-01 -7.71568913e-01 -5.06462319e-01 1.36075031e+02] [-7.93057715e-01 -4.17897754e-03 6.09132167e-01 1.29945791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.1571056809999 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:157.54, Y:136.08, Z:129.95 [[-4.68590181e-01 6.34248047e-01 -6.14941181e-01 1.57537655e+02] [-3.86224710e-01 -7.73127619e-01 -5.03094581e-01 1.36077089e+02] [-7.94514767e-01 1.76029827e-03 6.07242279e-01 1.29953997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.18710568099993 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:157.54, Y:136.08, Z:129.96 [[-4.65996626e-01 6.36410144e-01 -6.14678187e-01 1.57543499e+02] [-3.88324476e-01 -7.71341825e-01 -5.04218099e-01 1.36082478e+02] [-7.95016507e-01 3.73065231e-03 6.06576323e-01 1.29964529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.2171056809999 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:157.56, Y:136.09, Z:129.96 [[-4.33331708e-01 6.22918696e-01 -6.51303255e-01 1.57557640e+02] [-3.71093667e-01 -7.81898794e-01 -5.00922914e-01 1.36090057e+02] [-8.21287478e-01 2.46287312e-02 5.69982723e-01 1.29958572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.24710568099994 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:157.55, Y:136.10, Z:129.97 [[-4.56806619e-01 6.60647051e-01 -5.95712336e-01 1.57551179e+02] [-3.96830306e-01 -7.50680717e-01 -5.28208453e-01 1.36100347e+02] [-7.96149120e-01 -4.89240904e-03 6.05080691e-01 1.29971767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.2771056809999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:157.57, Y:136.11, Z:129.99 [[-4.22518408e-01 6.28048303e-01 -6.53478021e-01 1.57573051e+02] [-3.83599571e-01 -7.77151513e-01 -4.98885652e-01 1.36107987e+02] [-8.21175720e-01 3.98855169e-02 5.69279880e-01 1.29990344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.30710568099994 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:157.56, Y:136.11, Z:129.99 [[-4.46142865e-01 6.71393097e-01 -5.91766722e-01 1.57559314e+02] [-4.07778895e-01 -7.41093865e-01 -5.33381904e-01 1.36114360e+02] [-7.96663616e-01 3.34545008e-03 6.04413675e-01 1.29985144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3371056809999 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:157.56, Y:136.09, Z:129.96 [[-4.11747745e-01 6.29261485e-01 -6.59161421e-01 1.57555863e+02] [-3.91743917e-01 -7.75299245e-01 -4.95426870e-01 1.36089645e+02] [-8.22800400e-01 5.42315804e-02 5.65737075e-01 1.29955677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.36710568099994 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:157.57, Y:136.11, Z:129.98 [[-4.03031874e-01 6.59801546e-01 -6.34213867e-01 1.57571776e+02] [-3.98884189e-01 -7.50346323e-01 -5.27135466e-01 1.36109587e+02] [-8.23684838e-01 4.05254890e-02 5.65597889e-01 1.29975158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3971056809999 meters Centerline goodness : 0.998565 Centerline is valid? [True, True] Translation: X:157.56, Y:136.10, Z:129.94 [[-4.04554017e-01 6.63081516e-01 -6.29808662e-01 1.57558015e+02] [-3.98154277e-01 -7.47692320e-01 -5.31440840e-01 1.36096321e+02] [-8.23291698e-01 3.57644857e-02 5.66490672e-01 1.29944555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4271056809999 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:157.56, Y:136.10, Z:129.95 [[-4.03498565e-01 6.63071207e-01 -6.30496219e-01 1.57562537e+02] [-4.02399772e-01 -7.47463202e-01 -5.28557645e-01 1.36097749e+02] [-8.21744079e-01 4.04392837e-02 5.68420032e-01 1.29948075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4571056809999 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:157.58, Y:136.12, Z:130.00 [[-4.27774737e-01 6.82493132e-01 -5.92631335e-01 1.57580466e+02] [-4.25993066e-01 -7.30493770e-01 -5.33768451e-01 1.36115392e+02] [-7.97206800e-01 2.41241799e-02 6.03224122e-01 1.30001399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4871056809999 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:157.60, Y:136.11, Z:130.03 [[-4.27465260e-01 6.61815915e-01 -6.15851562e-01 1.57598491e+02] [-4.26572860e-01 -7.48282256e-01 -5.08044546e-01 1.36107420e+02] [-7.97062762e-01 4.55341676e-02 6.02177377e-01 1.30029613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5171056809999 meters Centerline goodness : 0.998018 Centerline is valid? [True, True] Translation: X:157.58, Y:136.08, Z:129.97 [[-4.00170266e-01 6.37963655e-01 -6.57925630e-01 1.57582084e+02] [-4.04851389e-01 -7.67125755e-01 -4.97607705e-01 1.36076291e+02] [-8.22167326e-01 6.72342978e-02 5.65261389e-01 1.29970711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5471056809999 meters Centerline goodness : 0.998066 Centerline is valid? [True, True] Translation: X:157.56, Y:136.06, Z:129.91 [[-3.98135203e-01 6.64089377e-01 -6.32829882e-01 1.57561065e+02] [-3.98356197e-01 -7.46585213e-01 -5.32844123e-01 1.36056476e+02] [-8.26317554e-01 3.99477022e-02 5.61785974e-01 1.29910070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5771056809999 meters Centerline goodness : 0.997947 Centerline is valid? [True, True] Translation: X:157.52, Y:136.02, Z:129.85 [[-4.11839003e-01 6.60766392e-01 -6.27516064e-01 1.57524577e+02] [-3.97546865e-01 -7.49921576e-01 -5.28747691e-01 1.36019457e+02] [-8.19966540e-01 3.17081221e-02 5.71532561e-01 1.29845002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.6071056809999 meters Centerline goodness : 0.997530 Centerline is valid? [True, True] Translation: X:157.55, Y:136.02, Z:129.87 [[-4.07484880e-01 6.60535208e-01 -6.30594411e-01 1.57548972e+02] [-3.93810374e-01 -7.50118985e-01 -5.31257844e-01 1.36022018e+02] [-8.23935351e-01 3.18550822e-02 5.65787762e-01 1.29868413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.6371056809999 meters Centerline goodness : 0.996559 Centerline is valid? [True, True] Translation: X:157.62, Y:136.08, Z:130.00 [[-4.45736651e-01 6.73835250e-01 -5.89291859e-01 1.57620894e+02] [-4.06365790e-01 -7.38881615e-01 -5.37513537e-01 1.36077194e+02] [-7.97612489e-01 -1.21431952e-04 6.03170210e-01 1.30001047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.6671056809999 meters Centerline goodness : 0.996368 Centerline is valid? [True, True] Translation: X:157.62, Y:136.06, Z:130.00 [[-4.48747616e-01 6.51825100e-01 -6.11350649e-01 1.57621076e+02] [-4.06248012e-01 -7.58119937e-01 -5.10114412e-01 1.36061601e+02] [-7.95982493e-01 1.94473594e-02 6.05007166e-01 1.30003675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.6971056809999 meters Centerline goodness : 0.995667 Centerline is valid? [True, True] Translation: X:157.50, Y:135.95, Z:129.77 [[-4.37710576e-01 6.52443446e-01 -6.18649336e-01 1.57497869e+02] [-4.00931073e-01 -7.57502686e-01 -5.15212534e-01 1.35947205e+02] [-8.04775575e-01 2.25217676e-02 5.93151788e-01 1.29774346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.7271056809999 meters Centerline goodness : 0.995485 Centerline is valid? [True, True] Translation: X:157.49, Y:135.94, Z:129.76 [[-4.38013030e-01 6.56781137e-01 -6.13826623e-01 1.57494572e+02] [-4.01739103e-01 -7.53845272e-01 -5.19925955e-01 1.35940957e+02] [-8.04207858e-01 1.88638139e-02 5.94048717e-01 1.29764544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.7571056809999 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:157.63, Y:136.05, Z:130.00 [[-4.52208545e-01 6.59945669e-01 -5.99982622e-01 1.57633816e+02] [-4.07544112e-01 -7.51250072e-01 -5.19163872e-01 1.36053782e+02] [-7.93356937e-01 9.74904593e-03 6.08678673e-01 1.30001629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.7871056809999 meters Centerline goodness : 0.995820 Centerline is valid? [True, True] Translation: X:157.63, Y:136.05, Z:130.00 [[-4.51956252e-01 6.52687961e-01 -6.08057540e-01 1.57629299e+02] [-4.08428525e-01 -7.57410374e-01 -5.09426801e-01 1.36046233e+02] [-7.93045829e-01 1.81094166e-02 6.08892735e-01 1.29995950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.81710568099993 meters Centerline goodness : 0.995611 Centerline is valid? [True, True] Translation: X:157.64, Y:136.05, Z:130.01 [[-4.52941241e-01 6.52997683e-01 -6.06991152e-01 1.57639461e+02] [-4.08442647e-01 -7.57168570e-01 -5.09774815e-01 1.36050603e+02] [-7.92476395e-01 1.70230355e-02 6.09664973e-01 1.30007512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.8471056809999 meters Centerline goodness : 0.995375 Centerline is valid? [True, True] Translation: X:157.61, Y:136.02, Z:129.95 [[-4.42549537e-01 6.56835487e-01 -6.10505569e-01 1.57608879e+02] [-4.05294637e-01 -7.53805933e-01 -5.17216466e-01 1.36022506e+02] [-7.99928849e-01 1.85407256e-02 5.99808367e-01 1.29946352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87710568099993 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:157.51, Y:135.93, Z:129.78 [[-4.45161769e-01 6.57469365e-01 -6.07918607e-01 1.57513941e+02] [-4.03585452e-01 -7.53347244e-01 -5.19217404e-01 1.35934842e+02] [-7.99343345e-01 1.42113679e-02 6.00706463e-01 1.29776610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.9071056809999 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:157.65, Y:136.05, Z:130.01 [[-4.40020074e-01 6.55531320e-01 -6.13727157e-01 1.57654861e+02] [-3.96750168e-01 -7.55041909e-01 -5.22016303e-01 1.36050525e+02] [-8.05587760e-01 1.37987000e-02 5.92315758e-01 1.30006376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.93710568099993 meters Centerline goodness : 0.996049 Centerline is valid? [True, True] Translation: X:157.65, Y:136.05, Z:130.00 [[-4.36152181e-01 6.60943224e-01 -6.10676126e-01 1.57654783e+02] [-4.00676589e-01 -7.50279427e-01 -5.25869805e-01 1.36047209e+02] [-8.05747818e-01 1.53243651e-02 5.92060485e-01 1.29997629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.9671056809999 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:157.66, Y:136.05, Z:130.00 [[-4.35889677e-01 6.63486521e-01 -6.08100178e-01 1.57658468e+02] [-3.98428585e-01 -7.48107670e-01 -5.30650145e-01 1.36053022e+02] [-8.07003626e-01 1.09795729e-02 5.90444406e-01 1.30002309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.99710568099994 meters Centerline goodness : 0.995687 Centerline is valid? [True, True] Translation: X:157.55, Y:135.95, Z:129.81 [[-4.29913289e-01 6.59770920e-01 -6.16341543e-01 1.57548191e+02] [-3.97822119e-01 -7.51232351e-01 -5.26675912e-01 1.35953014e+02] [-8.10501157e-01 1.87693246e-02 5.85436236e-01 1.29809662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0271056809999 meters Centerline goodness : 0.995639 Centerline is valid? [True, True] Translation: X:157.52, Y:135.93, Z:129.79 [[-4.36760664e-01 6.66650602e-01 -6.04000908e-01 1.57524100e+02] [-4.08885279e-01 -7.45179189e-01 -5.26802435e-01 1.35928860e+02] [-8.01282068e-01 1.68804983e-02 5.98048574e-01 1.29786002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.05710568099994 meters Centerline goodness : 0.995816 Centerline is valid? [True, True] Translation: X:157.55, Y:135.95, Z:129.82 [[-4.21393480e-01 6.57491562e-01 -6.24605780e-01 1.57552891e+02] [-3.99499423e-01 -7.52898408e-01 -5.23014529e-01 1.35947493e+02] [-8.14142337e-01 2.91347366e-02 5.79933980e-01 1.29823595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0871056809999 meters Centerline goodness : 0.995373 Centerline is valid? [True, True] Translation: X:157.52, Y:135.93, Z:129.77 [[-4.37064528e-01 6.71031250e-01 -5.98908724e-01 1.57520097e+02] [-4.11331464e-01 -7.41286471e-01 -5.30377974e-01 1.35926488e+02] [-7.99863129e-01 1.45406035e-02 6.00006288e-01 1.29773609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1171056809999 meters Centerline goodness : 0.995737 Centerline is valid? [True, True] Translation: X:157.54, Y:135.94, Z:129.81 [[-4.36712997e-01 6.64281421e-01 -6.06639886e-01 1.57539665e+02] [-4.12026334e-01 -7.47153086e-01 -5.21532900e-01 1.35940577e+02] [-7.99697479e-01 2.21914130e-02 5.99992902e-01 1.29810102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1471056809999 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:157.53, Y:135.93, Z:129.79 [[-4.37113372e-01 6.64800260e-01 -6.05782564e-01 1.57527568e+02] [-4.11552527e-01 -7.46728363e-01 -5.22514373e-01 1.35931407e+02] [-7.99722713e-01 2.09133253e-02 6.00005179e-01 1.29789756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1771056809999 meters Centerline goodness : 0.996208 Centerline is valid? [True, True] Translation: X:157.67, Y:136.05, Z:130.02 [[-4.28322062e-01 6.63996379e-01 -6.12902129e-01 1.57671564e+02] [-4.04524350e-01 -7.47406103e-01 -5.27014390e-01 1.36053986e+02] [-8.08022439e-01 2.22019454e-02 5.88733227e-01 1.30024827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2071056809999 meters Centerline goodness : 0.995752 Centerline is valid? [True, True] Translation: X:157.67, Y:136.05, Z:130.03 [[-4.31669334e-01 6.68263013e-01 -6.05876333e-01 1.57674963e+02] [-4.03533386e-01 -7.43784360e-01 -5.32865491e-01 1.36053666e+02] [-8.06735640e-01 1.44696363e-02 5.90735336e-01 1.30028364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2371056809999 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:157.52, Y:135.92, Z:129.78 [[-4.43554491e-01 6.61102153e-01 -6.05147385e-01 1.57522719e+02] [-3.99950689e-01 -7.50247617e-01 -5.26467434e-01 1.35923055e+02] [-8.02059138e-01 8.51211866e-03 5.97183961e-01 1.29779579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2671056809999 meters Centerline goodness : 0.996033 Centerline is valid? [True, True] Translation: X:157.52, Y:135.93, Z:129.78 [[-4.56686935e-01 6.59040524e-01 -5.97580648e-01 1.57523735e+02] [-3.97921071e-01 -7.52104407e-01 -5.25354911e-01 1.35926100e+02] [-7.95673215e-01 -2.13279265e-03 6.05722367e-01 1.29779231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2971056809999 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:157.67, Y:136.04, Z:130.02 [[-4.41217834e-01 6.48711737e-01 -6.20080564e-01 1.57667502e+02] [-3.88589315e-01 -7.60944136e-01 -5.19579027e-01 1.36042225e+02] [-8.08903682e-01 1.17091482e-02 5.87824573e-01 1.30018949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3271056809999 meters Centerline goodness : 0.996626 Centerline is valid? [True, True] Translation: X:157.67, Y:136.05, Z:130.00 [[-4.47857805e-01 6.69755784e-01 -5.92326411e-01 1.57668186e+02] [-3.87752059e-01 -7.42430129e-01 -5.46301972e-01 1.36054184e+02] [-8.05649879e-01 -1.49898167e-02 5.92202312e-01 1.30004502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3571056809999 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:157.66, Y:136.04, Z:130.00 [[-4.70515717e-01 6.42471026e-01 -6.04851999e-01 1.57664315e+02] [-3.73986649e-01 -7.66054981e-01 -5.22775050e-01 1.36039584e+02] [-7.99217709e-01 -1.97673053e-02 6.00716495e-01 1.30003656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3871056809999 meters Centerline goodness : 0.996093 Centerline is valid? [True, True] Translation: X:157.66, Y:136.04, Z:130.01 [[-4.52539236e-01 6.42080191e-01 -6.18822485e-01 1.57664006e+02] [-3.89010607e-01 -7.66578346e-01 -5.10909373e-01 1.36037879e+02] [-8.02420705e-01 9.52197315e-03 5.96682783e-01 1.30008204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.4171056809999 meters Centerline goodness : 0.996570 Centerline is valid? [True, True] Translation: X:157.67, Y:136.06, Z:130.00 [[-4.57332077e-01 6.62503215e-01 -5.93242667e-01 1.57667004e+02] [-3.87780116e-01 -7.48894177e-01 -5.37386354e-01 1.36055020e+02] [-8.00296166e-01 -1.57163072e-02 5.99398903e-01 1.30002487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.4471056809999 meters Centerline goodness : 0.996631 Centerline is valid? [True, True] Translation: X:157.61, Y:136.01, Z:129.92 [[-4.56244538e-01 6.52840532e-01 -6.04681868e-01 1.57613500e+02] [-3.82962121e-01 -7.57433339e-01 -5.28805021e-01 1.36007113e+02] [-8.03231558e-01 -9.69415253e-03 5.95588019e-01 1.29917237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.4771056809999 meters Centerline goodness : 0.996004 Centerline is valid? [True, True] Translation: X:157.62, Y:136.02, Z:129.94 [[-4.56000061e-01 6.53325350e-01 -6.04342561e-01 1.57621864e+02] [-3.79292190e-01 -7.56958238e-01 -5.32119967e-01 1.36019710e+02] [-8.05109544e-01 -1.34243240e-02 5.92974206e-01 1.29937073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.5071056809999 meters Centerline goodness : 0.996004 Centerline is valid? [True, True] Translation: X:157.62, Y:136.02, Z:129.94 [[-4.55441102e-01 6.55191304e-01 -6.02741866e-01 1.57623245e+02] [-3.79912545e-01 -7.55329329e-01 -5.33988823e-01 1.36021729e+02] [-8.05133443e-01 -1.42112614e-02 5.92923418e-01 1.29938813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.5371056809999 meters Centerline goodness : 0.996196 Centerline is valid? [True, True] Translation: X:157.62, Y:136.02, Z:129.94 [[-4.54699659e-01 6.46163868e-01 -6.12960419e-01 1.57618716e+02] [-3.72667462e-01 -7.63109773e-01 -5.27998520e-01 1.36019393e+02] [-8.08929652e-01 -1.16503435e-02 5.87790003e-01 1.29941595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.56710568099993 meters Centerline goodness : 0.995276 Centerline is valid? [True, True] Translation: X:157.58, Y:136.00, Z:129.89 [[-4.69655762e-01 6.66059844e-01 -5.79471957e-01 1.57581284e+02] [-3.91942047e-01 -7.45441447e-01 -5.39164614e-01 1.35998697e+02] [-7.91078313e-01 -2.61023426e-02 6.11157729e-01 1.29890744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.5971056809999 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:157.60, Y:136.01, Z:129.93 [[-4.67571525e-01 6.56052218e-01 -5.92429199e-01 1.57595575e+02] [-3.93384973e-01 -7.54611907e-01 -5.25175335e-01 1.36014796e+02] [-7.91596572e-01 -1.25042883e-02 6.10916124e-01 1.29929354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.62710568099993 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:157.65, Y:136.07, Z:130.02 [[-4.52146456e-01 6.49338787e-01 -6.11492210e-01 1.57654385e+02] [-3.82524473e-01 -7.60491945e-01 -5.24716141e-01 1.36068825e+02] [-8.05753443e-01 -3.33780825e-03 5.92241715e-01 1.30016315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.6571056809999 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:157.65, Y:136.07, Z:130.02 [[-4.48742337e-01 6.49883135e-01 -6.13418475e-01 1.57653374e+02] [-3.80912183e-01 -7.60029603e-01 -5.26555706e-01 1.36072691e+02] [-8.08415873e-01 -2.62926820e-03 5.88605864e-01 1.30016413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.68710568099993 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:157.64, Y:136.08, Z:130.01 [[-4.64406869e-01 6.73593792e-01 -5.74976229e-01 1.57637943e+02] [-4.02257581e-01 -7.38836600e-01 -5.40656375e-01 1.36079908e+02] [-7.88996260e-01 -1.97959875e-02 6.14079002e-01 1.30008801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.7171056809999 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:157.66, Y:136.09, Z:130.03 [[-4.44192768e-01 6.52816553e-01 -6.13614972e-01 1.57656376e+02] [-3.90135804e-01 -7.57484832e-01 -5.23460393e-01 1.36092138e+02] [-8.06527643e-01 6.87584969e-03 5.91156395e-01 1.30029947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.74710568099994 meters Centerline goodness : 0.995982 Centerline is valid? [True, True] Translation: X:157.65, Y:136.09, Z:130.03 [[-4.41193313e-01 6.50631824e-01 -6.18083077e-01 1.57653048e+02] [-3.82207125e-01 -7.59383184e-01 -5.26549991e-01 1.36092351e+02] [-8.11952076e-01 3.92542040e-03 5.83710902e-01 1.30028604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.7771056809999 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:157.65, Y:136.11, Z:130.02 [[-4.43449956e-01 6.68226391e-01 -5.97348831e-01 1.57651950e+02] [-3.87007284e-01 -7.43884803e-01 -5.44849302e-01 1.36106981e+02] [-8.08441401e-01 -1.04350502e-02 5.88484164e-01 1.30023967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.80710568099994 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:157.53, Y:136.00, Z:129.84 [[-4.66158406e-01 6.73735084e-01 -5.73391120e-01 1.57531085e+02] [-4.07832012e-01 -7.38794112e-01 -5.36522423e-01 1.36003238e+02] [-7.85091963e-01 -1.62571836e-02 6.19165821e-01 1.29842629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8371056809999 meters Centerline goodness : 0.995617 Centerline is valid? [True, True] Translation: X:157.65, Y:136.10, Z:130.03 [[-4.41191304e-01 6.49453363e-01 -6.19322664e-01 1.57651130e+02] [-3.88924126e-01 -7.60316844e-01 -5.20246404e-01 1.36103082e+02] [-8.08757230e-01 1.13413363e-02 5.88033261e-01 1.30034958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8671056809999 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:157.65, Y:136.11, Z:130.03 [[-4.40003499e-01 6.63474353e-01 -6.05143540e-01 1.57651064e+02] [-3.88859961e-01 -7.48198033e-01 -5.37575701e-01 1.36113422e+02] [-8.09434897e-01 -1.21909652e-03 5.87208363e-01 1.30030093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8971056809999 meters Centerline goodness : 0.995718 Centerline is valid? [True, True] Translation: X:157.66, Y:136.12, Z:130.05 [[-4.36007236e-01 6.61703856e-01 -6.09955488e-01 1.57658126e+02] [-3.89508086e-01 -7.49752697e-01 -5.34933963e-01 1.36123139e+02] [-8.11283638e-01 4.34751577e-03 5.84636603e-01 1.30048143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9271056809999 meters Centerline goodness : 0.995991 Centerline is valid? [True, True] Translation: X:157.66, Y:136.12, Z:130.05 [[-4.32755865e-01 6.61323754e-01 -6.12677120e-01 1.57656933e+02] [-3.91838182e-01 -7.50040587e-01 -5.32824508e-01 1.36119120e+02] [-8.11902211e-01 9.48735839e-03 5.83716361e-01 1.30049406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9571056809999 meters Centerline goodness : 0.995716 Centerline is valid? [True, True] Translation: X:157.66, Y:136.12, Z:130.05 [[-4.32287531e-01 6.67985274e-01 -6.05741830e-01 1.57657901e+02] [-3.95345584e-01 -7.44144303e-01 -5.38471100e-01 1.36122538e+02] [-8.10450097e-01 6.70301523e-03 5.85769332e-01 1.30050206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9871056809999 meters Centerline goodness : 0.996352 Centerline is valid? [True, True] Translation: X:157.65, Y:136.13, Z:130.04 [[-4.35832422e-01 6.71130658e-01 -5.99694705e-01 1.57654539e+02] [-3.93315607e-01 -7.41338213e-01 -5.43801882e-01 1.36127714e+02] [-8.09538716e-01 -1.13720485e-03 5.87065391e-01 1.30043711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0171056809999 meters Centerline goodness : 0.996144 Centerline is valid? [True, True] Translation: X:157.66, Y:136.13, Z:130.05 [[-4.33719391e-01 6.61383529e-01 -6.11930811e-01 1.57657585e+02] [-3.89984270e-01 -7.50015750e-01 -5.34217787e-01 1.36127381e+02] [-8.12280591e-01 6.94277728e-03 5.83225547e-01 1.30054564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0471056809999 meters Centerline goodness : 0.996136 Centerline is valid? [True, True] Translation: X:157.65, Y:136.13, Z:130.05 [[-4.40965698e-01 6.64049594e-01 -6.03810724e-01 1.57654780e+02] [-3.82599524e-01 -7.47641952e-01 -5.42815913e-01 1.36128938e+02] [-8.11890915e-01 -8.34550243e-03 5.83749514e-01 1.30048913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0771056809999 meters Centerline goodness : 0.995720 Centerline is valid? [True, True] Translation: X:157.59, Y:136.07, Z:129.94 [[-4.46672700e-01 6.58836959e-01 -6.05324178e-01 1.57589528e+02] [-3.82366257e-01 -7.52240794e-01 -5.36590938e-01 1.36067601e+02] [-8.08875482e-01 -8.22498264e-03 5.87922448e-01 1.29937369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.1071056809999 meters Centerline goodness : 0.995668 Centerline is valid? [True, True] Translation: X:157.59, Y:136.07, Z:129.95 [[-4.51494222e-01 6.52431450e-01 -6.08675752e-01 1.57594686e+02] [-3.69117371e-01 -7.57625261e-01 -5.38290191e-01 1.36071776e+02] [-8.12345576e-01 -1.83621171e-02 5.82887209e-01 1.29946569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.1371056809999 meters Centerline goodness : 0.995363 Centerline is valid? [True, True] Translation: X:157.64, Y:136.12, Z:130.03 [[-4.53829098e-01 6.51207806e-01 -6.08249573e-01 1.57643097e+02] [-3.61113063e-01 -7.58433688e-01 -5.42564002e-01 1.36116496e+02] [-8.14638880e-01 -2.65844652e-02 5.79358923e-01 1.30031869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.1671056809999 meters Centerline goodness : 0.995127 Centerline is valid? [True, True] Translation: X:157.60, Y:136.07, Z:129.95 [[-4.57914010e-01 6.43789690e-01 -6.13065734e-01 1.57596210e+02] [-3.58468065e-01 -7.64781323e-01 -5.35359854e-01 1.36072722e+02] [-8.13520378e-01 -2.53842901e-02 5.80982128e-01 1.29953797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.1971056809999 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:157.63, Y:136.11, Z:130.01 [[-4.59557544e-01 6.43142958e-01 -6.12514489e-01 1.57629781e+02] [-3.51930280e-01 -7.65066031e-01 -5.39276410e-01 1.36108080e+02] [-8.15445855e-01 -3.22661469e-02 5.77933347e-01 1.30013876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.2271056809999 meters Centerline goodness : 0.995022 Centerline is valid? [True, True] Translation: X:157.59, Y:136.07, Z:129.93 [[-4.63404325e-01 6.47319927e-01 -6.05172160e-01 1.57585315e+02] [-3.54516058e-01 -7.61318535e-01 -5.42874252e-01 1.36073661e+02] [-8.12142103e-01 -3.70270279e-02 5.82283610e-01 1.29933791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.2571056809999 meters Centerline goodness : 0.994995 Centerline is valid? [True, True] Translation: X:157.62, Y:136.11, Z:130.00 [[-4.62769881e-01 6.41404594e-01 -6.11918446e-01 1.57619775e+02] [-3.49274920e-01 -7.66368187e-01 -5.39153812e-01 1.36107594e+02] [-8.14770562e-01 -3.57763790e-02 5.78678652e-01 1.30001388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.2871056809999 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:157.62, Y:136.11, Z:130.01 [[-4.62084315e-01 6.45477706e-01 -6.08141938e-01 1.57620719e+02] [-3.52965149e-01 -7.62948546e-01 -5.41594977e-01 1.36113992e+02] [-8.13568491e-01 -3.56096339e-02 5.80377692e-01 1.30005224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.31710568099993 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:157.62, Y:136.12, Z:130.02 [[-4.55195727e-01 6.47051634e-01 -6.11654341e-01 1.57624381e+02] [-3.57901917e-01 -7.61976212e-01 -5.39720733e-01 1.36123615e+02] [-8.15293240e-01 -2.67663101e-02 5.78429336e-01 1.30019150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.3471056809999 meters Centerline goodness : 0.995700 Centerline is valid? [True, True] Translation: X:157.61, Y:136.12, Z:130.01 [[-4.55288799e-01 6.52562029e-01 -6.05701995e-01 1.57614521e+02] [-3.61704522e-01 -7.57197483e-01 -5.43895036e-01 1.36120602e+02] [-8.13561275e-01 -2.85441670e-02 5.80778170e-01 1.30005420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37710568099993 meters Centerline goodness : 0.996337 Centerline is valid? [True, True] Translation: X:157.62, Y:136.13, Z:130.03 [[-4.47986591e-01 6.54394596e-01 -6.09159853e-01 1.57622266e+02] [-3.67752133e-01 -7.55924131e-01 -5.41606017e-01 1.36134981e+02] [-8.14902683e-01 -1.86123977e-02 5.79298883e-01 1.30025286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.4071056809999 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:157.63, Y:136.14, Z:130.04 [[-4.42671786e-01 6.56953165e-01 -6.10290283e-01 1.57627037e+02] [-3.70037738e-01 -7.53790988e-01 -5.43020459e-01 1.36143346e+02] [-8.16770324e-01 -1.45494004e-02 5.76779466e-01 1.30035456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.43710568099993 meters Centerline goodness : 0.997034 Centerline is valid? [True, True] Translation: X:157.63, Y:136.15, Z:130.05 [[-4.35737987e-01 6.58336488e-01 -6.13779663e-01 1.57632187e+02] [-3.69530555e-01 -7.52648508e-01 -5.44947146e-01 1.36152732e+02] [-8.20718938e-01 -1.06438328e-02 5.71232994e-01 1.30051959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.4671056809999 meters Centerline goodness : 0.996708 Centerline is valid? [True, True] Translation: X:157.63, Y:136.15, Z:130.05 [[-4.33393731e-01 6.64017333e-01 -6.09303582e-01 1.57626270e+02] [-3.77277297e-01 -7.47684784e-01 -5.46469857e-01 1.36153197e+02] [-8.18432475e-01 -6.96020151e-03 5.74560563e-01 1.30046831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.49710568099994 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:157.63, Y:136.16, Z:130.05 [[-4.33620895e-01 6.64070813e-01 -6.09083636e-01 1.57627303e+02] [-3.79488073e-01 -7.47651769e-01 -5.44982234e-01 1.36155834e+02] [-8.17289252e-01 -5.17570914e-03 5.76204382e-01 1.30050049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5271056809999 meters Centerline goodness : 0.996984 Centerline is valid? [True, True] Translation: X:157.63, Y:136.16, Z:130.05 [[-4.28325451e-01 6.61963010e-01 -6.15095344e-01 1.57627040e+02] [-3.82899927e-01 -7.49524604e-01 -5.40000477e-01 1.36155739e+02] [-8.18489434e-01 4.22401429e-03 5.74506052e-01 1.30052715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.55710568099994 meters Centerline goodness : 0.997323 Centerline is valid? [True, True] Translation: X:157.62, Y:136.16, Z:130.05 [[-4.28946140e-01 6.73004166e-01 -6.02553401e-01 1.57623802e+02] [-3.87221789e-01 -7.39633413e-01 -5.50455903e-01 1.36158971e+02] [-8.16127745e-01 -2.79412896e-03 5.77864774e-01 1.30046429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5871056809999 meters Centerline goodness : 0.997063 Centerline is valid? [True, True] Translation: X:157.62, Y:136.16, Z:130.05 [[-4.29082726e-01 6.71258452e-01 -6.04400616e-01 1.57622301e+02] [-3.91202768e-01 -7.41219537e-01 -5.45485098e-01 1.36158315e+02] [-8.14155028e-01 2.38496123e-03 5.80642664e-01 1.30046732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6171056809999 meters Centerline goodness : 0.997144 Centerline is valid? [True, True] Translation: X:157.63, Y:136.16, Z:130.06 [[-4.28006331e-01 6.70412896e-01 -6.06099934e-01 1.57627454e+02] [-3.88577664e-01 -7.41986318e-01 -5.46318317e-01 1.36164992e+02] [-8.15976703e-01 1.68919836e-03 5.78082319e-01 1.30058173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6471056809999 meters Centerline goodness : 0.996795 Centerline is valid? [True, True] Translation: X:157.62, Y:136.16, Z:130.05 [[-4.31555455e-01 6.75166229e-01 -5.98256177e-01 1.57620079e+02] [-3.90245225e-01 -7.37653021e-01 -5.50977935e-01 1.36160801e+02] [-8.13307171e-01 -4.31091697e-03 5.81818582e-01 1.30045576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6771056809999 meters Centerline goodness : 0.996916 Centerline is valid? [True, True] Translation: X:157.62, Y:136.16, Z:130.05 [[-4.30464365e-01 6.66123649e-01 -6.09081042e-01 1.57618696e+02] [-3.83657529e-01 -7.45840971e-01 -5.44543980e-01 1.36155650e+02] [-8.17011219e-01 -7.28250932e-04 5.76621313e-01 1.30049109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7071056809999 meters Centerline goodness : 0.996785 Centerline is valid? [True, True] Translation: X:157.61, Y:136.15, Z:130.05 [[-4.32923116e-01 6.65269756e-01 -6.08271097e-01 1.57613843e+02] [-3.76268325e-01 -7.46552669e-01 -5.48708721e-01 1.36153668e+02] [-8.19145728e-01 -8.67554169e-03 5.73519844e-01 1.30045768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7371056809999 meters Centerline goodness : 0.996597 Centerline is valid? [True, True] Translation: X:157.61, Y:136.15, Z:130.04 [[-4.37339854e-01 6.68220429e-01 -6.01843261e-01 1.57607914e+02] [-3.71822031e-01 -7.43715930e-01 -5.55549271e-01 1.36151652e+02] [-8.18829793e-01 -1.91852540e-02 5.73715693e-01 1.30036137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7671056809999 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:157.60, Y:136.14, Z:130.03 [[-4.40143706e-01 6.59291509e-01 -6.09596772e-01 1.57604614e+02] [-3.67008386e-01 -7.51684678e-01 -5.47973530e-01 1.36144515e+02] [-8.19498849e-01 -1.74599733e-02 5.72814792e-01 1.30032691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7971056809999 meters Centerline goodness : 0.996807 Centerline is valid? [True, True] Translation: X:157.61, Y:136.15, Z:130.04 [[-4.41569069e-01 6.57900155e-01 -6.10068966e-01 1.57606552e+02] [-3.62695576e-01 -7.52804244e-01 -5.49306553e-01 1.36147689e+02] [-8.20651374e-01 -2.12874682e-02 5.71032545e-01 1.30036553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8271056809999 meters Centerline goodness : 0.996397 Centerline is valid? [True, True] Translation: X:157.59, Y:136.14, Z:130.01 [[-4.48409656e-01 6.61321195e-01 -6.01317767e-01 1.57588307e+02] [-3.64690580e-01 -7.49564648e-01 -5.52407113e-01 1.36139411e+02] [-8.16045073e-01 -2.84097587e-02 5.77289637e-01 1.30009086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8571056809999 meters Centerline goodness : 0.996595 Centerline is valid? [True, True] Translation: X:157.58, Y:136.13, Z:130.00 [[-4.49537524e-01 6.57080954e-01 -6.05112084e-01 1.57575860e+02] [-3.64097916e-01 -7.53376915e-01 -5.47591025e-01 1.36132147e+02] [-8.15689109e-01 -2.58426654e-02 5.77912999e-01 1.29995389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8871056809999 meters Centerline goodness : 0.996383 Centerline is valid? [True, True] Translation: X:157.57, Y:136.13, Z:129.99 [[-4.51781457e-01 6.59752865e-01 -6.00516172e-01 1.57567866e+02] [-3.66897394e-01 -7.50971530e-01 -5.49024647e-01 1.36126505e+02] [-8.13191132e-01 -2.77113369e-02 5.81336619e-01 1.29985331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.9171056809999 meters Centerline goodness : 0.996485 Centerline is valid? [True, True] Translation: X:157.56, Y:136.12, Z:129.97 [[-4.57316518e-01 6.61027056e-01 -5.94899011e-01 1.57557765e+02] [-3.69331220e-01 -7.49704415e-01 -5.49124521e-01 1.36124868e+02] [-8.08984581e-01 -3.14089365e-02 5.86990142e-01 1.29973584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.9471056809999 meters Centerline goodness : 0.996859 Centerline is valid? [True, True] Translation: X:157.55, Y:136.13, Z:129.99 [[-4.77389852e-01 6.71406468e-01 -5.66844145e-01 1.57551625e+02] [-3.92681938e-01 -7.40112908e-01 -5.45924701e-01 1.36125836e+02] [-7.86066044e-01 -3.80294545e-02 6.16971584e-01 1.29985910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.9771056809999 meters Centerline goodness : 0.997093 Centerline is valid? [True, True] Translation: X:157.54, Y:136.12, Z:129.95 [[-4.63153392e-01 6.50600198e-01 -6.01837451e-01 1.57537364e+02] [-3.68262954e-01 -7.58937060e-01 -5.37026010e-01 1.36119268e+02] [-8.06145974e-01 -2.70909807e-02 5.91096225e-01 1.29953613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.0071056809999 meters Centerline goodness : 0.996815 Centerline is valid? [True, True] Translation: X:157.54, Y:136.13, Z:129.99 [[-4.78782615e-01 6.69324984e-01 -5.68129627e-01 1.57543288e+02] [-3.88941945e-01 -7.41862092e-01 -5.46227791e-01 1.36133513e+02] [-7.87077742e-01 -4.05549278e-02 6.15519233e-01 1.29987104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.0371056809999 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:157.53, Y:136.12, Z:129.93 [[-4.65446163e-01 6.66796918e-01 -5.82015240e-01 1.57530362e+02] [-3.89974001e-01 -7.44818549e-01 -5.41447696e-01 1.36118589e+02] [-7.94531402e-01 -2.50439412e-02 6.06706397e-01 1.29928220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.06710568099993 meters Centerline goodness : 0.996901 Centerline is valid? [True, True] Translation: X:157.52, Y:136.12, Z:129.94 [[-4.66546232e-01 6.52715464e-01 -5.96906304e-01 1.57517081e+02] [-3.69406995e-01 -7.56969736e-01 -5.39013256e-01 1.36120275e+02] [-8.03662295e-01 -3.09732396e-02 5.94279037e-01 1.29940483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.0971056809999 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:157.42, Y:136.05, Z:129.80 [[-4.76511431e-01 6.69526177e-01 -5.69799574e-01 1.57422413e+02] [-3.95915753e-01 -7.42092711e-01 -5.40878105e-01 1.36048135e+02] [-7.84976161e-01 -3.21419723e-02 6.18691620e-01 1.29795939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.12710568099993 meters Centerline goodness : 0.997807 Centerline is valid? [True, True] Translation: X:157.41, Y:136.04, Z:129.78 [[-4.74656156e-01 6.66540677e-01 -5.74826113e-01 1.57405217e+02] [-3.96864664e-01 -7.45002306e-01 -5.36162292e-01 1.36041485e+02] [-7.85620756e-01 -2.63645603e-02 6.18146372e-01 1.29776466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.1571056809999 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:157.40, Y:136.04, Z:129.77 [[-4.72321079e-01 6.73340756e-01 -5.68792603e-01 1.57401739e+02] [-4.09645615e-01 -7.39073180e-01 -5.34753500e-01 1.36039797e+02] [-7.80450683e-01 -1.95719546e-02 6.24910930e-01 1.29767923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.18710568099993 meters Centerline goodness : 0.998077 Centerline is valid? [True, True] Translation: X:157.40, Y:136.04, Z:129.78 [[-4.63224100e-01 6.65819055e-01 -5.84900350e-01 1.57400608e+02] [-3.96052738e-01 -7.45933205e-01 -5.35467910e-01 1.36043104e+02] [-7.92821330e-01 -1.63902552e-02 6.09233697e-01 1.29777568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.2171056809999 meters Centerline goodness : 0.998325 Centerline is valid? [True, True] Translation: X:157.47, Y:136.11, Z:129.89 [[-4.77950099e-01 6.93039056e-01 -5.39685621e-01 1.57468891e+02] [-4.37080694e-01 -7.20583118e-01 -5.38256850e-01 1.36111172e+02] [-7.61921367e-01 -2.13737490e-02 6.47316764e-01 1.29886908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.24710568099994 meters Centerline goodness : 0.998417 Centerline is valid? [True, True] Translation: X:157.40, Y:136.04, Z:129.78 [[-4.64795770e-01 6.69772382e-01 -5.79111258e-01 1.57397129e+02] [-4.14732264e-01 -7.42554146e-01 -5.25937724e-01 1.36042974e+02] [-7.82280027e-01 -4.27750635e-03 6.22912243e-01 1.29783172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.2771056809999 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:157.39, Y:136.04, Z:129.76 [[-4.58765781e-01 6.79861558e-01 -5.72120808e-01 1.57385255e+02] [-4.18905115e-01 -7.33315875e-01 -5.35505679e-01 1.36037740e+02] [-7.83614997e-01 -6.00734827e-03 6.21217715e-01 1.29762100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.30710568099994 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:157.48, Y:136.14, Z:129.94 [[-4.57106603e-01 6.82030065e-01 -5.70866485e-01 1.57481341e+02] [-4.16951719e-01 -7.31272076e-01 -5.39807758e-01 1.36139086e+02] [-7.85623840e-01 -8.72592848e-03 6.18642902e-01 1.29935340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3371056809999 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:157.38, Y:136.04, Z:129.77 [[-4.56224555e-01 6.84062295e-01 -5.69137884e-01 1.57384871e+02] [-4.26010264e-01 -7.29421561e-01 -5.35219060e-01 1.36044043e+02] [-7.81264623e-01 -1.72149760e-03 6.24197586e-01 1.29768161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3671056809999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:157.39, Y:136.05, Z:129.78 [[-4.59861113e-01 6.83445787e-01 -5.66947628e-01 1.57389537e+02] [-4.25718329e-01 -7.29987288e-01 -5.34679777e-01 1.36046934e+02] [-7.79289202e-01 -4.51844001e-03 6.26648165e-01 1.29776456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3971056809999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:157.48, Y:136.13, Z:129.93 [[-4.63933846e-01 6.79898458e-01 -5.67893893e-01 1.57477671e+02] [-4.22244129e-01 -7.33268324e-01 -5.32942268e-01 1.36129146e+02] [-7.78765229e-01 -7.46009324e-03 6.27271126e-01 1.29933730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4271056809999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:157.48, Y:136.13, Z:129.93 [[-4.64216237e-01 6.77923697e-01 -5.70019953e-01 1.57476614e+02] [-4.21903571e-01 -7.35108975e-01 -5.30671434e-01 1.36127393e+02] [-7.78781524e-01 -5.85284179e-03 6.27267951e-01 1.29932007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4571056809999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:157.51, Y:136.15, Z:129.99 [[-4.64696434e-01 6.76109519e-01 -5.71780677e-01 1.57506906e+02] [-4.20039904e-01 -7.36776361e-01 -5.29836837e-01 1.36153918e+02] [-7.79502215e-01 -6.04258801e-03 6.26370325e-01 1.29987822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4871056809999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:157.46, Y:136.12, Z:129.91 [[-4.58422790e-01 6.61943903e-01 -5.93025138e-01 1.57465000e+02] [-3.95832214e-01 -7.49505064e-01 -5.30621350e-01 1.36118320e+02] [-7.95716912e-01 -8.51046656e-03 6.05608924e-01 1.29906720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5171056809999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:157.51, Y:136.17, Z:130.00 [[-4.59819054e-01 6.78267743e-01 -5.73166038e-01 1.57513702e+02] [-4.17470314e-01 -7.34785711e-01 -5.34610602e-01 1.36167008e+02] [-7.83763341e-01 -6.54433533e-03 6.21025118e-01 1.30003674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5471056809999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:157.47, Y:136.12, Z:129.92 [[-4.52049703e-01 6.72235006e-01 -5.86302962e-01 1.57467573e+02] [-4.07045638e-01 -7.40330936e-01 -5.34999022e-01 1.36123028e+02] [-7.93703292e-01 -3.19408610e-03 6.08296706e-01 1.29915886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5771056809999 meters Centerline goodness : 0.997798 Centerline is valid? [True, True] Translation: X:157.46, Y:136.11, Z:129.90 [[-4.45710001e-01 6.72209312e-01 -5.91165996e-01 1.57461238e+02] [-4.02653030e-01 -7.40358770e-01 -5.38274492e-01 1.36112236e+02] [-7.99508056e-01 -1.87954472e-03 6.00652425e-01 1.29898933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.6071056809999 meters Centerline goodness : 0.997956 Centerline is valid? [True, True] Translation: X:157.47, Y:136.12, Z:129.90 [[-4.44102210e-01 6.74141103e-01 -5.90175398e-01 1.57466264e+02] [-4.01498740e-01 -7.38594053e-01 -5.41551094e-01 1.36116820e+02] [-8.00981891e-01 -3.54935926e-03 5.98678054e-01 1.29903789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.6371056809999 meters Centerline goodness : 0.997245 Centerline is valid? [True, True] Translation: X:157.53, Y:136.18, Z:130.02 [[-4.53439919e-01 6.84361967e-01 -5.70999946e-01 1.57533317e+02] [-4.19967557e-01 -7.29123709e-01 -5.40375674e-01 1.36180586e+02] [-7.86142157e-01 -5.22644951e-03 6.18023619e-01 1.30016340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.6671056809999 meters Centerline goodness : 0.997726 Centerline is valid? [True, True] Translation: X:157.54, Y:136.18, Z:130.02 [[-4.54514132e-01 6.74486407e-01 -5.81794629e-01 1.57537088e+02] [-4.17466689e-01 -7.38284304e-01 -5.29771508e-01 1.36177540e+02] [-7.86853523e-01 2.09124009e-03 6.17136257e-01 1.30021422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.6971056809999 meters Centerline goodness : 0.996812 Centerline is valid? [True, True] Translation: X:157.40, Y:136.04, Z:129.76 [[-4.42903943e-01 6.70591361e-01 -5.95099424e-01 1.57397210e+02] [-4.08255173e-01 -7.41790966e-01 -5.32046874e-01 1.36038327e+02] [-7.98225414e-01 7.30675997e-03 6.02314536e-01 1.29758414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.7271056809999 meters Centerline goodness : 0.996681 Centerline is valid? [True, True] Translation: X:157.18, Y:136.41, Z:130.00 [[ -0.46069639 0.32895576 0.82434637 157.17591427] [ -0.47313293 0.69479161 -0.5416732 136.40931194] [ -0.75093546 -0.6395723 -0.16444819 129.99890964] [ 0. 0. 0. 1. ]] SLAMing on 412.7571056809999 meters Centerline goodness : 0.996624 Centerline is valid? [True, True] Translation: X:157.51, Y:136.16, Z:129.94 [[-4.82767835e-01 6.98810082e-01 -5.27825433e-01 1.57513191e+02] [-4.68192079e-01 -7.15299498e-01 -5.18789751e-01 1.36155414e+02] [-7.40088775e-01 -3.33131809e-03 6.72500934e-01 1.29938670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.7871056809999 meters Centerline goodness : 0.996344 Centerline is valid? [True, True] Translation: X:157.52, Y:136.15, Z:129.94 [[-4.84747277e-01 6.96506081e-01 -5.29055155e-01 1.57515683e+02] [-4.64899360e-01 -7.17530065e-01 -5.18670600e-01 1.36151013e+02] [-7.40870207e-01 -5.46675740e-03 6.71625976e-01 1.29938278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.81710568099993 meters Centerline goodness : 0.996034 Centerline is valid? [True, True] Translation: X:157.52, Y:136.15, Z:129.94 [[-4.86018454e-01 6.95963102e-01 -5.28603275e-01 1.57520337e+02] [-4.63153596e-01 -7.18036505e-01 -5.19530869e-01 1.36152971e+02] [-7.41130763e-01 -7.67708188e-03 6.71316806e-01 1.29942227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.8471056809999 meters Centerline goodness : 0.996134 Centerline is valid? [True, True] Translation: X:157.51, Y:136.14, Z:129.93 [[-4.88152423e-01 6.95171826e-01 -5.27677311e-01 1.57511909e+02] [-4.61570392e-01 -7.18770638e-01 -5.19924556e-01 1.36143196e+02] [-7.40715860e-01 -1.02422078e-02 6.71740361e-01 1.29926295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87710568099993 meters Centerline goodness : 0.996157 Centerline is valid? [True, True] Translation: X:157.52, Y:136.15, Z:129.93 [[-4.92455529e-01 6.92840356e-01 -5.26744523e-01 1.57516547e+02] [-4.57725069e-01 -7.20932138e-01 -5.20331254e-01 1.36147048e+02] [-7.40253547e-01 -1.51358297e-02 6.72157417e-01 1.29930755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.9071056809999 meters Centerline goodness : 0.995865 Centerline is valid? [True, True] Translation: X:157.52, Y:136.15, Z:129.93 [[-4.93661694e-01 6.91815908e-01 -5.26961935e-01 1.57519717e+02] [-4.54488784e-01 -7.21845949e-01 -5.21898813e-01 1.36149560e+02] [-7.41443239e-01 -1.81431634e-02 6.70770265e-01 1.29934066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.93710568099993 meters Centerline goodness : 0.996131 Centerline is valid? [True, True] Translation: X:157.54, Y:136.17, Z:129.95 [[-4.78335114e-01 6.80047416e-01 -5.55635700e-01 1.57541628e+02] [-4.35950918e-01 -7.33130249e-01 -5.21983558e-01 1.36165220e+02] [-7.62326909e-01 -7.45317068e-03 6.47149236e-01 1.29951989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.9671056809999 meters Centerline goodness : 0.996224 Centerline is valid? [True, True] Translation: X:157.52, Y:136.16, Z:129.94 [[-4.90875628e-01 7.03542502e-01 -5.13876509e-01 1.57524143e+02] [-4.55235095e-01 -7.10028932e-01 -5.37233584e-01 1.36157312e+02] [-7.42833848e-01 -2.97802513e-02 6.68813136e-01 1.29938603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.99710568099994 meters Centerline goodness : 0.996241 Centerline is valid? [True, True] Translation: X:157.52, Y:136.15, Z:129.93 [[-4.83210127e-01 6.98505066e-01 -5.27824446e-01 1.57519346e+02] [-4.60919886e-01 -7.15529894e-01 -5.24947455e-01 1.36151373e+02] [-7.44352626e-01 -1.03751430e-02 6.67706166e-01 1.29934545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0271056809999 meters Centerline goodness : 0.996712 Centerline is valid? [True, True] Translation: X:157.53, Y:136.17, Z:129.96 [[-4.72653133e-01 7.06050233e-01 -5.27344370e-01 1.57530197e+02] [-4.71186396e-01 -7.08161751e-01 -5.25823464e-01 1.36167303e+02] [-7.44702891e-01 -5.46144722e-05 6.67396135e-01 1.29955275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.05710568099994 meters Centerline goodness : 0.996658 Centerline is valid? [True, True] Translation: X:157.53, Y:136.17, Z:129.96 [[-4.62152621e-01 7.06382333e-01 -5.36133337e-01 1.57529085e+02] [-4.75876205e-01 -7.07696141e-01 -5.22214524e-01 1.36165128e+02] [-7.48302607e-01 1.37902867e-02 6.63214171e-01 1.29955752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0871056809999 meters Centerline goodness : 0.997014 Centerline is valid? [True, True] Translation: X:157.54, Y:136.18, Z:129.98 [[-4.56965971e-01 7.22646977e-01 -5.18616861e-01 1.57541699e+02] [-4.87730737e-01 -6.91155539e-01 -5.33312994e-01 1.36182777e+02] [-7.43841939e-01 9.23949425e-03 6.68291704e-01 1.29976059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1171056809999 meters Centerline goodness : 0.997212 Centerline is valid? [True, True] Translation: X:157.52, Y:136.15, Z:129.95 [[-4.50145068e-01 7.12806635e-01 -5.37843954e-01 1.57521756e+02] [-4.88274971e-01 -7.00781315e-01 -5.20089513e-01 1.36154522e+02] [-7.47634249e-01 2.85000118e-02 6.63498892e-01 1.29945729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1471056809999 meters Centerline goodness : 0.996808 Centerline is valid? [True, True] Translation: X:157.55, Y:136.19, Z:129.99 [[-4.49888034e-01 7.27403918e-01 -5.18154704e-01 1.57554731e+02] [-4.93597893e-01 -6.86039267e-01 -5.34519638e-01 1.36190430e+02] [-7.44286152e-01 1.52860810e-02 6.67685898e-01 1.29993501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1771056809999 meters Centerline goodness : 0.997086 Centerline is valid? [True, True] Translation: X:157.56, Y:136.19, Z:130.00 [[-4.47109273e-01 7.22102917e-01 -5.27883203e-01 1.57561782e+02] [-4.95220201e-01 -6.91291036e-01 -5.26187853e-01 1.36186880e+02] [-7.44882709e-01 2.61549572e-02 6.66682584e-01 1.30001013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2071056809999 meters Centerline goodness : 0.996745 Centerline is valid? [True, True] Translation: X:157.57, Y:136.19, Z:130.00 [[-4.45632174e-01 7.23385097e-01 -5.27376495e-01 1.57566716e+02] [-4.96400361e-01 -6.89916833e-01 -5.26878967e-01 1.36186449e+02] [-7.44982314e-01 2.69956630e-02 6.66537761e-01 1.30004197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2371056809999 meters Centerline goodness : 0.996514 Centerline is valid? [True, True] Translation: X:157.58, Y:136.19, Z:130.01 [[-4.42530972e-01 7.23290236e-01 -5.30110907e-01 1.57581624e+02] [-4.98489958e-01 -6.89806700e-01 -5.25047121e-01 1.36187370e+02] [-7.45435511e-01 3.19053507e-02 6.65813749e-01 1.30014211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2671056809999 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:157.58, Y:136.18, Z:130.01 [[-4.46281241e-01 7.28622636e-01 -5.19559533e-01 1.57578733e+02] [-4.96167898e-01 -6.84637641e-01 -5.33936998e-01 1.36182436e+02] [-7.44748596e-01 1.95026955e-02 6.67060098e-01 1.30005142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2971056809999 meters Centerline goodness : 0.996120 Centerline is valid? [True, True] Translation: X:157.57, Y:136.16, Z:129.98 [[-4.45348323e-01 7.20016508e-01 -5.32204002e-01 1.57574026e+02] [-4.92990535e-01 -6.93378602e-01 -5.25534439e-01 1.36160886e+02] [-7.47412338e-01 2.83256544e-02 6.63756321e-01 1.29983278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3271056809999 meters Centerline goodness : 0.996493 Centerline is valid? [True, True] Translation: X:157.58, Y:136.16, Z:129.98 [[-4.45120618e-01 7.24521927e-01 -5.26246723e-01 1.57579524e+02] [-4.91713853e-01 -6.88909786e-01 -5.32560601e-01 1.36161159e+02] [-7.48388350e-01 2.17090995e-02 6.62905418e-01 1.29984497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3571056809999 meters Centerline goodness : 0.996022 Centerline is valid? [True, True] Translation: X:157.60, Y:136.17, Z:130.00 [[-4.51986568e-01 7.27925136e-01 -5.15590088e-01 1.57597856e+02] [-4.93347166e-01 -6.85544875e-01 -5.35384719e-01 1.36165705e+02] [-7.43180137e-01 1.23782066e-02 6.68976878e-01 1.30002170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3871056809999 meters Centerline goodness : 0.995915 Centerline is valid? [True, True] Translation: X:157.61, Y:136.17, Z:130.01 [[-4.52863151e-01 7.22434599e-01 -5.22497097e-01 1.57606346e+02] [-4.93221326e-01 -6.91191513e-01 -5.28192216e-01 1.36165226e+02] [-7.42729890e-01 1.85079198e-02 6.69335317e-01 1.30009973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.4171056809999 meters Centerline goodness : 0.995727 Centerline is valid? [True, True] Translation: X:157.63, Y:136.17, Z:130.02 [[-4.48569713e-01 7.23448287e-01 -5.24793091e-01 1.57626332e+02] [-4.97057125e-01 -6.89933078e-01 -5.26238124e-01 1.36169930e+02] [-7.42778181e-01 2.47976610e-02 6.69078209e-01 1.30023952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.4471056809999 meters Centerline goodness : 0.995551 Centerline is valid? [True, True] Translation: X:157.62, Y:136.16, Z:130.01 [[-4.54787993e-01 7.27943573e-01 -5.13094568e-01 1.57620582e+02] [-4.92683269e-01 -6.85577345e-01 -5.35954196e-01 1.36155999e+02] [-7.41910425e-01 9.04757613e-03 6.70437964e-01 1.30007459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.4771056809999 meters Centerline goodness : 0.995060 Centerline is valid? [True, True] Translation: X:157.63, Y:136.15, Z:130.01 [[-4.54600351e-01 7.22573581e-01 -5.20793568e-01 1.57625220e+02] [-4.92307535e-01 -6.91112517e-01 -5.29147219e-01 1.36151093e+02] [-7.42274755e-01 1.58400864e-02 6.69908412e-01 1.30012089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.5071056809999 meters Centerline goodness : 0.995305 Centerline is valid? [True, True] Translation: X:157.64, Y:136.15, Z:130.02 [[-4.55092249e-01 7.21961287e-01 -5.21212955e-01 1.57636008e+02] [-4.89574906e-01 -6.91799432e-01 -5.30782401e-01 1.36150362e+02] [-7.43779172e-01 1.36178264e-02 6.68286689e-01 1.30022075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.5371056809999 meters Centerline goodness : 0.994798 Centerline is valid? [True, True] Translation: X:157.64, Y:136.15, Z:130.03 [[-4.55443300e-01 7.21760395e-01 -5.21184548e-01 1.57640827e+02] [-4.87961424e-01 -6.92038231e-01 -5.31955576e-01 1.36148857e+02] [-7.44624099e-01 1.20423512e-02 6.67375406e-01 1.30025077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.56710568099993 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:157.66, Y:136.15, Z:130.04 [[-4.53309175e-01 7.23630989e-01 -5.20450751e-01 1.57657303e+02] [-4.91468570e-01 -6.90025711e-01 -5.31340910e-01 1.36148672e+02] [-7.43619148e-01 1.49234769e-02 6.68436873e-01 1.30040017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.5971056809999 meters Centerline goodness : 0.994294 Centerline is valid? [True, True] Translation: X:157.65, Y:136.14, Z:130.02 [[-4.59231101e-01 7.24720018e-01 -5.13700002e-01 1.57649366e+02] [-4.81608806e-01 -6.89042251e-01 -5.41547537e-01 1.36142021e+02] [-7.46431346e-01 -1.29302711e-03 6.65461174e-01 1.30021910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.62710568099993 meters Centerline goodness : 0.993847 Centerline is valid? [True, True] Translation: X:157.65, Y:136.13, Z:130.02 [[-4.61244525e-01 7.17917017e-01 -5.21391067e-01 1.57649870e+02] [-4.78100183e-01 -6.96125055e-01 -5.35565237e-01 1.36127107e+02] [-7.47444782e-01 2.25063131e-03 6.64320128e-01 1.30015414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.6571056809999 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:157.66, Y:136.12, Z:130.02 [[-4.57121322e-01 7.16065578e-01 -5.27532166e-01 1.57660364e+02] [-4.75614028e-01 -6.98005564e-01 -5.35331233e-01 1.36120328e+02] [-7.51552655e-01 6.19037706e-03 6.59644060e-01 1.30019754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.68710568099993 meters Centerline goodness : 0.993825 Centerline is valid? [True, True] Translation: X:157.66, Y:136.12, Z:130.02 [[-4.65132426e-01 7.21490028e-01 -5.12936610e-01 1.57659726e+02] [-4.71943004e-01 -6.92323969e-01 -5.45854672e-01 1.36120548e+02] [-7.48947012e-01 -1.18178630e-02 6.62524499e-01 1.30016713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.7171056809999 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:157.67, Y:136.11, Z:130.02 [[-4.63013205e-01 7.13358060e-01 -5.26059931e-01 1.57667613e+02] [-4.69085571e-01 -7.00796670e-01 -5.37440931e-01 1.36110992e+02] [-7.52048867e-01 -2.07512480e-03 6.59104085e-01 1.30021433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.74710568099994 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:157.66, Y:136.11, Z:130.02 [[-4.72204250e-01 7.16674893e-01 -5.13225335e-01 1.57664932e+02] [-4.63985254e-01 -6.97121612e-01 -5.46570344e-01 1.36111960e+02] [-7.49493716e-01 -1.99638520e-02 6.61710371e-01 1.30015038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.7771056809999 meters Centerline goodness : 0.995206 Centerline is valid? [True, True] Translation: X:157.67, Y:136.11, Z:130.02 [[-4.75314006e-01 7.09546420e-01 -5.20211951e-01 1.57668448e+02] [-4.62093776e-01 -7.04484821e-01 -5.38674744e-01 1.36107690e+02] [-7.48696159e-01 -1.56529455e-02 6.62728487e-01 1.30017593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.80710568099994 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:157.67, Y:136.11, Z:130.02 [[-4.75701934e-01 7.09641496e-01 -5.19727445e-01 1.57672443e+02] [-4.61391231e-01 -7.04362306e-01 -5.39436626e-01 1.36109951e+02] [-7.48883036e-01 -1.68133610e-02 6.62488875e-01 1.30021294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8371056809999 meters Centerline goodness : 0.996120 Centerline is valid? [True, True] Translation: X:157.67, Y:136.10, Z:130.01 [[-4.78998569e-01 7.08786433e-01 -5.17863074e-01 1.57669060e+02] [-4.60967238e-01 -7.05157772e-01 -5.38759429e-01 1.36103917e+02] [-7.47040546e-01 -1.93470841e-02 6.64496888e-01 1.30013064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8671056809999 meters Centerline goodness : 0.995444 Centerline is valid? [True, True] Translation: X:157.66, Y:136.10, Z:130.00 [[-4.79865180e-01 7.09101212e-01 -5.16628378e-01 1.57664836e+02] [-4.61501621e-01 -7.04820176e-01 -5.38743699e-01 1.36102123e+02] [-7.46153914e-01 -2.00995079e-02 6.65470019e-01 1.30003433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8971056809999 meters Centerline goodness : 0.995734 Centerline is valid? [True, True] Translation: X:157.67, Y:136.11, Z:130.01 [[-4.78997233e-01 7.10158596e-01 -5.15981026e-01 1.57668444e+02] [-4.62386126e-01 -7.03764044e-01 -5.39365591e-01 1.36108643e+02] [-7.46164004e-01 -1.97721580e-02 6.65468512e-01 1.30010125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9271056809999 meters Centerline goodness : 0.995611 Centerline is valid? [True, True] Translation: X:157.67, Y:136.12, Z:130.02 [[-4.73904351e-01 7.13475708e-01 -5.16107624e-01 1.57674012e+02] [-4.65651026e-01 -7.00498073e-01 -5.40806409e-01 1.36121141e+02] [-7.47384632e-01 -1.59644654e-02 6.64199780e-01 1.30024731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9571056809999 meters Centerline goodness : 0.995796 Centerline is valid? [True, True] Translation: X:157.67, Y:136.12, Z:130.02 [[-4.70810179e-01 7.15878025e-01 -5.15612673e-01 1.57669484e+02] [-4.68360854e-01 -6.98095123e-01 -5.41572996e-01 1.36119211e+02] [-7.47646899e-01 -1.34852873e-02 6.63959533e-01 1.30020309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9871056809999 meters Centerline goodness : 0.996115 Centerline is valid? [True, True] Translation: X:157.68, Y:136.13, Z:130.04 [[-4.62269118e-01 7.21572506e-01 -5.15403125e-01 1.57676550e+02] [-4.75653834e-01 -6.92315494e-01 -5.42634948e-01 1.36131435e+02] [-7.48372029e-01 -5.68990627e-03 6.63254802e-01 1.30036520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0171056809999 meters Centerline goodness : 0.996718 Centerline is valid? [True, True] Translation: X:157.66, Y:136.11, Z:130.00 [[-4.47007829e-01 7.19782407e-01 -5.31128316e-01 1.57657666e+02] [-4.72382611e-01 -6.94152425e-01 -5.43145542e-01 1.36111770e+02] [-7.59630614e-01 8.10547138e-03 6.50304261e-01 1.29999934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0471056809999 meters Centerline goodness : 0.997261 Centerline is valid? [True, True] Translation: X:157.68, Y:136.15, Z:130.05 [[-4.43020635e-01 7.40446131e-01 -5.05442622e-01 1.57678392e+02] [-4.90419186e-01 -6.72112396e-01 -5.54755756e-01 1.36147704e+02] [-7.50481005e-01 2.11051220e-03 6.60888649e-01 1.30046409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0771056809999 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:157.69, Y:136.16, Z:130.08 [[-4.36021263e-01 7.37510391e-01 -5.15716862e-01 1.57693325e+02] [-4.96363513e-01 -6.75095491e-01 -5.45774075e-01 1.36161682e+02] [-7.50672180e-01 1.80139314e-02 6.60429237e-01 1.30075694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.1071056809999 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:157.70, Y:136.17, Z:130.08 [[-4.26170864e-01 7.43668205e-01 -5.15107751e-01 1.57696012e+02] [-5.05277511e-01 -6.67985628e-01 -5.46342234e-01 1.36168860e+02] [-7.50381924e-01 2.74372205e-02 6.60434832e-01 1.30083418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.1371056809999 meters Centerline goodness : 0.997899 Centerline is valid? [True, True] Translation: X:157.70, Y:136.17, Z:130.09 [[-4.20536886e-01 7.48117638e-01 -5.13292049e-01 1.57702707e+02] [-5.12987988e-01 -6.62701099e-01 -5.45591951e-01 1.36174447e+02] [-7.48326167e-01 3.38711153e-02 6.62465619e-01 1.30094161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.1671056809999 meters Centerline goodness : 0.997970 Centerline is valid? [True, True] Translation: X:157.70, Y:136.17, Z:130.09 [[-4.18280083e-01 7.50031695e-01 -5.12341906e-01 1.57701740e+02] [-5.15755624e-01 -6.60423112e-01 -5.45744858e-01 1.36171021e+02] [-7.47688376e-01 3.59690148e-02 6.63074899e-01 1.30090813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.1971056809999 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:157.71, Y:136.17, Z:130.10 [[-4.17698272e-01 7.51433723e-01 -5.10759741e-01 1.57712093e+02] [-5.18424838e-01 -6.58767280e-01 -5.45216799e-01 1.36173964e+02] [-7.46166095e-01 3.70544209e-02 6.64727861e-01 1.30103870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.2271056809999 meters Centerline goodness : 0.997630 Centerline is valid? [True, True] Translation: X:157.72, Y:136.17, Z:130.11 [[-4.17467635e-01 7.51963104e-01 -5.10168859e-01 1.57715627e+02] [-5.18618045e-01 -6.58179842e-01 -5.45742264e-01 1.36173008e+02] [-7.46160906e-01 3.67530442e-02 6.64750417e-01 1.30105004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.2571056809999 meters Centerline goodness : 0.996966 Centerline is valid? [True, True] Translation: X:157.73, Y:136.17, Z:130.11 [[-4.19109111e-01 7.51454087e-01 -5.09572671e-01 1.57725259e+02] [-5.17193163e-01 -6.58877109e-01 -5.46252861e-01 1.36173771e+02] [-7.46229713e-01 3.46079505e-02 6.64788316e-01 1.30113841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.2871056809999 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:157.73, Y:136.17, Z:130.11 [[-4.18506820e-01 7.51853928e-01 -5.09477882e-01 1.57726368e+02] [-5.16641111e-01 -6.58443695e-01 -5.47296869e-01 1.36170545e+02] [-7.46949800e-01 3.41697465e-02 6.64001826e-01 1.30112046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.31710568099993 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:157.73, Y:136.17, Z:130.11 [[-4.17966705e-01 7.52540537e-01 -5.08907235e-01 1.57727569e+02] [-5.17078537e-01 -6.57658766e-01 -5.47827285e-01 1.36172168e+02] [-7.46949543e-01 3.41714438e-02 6.64002027e-01 1.30113932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.3471056809999 meters Centerline goodness : 0.996386 Centerline is valid? [True, True] Translation: X:157.73, Y:136.17, Z:130.12 [[-4.19499221e-01 7.52552890e-01 -5.07626389e-01 1.57732329e+02] [-5.17258763e-01 -6.57711511e-01 -5.47593774e-01 1.36167504e+02] [-7.45964996e-01 3.28590361e-02 6.65174043e-01 1.30116213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37710568099993 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:157.73, Y:136.16, Z:130.11 [[-4.20422384e-01 7.53037390e-01 -5.06141984e-01 1.57733943e+02] [-5.18414055e-01 -6.57181386e-01 -5.47137545e-01 1.36163471e+02] [-7.44642120e-01 3.23622476e-02 6.66678932e-01 1.30114439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.4071056809999 meters Centerline goodness : 0.996221 Centerline is valid? [True, True] Translation: X:157.74, Y:136.16, Z:130.12 [[-4.22917603e-01 7.53264834e-01 -5.03718960e-01 1.57743020e+02] [-5.20228414e-01 -6.56973183e-01 -5.45663481e-01 1.36160444e+02] [-7.41958960e-01 3.12782239e-02 6.69715294e-01 1.30120931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.43710568099993 meters Centerline goodness : 0.996040 Centerline is valid? [True, True] Translation: X:157.75, Y:136.16, Z:130.12 [[-4.24021543e-01 7.53228619e-01 -5.02844289e-01 1.57748608e+02] [-5.19886681e-01 -6.57075980e-01 -5.45865364e-01 1.36157287e+02] [-7.41568318e-01 2.99633749e-02 6.70207897e-01 1.30124262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.4671056809999 meters Centerline goodness : 0.996235 Centerline is valid? [True, True] Translation: X:157.75, Y:136.15, Z:130.12 [[-4.24590384e-01 7.53148538e-01 -5.02484114e-01 1.57749982e+02] [-5.18899696e-01 -6.57226421e-01 -5.46622847e-01 1.36154498e+02] [-7.41934034e-01 2.86480500e-02 6.69860566e-01 1.30122639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.49710568099994 meters Centerline goodness : 0.995965 Centerline is valid? [True, True] Translation: X:157.75, Y:136.15, Z:130.12 [[-4.25714577e-01 7.52930846e-01 -5.01858786e-01 1.57747377e+02] [-5.18000346e-01 -6.57543207e-01 -5.47094665e-01 1.36146229e+02] [-7.41918285e-01 2.70568510e-02 6.69944166e-01 1.30115598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5271056809999 meters Centerline goodness : 0.996605 Centerline is valid? [True, True] Translation: X:157.66, Y:136.04, Z:129.96 [[-4.34019398e-01 7.52887927e-01 -4.94759468e-01 1.57659188e+02] [-5.15722529e-01 -6.57929727e-01 -5.48779325e-01 1.36039524e+02] [-7.38686290e-01 1.69777325e-02 6.73835530e-01 1.29962392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.55710568099994 meters Centerline goodness : 0.996625 Centerline is valid? [True, True] Translation: X:157.76, Y:136.14, Z:130.12 [[-4.32483781e-01 7.46418968e-01 -5.05783060e-01 1.57755906e+02] [-5.12892339e-01 -6.65020106e-01 -5.42853301e-01 1.36135923e+02] [-7.41551905e-01 2.46370085e-02 6.70442980e-01 1.30122454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5871056809999 meters Centerline goodness : 0.997015 Centerline is valid? [True, True] Translation: X:157.67, Y:136.04, Z:129.98 [[-4.39279079e-01 7.52089342e-01 -4.91320174e-01 1.57672804e+02] [-5.09439870e-01 -6.59021436e-01 -5.53318865e-01 1.36041958e+02] [-7.39935747e-01 7.23668461e-03 6.72638626e-01 1.29976725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6171056809999 meters Centerline goodness : 0.997548 Centerline is valid? [True, True] Translation: X:157.67, Y:136.03, Z:129.98 [[-4.38857697e-01 7.43429817e-01 -5.04693995e-01 1.57673161e+02] [-5.04231005e-01 -6.68653484e-01 -5.46492097e-01 1.36031816e+02] [-7.43743918e-01 1.46500967e-02 6.68304092e-01 1.29981480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6471056809999 meters Centerline goodness : 0.997241 Centerline is valid? [True, True] Translation: X:157.68, Y:136.04, Z:130.00 [[-4.37072826e-01 7.43500458e-01 -5.06136754e-01 1.57683008e+02] [-5.04216879e-01 -6.68537280e-01 -5.46647276e-01 1.36040235e+02] [-7.44803789e-01 1.62780253e-02 6.67084959e-01 1.29996726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6771056809999 meters Centerline goodness : 0.997229 Centerline is valid? [True, True] Translation: X:157.73, Y:136.09, Z:130.07 [[-4.38035206e-01 7.43869931e-01 -5.04760026e-01 1.57730322e+02] [-5.02072929e-01 -6.68199280e-01 -5.49028685e-01 1.36091623e+02] [-7.45686215e-01 1.29324519e-02 6.66171764e-01 1.30073405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7071056809999 meters Centerline goodness : 0.997456 Centerline is valid? [True, True] Translation: X:157.70, Y:136.06, Z:130.02 [[-4.37805212e-01 7.42705170e-01 -5.06671123e-01 1.57701088e+02] [-5.00694675e-01 -6.69483402e-01 -5.48722896e-01 1.36058175e+02] [-7.46747239e-01 1.34537895e-02 6.64971846e-01 1.30024345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7371056809999 meters Centerline goodness : 0.997282 Centerline is valid? [True, True] Translation: X:157.69, Y:136.04, Z:130.00 [[-4.37531898e-01 7.42608783e-01 -5.07048354e-01 1.57686249e+02] [-5.01780313e-01 -6.69561489e-01 -5.47634850e-01 1.36035992e+02] [-7.46178501e-01 1.48191665e-02 6.65580977e-01 1.30000222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7671056809999 meters Centerline goodness : 0.997001 Centerline is valid? [True, True] Translation: X:157.70, Y:136.04, Z:130.02 [[-4.29893322e-01 7.39455498e-01 -5.18070746e-01 1.57695160e+02] [-4.98363299e-01 -6.72807896e-01 -5.46775601e-01 1.36042675e+02] [-7.52878313e-01 2.31322668e-02 6.57753103e-01 1.30017749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7971056809999 meters Centerline goodness : 0.997398 Centerline is valid? [True, True] Translation: X:157.75, Y:136.11, Z:130.09 [[-4.38650234e-01 7.51493461e-01 -4.92791590e-01 1.57747371e+02] [-4.97695679e-01 -6.59738273e-01 -5.63066979e-01 1.36105411e+02] [-7.48254624e-01 -1.72921714e-03 6.63409396e-01 1.30089015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8271056809999 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:157.78, Y:136.12, Z:130.13 [[-4.25863804e-01 7.26663013e-01 -5.39074100e-01 1.57775295e+02] [-4.76930657e-01 -6.86595135e-01 -5.48747910e-01 1.36124918e+02] [-7.68880465e-01 2.34090924e-02 6.38963884e-01 1.30129035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8571056809999 meters Centerline goodness : 0.997858 Centerline is valid? [True, True] Translation: X:157.78, Y:136.14, Z:130.13 [[-4.27203957e-01 7.36122253e-01 -5.24996008e-01 1.57784771e+02] [-4.74835498e-01 -6.76789377e-01 -5.62572120e-01 1.36137939e+02] [-7.69433577e-01 8.95370465e-03 6.38664076e-01 1.30129783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8871056809999 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:157.76, Y:136.10, Z:130.07 [[-4.30800575e-01 7.36467226e-01 -5.21561971e-01 1.57755496e+02] [-4.75630579e-01 -6.76448130e-01 -5.62310839e-01 1.36103322e+02] [-7.66933124e-01 5.82698948e-03 6.41700576e-01 1.30070873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.9171056809999 meters Centerline goodness : 0.998256 Centerline is valid? [True, True] Translation: X:157.72, Y:136.06, Z:130.01 [[-4.31542352e-01 7.37062671e-01 -5.20105583e-01 1.57720508e+02] [-4.76418232e-01 -6.75805299e-01 -5.62416986e-01 1.36063060e+02] [-7.66026675e-01 5.08103361e-03 6.42788703e-01 1.30009016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.9471056809999 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:157.70, Y:136.03, Z:129.96 [[-4.34311669e-01 7.44837396e-01 -5.06547755e-01 1.57695282e+02] [-4.85420281e-01 -6.67245810e-01 -5.64933783e-01 1.36033573e+02] [-7.58775675e-01 5.31219420e-04 6.51351819e-01 1.29955375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.9771056809999 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:157.70, Y:136.04, Z:129.98 [[-4.45930135e-01 7.51338272e-01 -4.86453611e-01 1.57698487e+02] [-5.03455626e-01 -6.59906338e-01 -5.57723997e-01 1.36036720e+02] [-7.40053205e-01 -3.79813046e-03 6.72537603e-01 1.29979305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.0071056809999 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:157.76, Y:136.10, Z:130.09 [[-4.38082885e-01 7.47423498e-01 -4.99441189e-01 1.57761422e+02] [-5.05321269e-01 -6.64255675e-01 -5.50831021e-01 1.36101180e+02] [-7.43460692e-01 1.10686130e-02 6.68688033e-01 1.30088497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.0371056809999 meters Centerline goodness : 0.997373 Centerline is valid? [True, True] Translation: X:157.86, Y:136.21, Z:130.26 [[-4.24809651e-01 7.54569937e-01 -5.00160944e-01 1.57860651e+02] [-5.16523717e-01 -6.55764410e-01 -5.50614464e-01 1.36208051e+02] [-7.43464868e-01 2.44386512e-02 6.68328319e-01 1.30260236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.06710568099993 meters Centerline goodness : 0.998072 Centerline is valid? [True, True] Translation: X:157.69, Y:136.02, Z:129.97 [[-4.20552925e-01 7.60516223e-01 -4.94722460e-01 1.57694570e+02] [-5.15735673e-01 -6.49012773e-01 -5.59284486e-01 1.36022804e+02] [-7.46426120e-01 1.99372944e-02 6.65169566e-01 1.29971912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.0971056809999 meters Centerline goodness : 0.997577 Centerline is valid? [True, True] Translation: X:157.86, Y:136.20, Z:130.25 [[-4.08524509e-01 7.62709155e-01 -5.01380564e-01 1.57859804e+02] [-5.26970432e-01 -6.45599938e-01 -5.52723154e-01 1.36203677e+02] [-7.45258271e-01 3.84117774e-02 6.65668570e-01 1.30249456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.12710568099993 meters Centerline goodness : 0.997534 Centerline is valid? [True, True] Translation: X:157.69, Y:136.01, Z:129.95 [[-4.06494896e-01 7.66535720e-01 -4.97176920e-01 1.57687230e+02] [-5.24116314e-01 -6.41362879e-01 -5.60317542e-01 1.36009327e+02] [-7.48374231e-01 3.28123139e-02 6.62464612e-01 1.29950502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.1571056809999 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:157.86, Y:136.20, Z:130.25 [[-4.02105381e-01 7.66404727e-01 -5.00934185e-01 1.57864636e+02] [-5.29008461e-01 -6.41023109e-01 -5.56092997e-01 1.36198096e+02] [-7.47302690e-01 4.13904357e-02 6.63193427e-01 1.30251204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.18710568099993 meters Centerline goodness : 0.997796 Centerline is valid? [True, True] Translation: X:157.80, Y:136.13, Z:130.14 [[-4.03461798e-01 7.67630908e-01 -4.97957194e-01 1.57803246e+02] [-5.23268007e-01 -6.40013024e-01 -5.62649022e-01 1.36125742e+02] [-7.50605869e-01 3.35576825e-02 6.59897501e-01 1.30138217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.2171056809999 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:157.78, Y:136.08, Z:130.10 [[-4.06442878e-01 7.59547832e-01 -5.07829970e-01 1.57775894e+02] [-5.22496925e-01 -6.49178941e-01 -5.52778134e-01 1.36084715e+02] [-7.49533955e-01 4.06668617e-02 6.60715564e-01 1.30098259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.24710568099994 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:157.79, Y:136.10, Z:130.11 [[-4.11043366e-01 7.66310068e-01 -4.93773461e-01 1.57791579e+02] [-5.17739253e-01 -6.42050900e-01 -5.65434973e-01 1.36096287e+02] [-7.50326208e-01 2.32276084e-02 6.60659565e-01 1.30106093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.2771056809999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:157.82, Y:136.11, Z:130.16 [[-4.16404287e-01 7.55558911e-01 -5.05705647e-01 1.57824831e+02] [-5.13213628e-01 -6.54467677e-01 -5.55233132e-01 1.36114986e+02] [-7.50479341e-01 2.83335733e-02 6.60286277e-01 1.30162954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.30710568099994 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:157.84, Y:136.13, Z:130.17 [[-4.20186114e-01 7.59364560e-01 -4.96798847e-01 1.57838081e+02] [-5.11524484e-01 -6.50411352e-01 -5.61522730e-01 1.36125129e+02] [-7.49524071e-01 1.81807200e-02 6.61727383e-01 1.30174166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3371056809999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:157.91, Y:136.20, Z:130.28 [[-4.30773938e-01 7.59368577e-01 -4.87640419e-01 1.57912209e+02] [-5.08117967e-01 -6.50643909e-01 -5.64339113e-01 1.36196178e+02] [-7.45821658e-01 4.67627646e-03 6.66129257e-01 1.30277512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3671056809999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:157.91, Y:136.19, Z:130.27 [[-4.37153615e-01 7.52456319e-01 -4.92652215e-01 1.57913925e+02] [-5.02981981e-01 -6.58634663e-01 -5.59651238e-01 1.36187493e+02] [-7.45590936e-01 3.14162516e-03 6.66396493e-01 1.30274733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3971056809999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:157.93, Y:136.19, Z:130.29 [[-4.44984405e-01 7.49366064e-01 -4.90346186e-01 1.57931521e+02] [-4.96274355e-01 -6.62123839e-01 -5.61519177e-01 1.36191711e+02] [-7.45453314e-01 -6.52103981e-03 6.66525943e-01 1.30288641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4271056809999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:157.94, Y:136.19, Z:130.29 [[-4.46099702e-01 7.48814172e-01 -4.90175878e-01 1.57937343e+02] [-4.94765576e-01 -6.62728696e-01 -5.62136727e-01 1.36192489e+02] [-7.45789569e-01 -8.24687600e-03 6.66130549e-01 1.30292389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4571056809999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:157.82, Y:136.05, Z:130.08 [[-4.46066594e-01 7.49777440e-01 -4.88731404e-01 1.57820684e+02] [-4.94924983e-01 -6.61623577e-01 -5.63296993e-01 1.36049739e+02] [-7.45703597e-01 -9.38258939e-03 6.66211762e-01 1.30082768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4871056809999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:157.85, Y:136.08, Z:130.15 [[-4.39028648e-01 7.45118352e-01 -5.02048292e-01 1.57853095e+02] [-4.95677200e-01 -6.66916399e-01 -5.56351175e-01 1.36078409e+02] [-7.49371710e-01 4.59978799e-03 6.62133584e-01 1.30145856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5171056809999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:157.85, Y:136.07, Z:130.13 [[-4.31376825e-01 7.61449902e-01 -4.83847167e-01 1.57851194e+02] [-5.03451209e-01 -6.48217542e-01 -5.71271299e-01 1.36074348e+02] [-7.48632697e-01 -2.83975792e-03 6.62978900e-01 1.30125077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5471056809999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:157.87, Y:136.09, Z:130.17 [[-4.25672204e-01 7.58628992e-01 -4.93239523e-01 1.57873685e+02] [-5.07838597e-01 -6.51437523e-01 -5.63674652e-01 1.36094866e+02] [-7.48934666e-01 1.05454363e-02 6.62559929e-01 1.30168983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5771056809999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:157.87, Y:136.08, Z:130.15 [[-4.16248154e-01 7.65974273e-01 -4.89919267e-01 1.57866149e+02] [-5.14045039e-01 -6.42687230e-01 -5.68076423e-01 1.36084463e+02] [-7.49996782e-01 1.53798066e-02 6.61262648e-01 1.30145215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.6071056809999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:157.94, Y:136.17, Z:130.27 [[-4.03642079e-01 7.52912255e-01 -5.19804009e-01 1.57943035e+02] [-4.98257611e-01 -6.57399012e-01 -5.65301594e-01 1.36168732e+02] [-7.67341140e-01 3.08167928e-02 6.40498166e-01 1.30274705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.6371056809999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:157.96, Y:136.18, Z:130.28 [[-3.98050642e-01 7.62811036e-01 -5.09583173e-01 1.57956791e+02] [-4.98493874e-01 -6.46176167e-01 -5.77892914e-01 1.36179983e+02] [-7.70103593e-01 2.39934444e-02 6.37467467e-01 1.30278154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.6671056809999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:157.96, Y:136.18, Z:130.27 [[-3.98870140e-01 7.70003747e-01 -4.97992812e-01 1.57955646e+02] [-5.03314768e-01 -6.37782595e-01 -5.83015957e-01 1.36177544e+02] [-7.66535620e-01 1.80994804e-02 6.41946690e-01 1.30269599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.6971056809999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:157.96, Y:136.17, Z:130.28 [[-3.91473996e-01 7.66078723e-01 -5.09775932e-01 1.57959512e+02] [-5.03976159e-01 -6.42011759e-01 -5.77779311e-01 1.36168413e+02] [-7.69906579e-01 3.07293403e-02 6.37416321e-01 1.30277269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.7271056809999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:157.92, Y:136.11, Z:130.20 [[-3.97665135e-01 7.80921822e-01 -4.81688228e-01 1.57915324e+02] [-5.22726179e-01 -6.24278086e-01 -5.80546478e-01 1.36111222e+02] [-7.54068819e-01 2.09279533e-02 6.56461909e-01 1.30199245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.7571056809999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:157.97, Y:136.16, Z:130.29 [[-3.95719822e-01 7.76832717e-01 -4.89833393e-01 1.57966554e+02] [-5.25548531e-01 -6.28957034e-01 -5.72897714e-01 1.36161482e+02] [-7.53129846e-01 3.07242389e-02 6.57154059e-01 1.30289836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.7871056809999 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:157.98, Y:136.15, Z:130.29 [[-3.80801343e-01 7.59942631e-01 -5.26761365e-01 1.57978890e+02] [-5.07788017e-01 -6.47962737e-01 -5.67710861e-01 1.36151562e+02] [-7.72749421e-01 5.12980502e-02 6.32634842e-01 1.30294654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.81710568099993 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:157.99, Y:136.16, Z:130.28 [[-3.80177043e-01 7.73183202e-01 -5.07595461e-01 1.57986319e+02] [-5.02541703e-01 -6.33405866e-01 -5.88429134e-01 1.36160277e+02] [-7.76477464e-01 3.13806393e-02 6.29363173e-01 1.30283419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.8471056809999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:157.93, Y:136.09, Z:130.18 [[-3.93968142e-01 7.87249089e-01 -4.74371137e-01 1.57931565e+02] [-5.17217638e-01 -6.16528107e-01 -5.93615202e-01 1.36090643e+02] [-7.59786166e-01 1.14876410e-02 6.50071547e-01 1.30176208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87710568099993 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:157.95, Y:136.08, Z:130.19 [[-3.91052216e-01 7.68875160e-01 -5.05874641e-01 1.57952853e+02] [-4.98036773e-01 -6.38995678e-01 -5.86211478e-01 1.36081029e+02] [-7.73975153e-01 2.27048763e-02 6.32808779e-01 1.30188061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.9071056809999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:157.95, Y:136.06, Z:130.17 [[-4.20480815e-01 7.74897525e-01 -4.71942486e-01 1.57947189e+02] [-5.03688641e-01 -6.32008873e-01 -5.88950369e-01 1.36060438e+02] [-7.54648022e-01 -9.93026207e-03 6.56054687e-01 1.30167558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.93710568099993 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:158.03, Y:136.14, Z:130.31 [[-4.27553890e-01 7.69092204e-01 -4.75073524e-01 1.58031239e+02] [-5.00447843e-01 -6.39025290e-01 -5.84122106e-01 1.36144713e+02] [-7.52827755e-01 -1.19941585e-02 6.58108283e-01 1.30305085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.9671056809999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:157.99, Y:136.07, Z:130.24 [[-4.19042783e-01 7.54866438e-01 -5.04559023e-01 1.57993466e+02] [-4.94973879e-01 -6.55788401e-01 -5.70037220e-01 1.36070885e+02] [-7.61185921e-01 1.08735538e-02 6.48442565e-01 1.30237054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.99710568099994 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:157.99, Y:136.08, Z:130.21 [[-4.15092461e-01 7.77496433e-01 -4.72437875e-01 1.57992551e+02] [-5.01874511e-01 -6.28816842e-01 -5.93895070e-01 1.36081491e+02] [-7.58828191e-01 -9.41683901e-03 6.51222773e-01 1.30208721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0271056809999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:158.01, Y:136.10, Z:130.25 [[-4.08678848e-01 7.74614164e-01 -4.82653598e-01 1.58009428e+02] [-5.02918598e-01 -6.32431067e-01 -5.89155183e-01 1.36101521e+02] [-7.61613080e-01 1.96020953e-03 6.48029069e-01 1.30246304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.05710568099994 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:157.97, Y:136.06, Z:130.17 [[-4.07754327e-01 7.73644867e-01 -4.84984566e-01 1.57969901e+02] [-5.01317629e-01 -6.33612996e-01 -5.89249698e-01 1.36056009e+02] [-7.63162527e-01 2.86219866e-03 6.46200251e-01 1.30174724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0871056809999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:158.00, Y:136.09, Z:130.21 [[-4.09608001e-01 7.76047100e-01 -4.79554152e-01 1.57995519e+02] [-5.04526216e-01 -6.30674817e-01 -5.89663101e-01 1.36090215e+02] [-7.60049066e-01 4.16917251e-04 6.49865558e-01 1.30213461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1171056809999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:158.01, Y:136.10, Z:130.23 [[-4.11783535e-01 7.74517768e-01 -4.80163043e-01 1.58007125e+02] [-5.05373855e-01 -6.32551399e-01 -5.86920774e-01 1.36103011e+02] [-7.58308372e-01 9.77537585e-04 6.51895281e-01 1.30232077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1471056809999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:158.05, Y:136.15, Z:130.31 [[-4.23076878e-01 7.72415924e-01 -4.73687234e-01 1.58049315e+02] [-5.06778412e-01 -6.35082906e-01 -5.82962558e-01 1.36154939e+02] [-7.51120228e-01 -6.58351491e-03 6.60132608e-01 1.30307291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1771056809999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:157.98, Y:136.06, Z:130.18 [[-4.02014899e-01 7.58819282e-01 -5.12422987e-01 1.57977859e+02] [-4.94763246e-01 -6.50927437e-01 -5.75762800e-01 1.36060693e+02] [-7.70450096e-01 2.20628364e-02 6.37118419e-01 1.30179897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2071056809999 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:158.06, Y:136.16, Z:130.29 [[-3.99342446e-01 7.69669287e-01 -4.98131307e-01 1.58057011e+02] [-4.83979175e-01 -6.38439353e-01 -5.98464159e-01 1.36164429e+02] [-7.78646113e-01 2.09303772e-03 6.27459840e-01 1.30291582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2371056809999 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:158.06, Y:136.17, Z:130.29 [[-3.98802097e-01 7.69411790e-01 -4.98961306e-01 1.58058069e+02] [-4.84336036e-01 -6.38744855e-01 -5.97849157e-01 1.36165435e+02] [-7.78701157e-01 3.24144379e-03 6.27386644e-01 1.30294161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2671056809999 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:158.04, Y:136.14, Z:130.26 [[-3.95134071e-01 7.68681052e-01 -5.02989569e-01 1.58036445e+02] [-4.85932242e-01 -6.39568251e-01 -5.95669630e-01 1.36141437e+02] [-7.79576117e-01 9.04948292e-03 6.26242114e-01 1.30258522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2971056809999 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:158.01, Y:136.12, Z:130.21 [[-3.92790035e-01 7.77845665e-01 -4.90583439e-01 1.58013825e+02] [-4.93551684e-01 -6.28427005e-01 -6.01237253e-01 1.36117621e+02] [-7.75965672e-01 5.96828069e-03 6.30746903e-01 1.30208025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3271056809999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:158.02, Y:136.14, Z:130.24 [[-3.96907594e-01 7.80465282e-01 -4.83051038e-01 1.58024638e+02] [-4.97420987e-01 -6.25197143e-01 -6.01415741e-01 1.36141115e+02] [-7.71386235e-01 1.57324931e-03 6.36365305e-01 1.30238594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3571056809999 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:158.02, Y:136.14, Z:130.24 [[-3.95899885e-01 7.77315091e-01 -4.88921804e-01 1.58018404e+02] [-5.01152130e-01 -6.29035894e-01 -5.94272990e-01 1.36135013e+02] [-7.69486727e-01 9.75159487e-03 6.38588352e-01 1.30238032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3871056809999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:158.05, Y:136.18, Z:130.30 [[-4.05988810e-01 7.86699453e-01 -4.65055972e-01 1.58048631e+02] [-5.17142113e-01 -6.17336161e-01 -5.92840703e-01 1.36181527e+02] [-7.53483325e-01 -1.86663214e-04 6.57466991e-01 1.30301267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.4171056809999 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:158.05, Y:136.17, Z:130.31 [[-4.04670380e-01 7.76249218e-01 -4.83403595e-01 1.58045598e+02] [-5.18270040e-01 -6.30208062e-01 -5.78129712e-01 1.36172202e+02] [-7.53417580e-01 1.65816296e-02 6.57333249e-01 1.30309383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.4471056809999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:157.99, Y:136.11, Z:130.21 [[-3.92954063e-01 7.70091793e-01 -5.02539287e-01 1.57992814e+02] [-5.04360404e-01 -6.37459423e-01 -5.82465506e-01 1.36105944e+02] [-7.68900310e-01 2.45787304e-02 6.38896079e-01 1.30207665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.4771056809999 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:158.01, Y:136.14, Z:130.23 [[-3.97327455e-01 7.84545251e-01 -4.76045841e-01 1.58011698e+02] [-5.13892853e-01 -6.20005248e-01 -5.92880788e-01 1.36136680e+02] [-7.60292726e-01 9.06874076e-03 6.49517305e-01 1.30230933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.5071056809999 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:158.06, Y:136.18, Z:130.31 [[-4.05835965e-01 7.78628368e-01 -4.78576049e-01 1.58055174e+02] [-5.12267047e-01 -6.27444433e-01 -5.86426429e-01 1.36183209e+02] [-7.56888131e-01 7.16580366e-03 6.53505171e-01 1.30313459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.5371056809999 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:158.06, Y:136.18, Z:130.32 [[-4.07365096e-01 7.74385264e-01 -4.84129260e-01 1.58056618e+02] [-5.09326240e-01 -6.32651358e-01 -5.83385842e-01 1.36180475e+02] [-7.58050433e-01 8.92870620e-03 6.52134816e-01 1.30319395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.56710568099993 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:158.06, Y:136.18, Z:130.32 [[-4.12681882e-01 7.71545010e-01 -4.84161091e-01 1.58061218e+02] [-5.03678298e-01 -6.36169160e-01 -5.84462978e-01 1.36181051e+02] [-7.58947848e-01 2.66415226e-03 6.51145964e-01 1.30323531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.5971056809999 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:158.07, Y:136.19, Z:130.33 [[-4.17708317e-01 7.68799208e-01 -4.84218483e-01 1.58067915e+02] [-4.98166281e-01 -6.39481333e-01 -5.85571500e-01 1.36189218e+02] [-7.59835586e-01 -3.37676489e-03 6.50106514e-01 1.30328722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.62710568099993 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:158.07, Y:136.19, Z:130.33 [[-4.19518422e-01 7.67941548e-01 -4.84014537e-01 1.58070011e+02] [-4.95936151e-01 -6.40492309e-01 -5.86359051e-01 1.36193016e+02] [-7.60297066e-01 -5.94811714e-03 6.49548298e-01 1.30330350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.6571056809999 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:158.03, Y:136.14, Z:130.26 [[-4.09073275e-01 7.53362778e-01 -5.14882103e-01 1.58033083e+02] [-4.72481974e-01 -6.57597206e-01 -5.86793574e-01 1.36143491e+02] [-7.80653470e-01 3.23094293e-03 6.24955776e-01 1.30255808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.68710568099993 meters Centerline goodness : 0.998345 Centerline is valid? [True, True] Translation: X:158.07, Y:136.21, Z:130.33 [[-4.23621209e-01 7.73796002e-01 -4.70940355e-01 1.58074172e+02] [-4.92465993e-01 -6.33084140e-01 -5.97228363e-01 1.36205492e+02] [-7.60277790e-01 -2.10764915e-02 6.49256085e-01 1.30326031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.7171056809999 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:158.08, Y:136.20, Z:130.34 [[-4.27675576e-01 7.63890404e-01 -4.83285684e-01 1.58076854e+02] [-4.88235405e-01 -6.45162511e-01 -5.87700199e-01 1.36203909e+02] [-7.60736348e-01 -1.53878392e-02 6.48878589e-01 1.30335374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.74710568099994 meters Centerline goodness : 0.998077 Centerline is valid? [True, True] Translation: X:158.08, Y:136.21, Z:130.34 [[-4.27946848e-01 7.64300273e-01 -4.82396713e-01 1.58078117e+02] [-4.88949758e-01 -6.44671485e-01 -5.87645140e-01 1.36208956e+02] [-7.60124746e-01 -1.56131295e-02 6.49589564e-01 1.30335443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.7771056809999 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:158.03, Y:136.14, Z:130.23 [[-4.09259155e-01 7.53013841e-01 -5.15244699e-01 1.58026667e+02] [-4.66106716e-01 -6.58001977e-01 -5.91420263e-01 1.36135920e+02] [-7.84379674e-01 -1.88514251e-03 6.20278142e-01 1.30225823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.80710568099994 meters Centerline goodness : 0.998319 Centerline is valid? [True, True] Translation: X:158.08, Y:136.22, Z:130.33 [[-4.25327962e-01 7.75161541e-01 -4.67140996e-01 1.58080737e+02] [-4.93756060e-01 -6.31318151e-01 -5.98032060e-01 1.36221348e+02] [-7.58486043e-01 -2.37060591e-02 6.51257971e-01 1.30327739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8371056809999 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:158.08, Y:136.22, Z:130.33 [[-4.17555786e-01 7.71400404e-01 -4.80196401e-01 1.58077153e+02] [-5.00173445e-01 -6.36330074e-01 -5.87290867e-01 1.36215818e+02] [-7.58599823e-01 -5.04521155e-03 6.51537301e-01 1.30327578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8671056809999 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:158.02, Y:136.15, Z:130.21 [[-3.99180979e-01 7.76792598e-01 -4.87080903e-01 1.58021426e+02] [-4.98025931e-01 -6.29739664e-01 -5.96152772e-01 1.36146037e+02] [-7.69821225e-01 4.60607281e-03 6.38242953e-01 1.30214296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8971056809999 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:158.06, Y:136.19, Z:130.28 [[-3.88085170e-01 7.68373818e-01 -5.08912150e-01 1.58060197e+02] [-4.85542848e-01 -6.39803696e-01 -5.95734314e-01 1.36189248e+02] [-7.83350524e-01 1.59030027e-02 6.21376738e-01 1.30280347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9271056809999 meters Centerline goodness : 0.997635 Centerline is valid? [True, True] Translation: X:158.12, Y:136.26, Z:130.39 [[-3.80634518e-01 7.49228491e-01 -5.42009254e-01 1.58116099e+02] [-4.62566320e-01 -6.61795017e-01 -5.89965894e-01 1.36260138e+02] [-8.00718280e-01 2.61538419e-02 5.98469893e-01 1.30388429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9571056809999 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:158.06, Y:136.20, Z:130.27 [[-3.78066268e-01 7.82605292e-01 -4.94565318e-01 1.58058990e+02] [-4.93941994e-01 -6.22344194e-01 -6.07214139e-01 1.36199921e+02] [-7.82998853e-01 1.47193954e-02 6.21848965e-01 1.30266522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9871056809999 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:158.11, Y:136.25, Z:130.37 [[-3.69019778e-01 7.53787393e-01 -5.43717729e-01 1.58112854e+02] [-4.65938361e-01 -6.56221760e-01 -5.93527123e-01 1.36254716e+02] [-8.04192668e-01 3.43157004e-02 5.93377271e-01 1.30370698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0171056809999 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:158.07, Y:136.21, Z:130.30 [[-3.77163803e-01 7.79665778e-01 -4.99868723e-01 1.58072595e+02] [-5.02742654e-01 -6.25642320e-01 -5.96507763e-01 1.36213728e+02] [-7.77815717e-01 2.63241919e-02 6.27940879e-01 1.30295936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0471056809999 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:158.10, Y:136.24, Z:130.34 [[-3.68954246e-01 7.57238072e-01 -5.38946442e-01 1.58099520e+02] [-4.69977299e-01 -6.52260044e-01 -5.94708477e-01 1.36237549e+02] [-8.01869131e-01 3.38723758e-02 5.96538816e-01 1.30335765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0771056809999 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:158.12, Y:136.26, Z:130.37 [[-3.73527113e-01 7.52254543e-01 -5.42762009e-01 1.58118072e+02] [-4.57622832e-01 -6.58391733e-01 -5.97579844e-01 1.36262713e+02] [-8.06882172e-01 2.51680137e-02 5.90176017e-01 1.30366064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.1071056809999 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:158.10, Y:136.24, Z:130.32 [[-3.74253100e-01 7.60935896e-01 -5.30010547e-01 1.58097884e+02] [-4.68071728e-01 -6.48405626e-01 -6.00399035e-01 1.36238759e+02] [-8.00526998e-01 2.33817525e-02 5.98840395e-01 1.30323107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.1371056809999 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:158.05, Y:136.19, Z:130.23 [[-3.86914207e-01 7.89893027e-01 -4.75779784e-01 1.58047916e+02] [-5.02805362e-01 -6.13234582e-01 -6.09204494e-01 1.36191492e+02] [-7.72970999e-01 3.51475284e-03 6.34431621e-01 1.30234538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.1671056809999 meters Centerline goodness : 0.997270 Centerline is valid? [True, True] Translation: X:158.07, Y:136.21, Z:130.28 [[-3.89075186e-01 7.67203541e-01 -5.09920804e-01 1.58071825e+02] [-4.79243037e-01 -6.41305260e-01 -5.99210878e-01 1.36210034e+02] [-7.86731601e-01 1.12379112e-02 6.17192918e-01 1.30280557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.1971056809999 meters Centerline goodness : 0.997180 Centerline is valid? [True, True] Translation: X:158.10, Y:136.24, Z:130.32 [[-3.83369347e-01 7.40139540e-01 -5.52468465e-01 1.58103012e+02] [-4.33078491e-01 -6.72391275e-01 -6.00277431e-01 1.36235520e+02] [-8.15764037e-01 9.13424217e-03 5.78312719e-01 1.30323627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.2271056809999 meters Centerline goodness : 0.997307 Centerline is valid? [True, True] Translation: X:158.10, Y:136.24, Z:130.31 [[-3.96049259e-01 7.42080194e-01 -5.40797533e-01 1.58100570e+02] [-4.19411521e-01 -6.70126738e-01 -6.12392138e-01 1.36236549e+02] [-8.16846963e-01 -1.57207365e-02 5.76640181e-01 1.30306917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.2571056809999 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:158.06, Y:136.19, Z:130.22 [[-4.13505239e-01 7.75477486e-01 -4.77124812e-01 1.58055286e+02] [-4.68844355e-01 -6.30560322e-01 -6.18529427e-01 1.36194422e+02] [-7.80511620e-01 -3.20678839e-02 6.24318238e-01 1.30222207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.2871056809999 meters Centerline goodness : 0.997343 Centerline is valid? [True, True] Translation: X:158.10, Y:136.24, Z:130.32 [[-4.14437312e-01 7.60416615e-01 -5.00008286e-01 1.58102428e+02] [-4.70088988e-01 -6.49311030e-01 -5.97839050e-01 1.36241789e+02] [-7.79267642e-01 -1.27184197e-02 6.26562194e-01 1.30323995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.31710568099993 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:158.12, Y:136.28, Z:130.34 [[-4.12436492e-01 7.47643344e-01 -5.20505111e-01 1.58122980e+02] [-4.33605150e-01 -6.63601838e-01 -6.09605753e-01 1.36278870e+02] [-8.01175832e-01 -2.57299615e-02 5.97875618e-01 1.30344526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.3471056809999 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:157.99, Y:136.10, Z:130.09 [[-4.03379796e-01 7.58976938e-01 -5.11115201e-01 1.57987909e+02] [-4.53761293e-01 -6.50976469e-01 -6.08547719e-01 1.36104657e+02] [-7.94597653e-01 -1.35515600e-02 6.06985112e-01 1.30094758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37710568099993 meters Centerline goodness : 0.209964 Centerline is valid? [True, False] Translation: X:158.71, Y:135.08, Z:130.69 [[ 8.68526161e-01 -4.84724928e-01 1.03460385e-01 1.58705301e+02] [ 5.53072268e-02 3.02217021e-01 9.51633324e-01 1.35075662e+02] [-4.92547884e-01 -8.20796331e-01 2.89292181e-01 1.30686162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.4071056809999 meters Centerline goodness : 0.202669 Centerline is valid? [False, False] Translation: X:158.67, Y:135.18, Z:130.70 [[ 8.63334798e-01 -4.67097687e-01 1.90978475e-01 1.58672448e+02] [ 4.75673812e-02 4.52092657e-01 8.90701731e-01 1.35178004e+02] [-5.02384685e-01 -7.59889453e-01 4.12525936e-01 1.30704401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.43710568099993 meters Centerline goodness : 0.201231 Centerline is valid? [False, False] Translation: X:158.66, Y:135.27, Z:130.72 [[ 8.57249081e-01 -4.38687422e-01 2.69587387e-01 1.58659020e+02] [ 3.95258631e-02 5.78090789e-01 8.15014568e-01 1.35273734e+02] [-5.13382625e-01 -6.88014815e-01 5.12907296e-01 1.30722973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.4671056809999 meters Centerline goodness : 0.186542 Centerline is valid? [False, False] Translation: X:158.66, Y:135.35, Z:130.75 [[ 8.47514301e-01 -4.12922383e-01 3.33488553e-01 1.58656667e+02] [ 3.91940506e-02 6.75280087e-01 7.36519267e-01 1.35352437e+02] [-5.29323470e-01 -6.11139844e-01 5.88493632e-01 1.30750070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.49710568099994 meters Centerline goodness : 0.177563 Centerline is valid? [False, False] Translation: X:158.66, Y:135.42, Z:130.78 [[ 8.33920003e-01 -3.91348372e-01 3.89132215e-01 1.58660176e+02] [ 4.93179214e-02 7.55119060e-01 6.53730027e-01 1.35419798e+02] [-5.49677334e-01 -5.25967354e-01 6.49009377e-01 1.30781204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5271056809999 meters Centerline goodness : 0.135169 Centerline is valid? [False, False] Translation: X:158.67, Y:135.47, Z:130.81 [[ 8.24631905e-01 -3.64988005e-01 4.32164295e-01 1.58667851e+02] [ 5.75403610e-02 8.14147622e-01 5.77799928e-01 1.35472918e+02] [-5.62735575e-01 -4.51605366e-01 6.92373646e-01 1.30806590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.55710568099994 meters Centerline goodness : 0.173781 Centerline is valid? [False, False] Translation: X:158.67, Y:135.51, Z:130.83 [[ 8.15511105e-01 -3.46859609e-01 4.63281826e-01 1.58674148e+02] [ 7.20860557e-02 8.55143686e-01 5.13354534e-01 1.35512958e+02] [-5.74234481e-01 -3.85250163e-01 7.22382913e-01 1.30828197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5871056809999 meters Centerline goodness : 0.166255 Centerline is valid? [False, False] Translation: X:158.68, Y:135.55, Z:130.85 [[ 8.09536768e-01 -3.24528773e-01 4.89214980e-01 1.58681948e+02] [ 8.11911984e-02 8.87199618e-01 4.54185895e-01 1.35549847e+02] [-5.81427735e-01 -3.27960231e-01 7.44569591e-01 1.30849912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6171056809999 meters Centerline goodness : 0.138072 Centerline is valid? [False, False] Translation: X:158.69, Y:135.58, Z:130.87 [[ 8.04432191e-01 -3.04897790e-01 5.09829568e-01 1.58686007e+02] [ 8.93910564e-02 9.10591941e-01 4.03523922e-01 1.35581337e+02] [-5.87280248e-01 -2.79033429e-01 7.59764606e-01 1.30870132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 11769.60 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%| | 0/13921 [00:00